StructureScanComplexItemTest.cc

/****************************************************************************
 *
 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/

#include "StructureScanComplexItemTest.h"
#include "QGCApplication.h"

StructureScanComplexItemTest::StructureScanComplexItemTest(void)
    : _offlineVehicle(NULL)
{
    _polyPoints << QGeoCoordinate(47.633550640000003, -122.08982199) << QGeoCoordinate(47.634129020000003, -122.08887249) <<
                   QGeoCoordinate(47.633619320000001, -122.08811074) << QGeoCoordinate(47.633189139999999, -122.08900124);
}

void StructureScanComplexItemTest::init(void)
{
    UnitTest::init();

    _rgSignals[dirtyChangedIndex] = SIGNAL(dirtyChanged(bool));

    _offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_QUADROTOR, qgcApp()->toolbox()->firmwarePluginManager(), this);
    _structureScanItem = new StructureScanComplexItem(_offlineVehicle, this);
    _structureScanItem->setDirty(false);

    _multiSpy = new MultiSignalSpy();
    Q_CHECK_PTR(_multiSpy);
    QCOMPARE(_multiSpy->init(_structureScanItem, _rgSignals, _cSignals), true);
}

void StructureScanComplexItemTest::cleanup(void)
{
    delete _structureScanItem;
    delete _offlineVehicle;
}

void StructureScanComplexItemTest::_testDirty(void)
{
    QVERIFY(!_structureScanItem->dirty());
    _structureScanItem->setDirty(false);
    QVERIFY(!_structureScanItem->dirty());
    QVERIFY(_multiSpy->checkNoSignals());

    _structureScanItem->setDirty(true);
    QVERIFY(_structureScanItem->dirty());
    QVERIFY(_multiSpy->checkOnlySignalByMask(dirtyChangedMask));
    QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex));
    _multiSpy->clearAllSignals();

    _structureScanItem->setDirty(false);
    QVERIFY(!_structureScanItem->dirty());
    QVERIFY(_multiSpy->checkOnlySignalByMask(dirtyChangedMask));
    QVERIFY(!_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex));
    _multiSpy->clearAllSignals();

    // These facts should set dirty when changed
    QList<Fact*> rgFacts;
    rgFacts << _structureScanItem->gimbalPitch() << _structureScanItem->gimbalYaw() << _structureScanItem->altitude() << _structureScanItem->layers();
    foreach(Fact* fact, rgFacts) {
        qDebug() << fact->name();
        QVERIFY(!_structureScanItem->dirty());
        if (fact->typeIsBool()) {
            fact->setRawValue(!fact->rawValue().toBool());
        } else {
            fact->setRawValue(fact->rawValue().toDouble() + 1);
        }
        QVERIFY(_multiSpy->checkSignalByMask(dirtyChangedMask));
        QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex));
        _structureScanItem->setDirty(false);
        _multiSpy->clearAllSignals();
    }
    rgFacts.clear();

    QVERIFY(!_structureScanItem->dirty());
    _structureScanItem->setAltitudeRelative(!_structureScanItem->altitudeRelative());
    QVERIFY(_multiSpy->checkSignalByMask(dirtyChangedMask));
    QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex));
    _structureScanItem->setDirty(false);
    _multiSpy->clearAllSignals();

    QVERIFY(!_structureScanItem->dirty());
    _structureScanItem->setYawVehicleToStructure(!_structureScanItem->yawVehicleToStructure());
    QVERIFY(_multiSpy->checkSignalByMask(dirtyChangedMask));
    QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex));
    _structureScanItem->setDirty(false);
    _multiSpy->clearAllSignals();
}

void StructureScanComplexItemTest::_initItem(void)
{
    QGCMapPolygon* mapPolygon = _structureScanItem->structurePolygon();

    for (int i=0; i<_polyPoints.count(); i++) {
        QGeoCoordinate& vertex = _polyPoints[i];
        mapPolygon->appendVertex(vertex);
    }

    _structureScanItem->cameraCalc()->setCameraSpecType(CameraCalc::CameraSpecNone);
    _structureScanItem->gimbalPitch()->setCookedValue(45);
    _structureScanItem->gimbalYaw()->setCookedValue(45);
    _structureScanItem->layers()->setCookedValue(2);
    _structureScanItem->setDirty(false);

    _validateItem(_structureScanItem);
}

void StructureScanComplexItemTest::_validateItem(StructureScanComplexItem* item)
{
    QGCMapPolygon* mapPolygon = item->structurePolygon();

    for (int i=0; i<_polyPoints.count(); i++) {
        QGeoCoordinate& expectedVertex = _polyPoints[i];
        QGeoCoordinate actualVertex = mapPolygon->vertexCoordinate(i);
        QCOMPARE(expectedVertex, actualVertex);
    }

    QCOMPARE((int)item->cameraCalc()->cameraSpecType(), (int)CameraCalc::CameraSpecNone);
    QCOMPARE(item->gimbalPitch()->cookedValue().toDouble(), 45.0);
    QCOMPARE(item->gimbalYaw()->cookedValue().toDouble(), 45.0);
    QCOMPARE(item->layers()->cookedValue().toInt(), 2);

    int seqNum = item->sequenceNumber();
    QCOMPARE(item->lastSequenceNumber(), seqNum + (5 /* 5 waypoints per layer */ * item->layers()->cookedValue().toInt()) + 1 /* gimbal command */);
}

void StructureScanComplexItemTest::_testSaveLoad(void)
{
    _initItem();

    QJsonArray  items;
    _structureScanItem->save(items);

    QString errorString;
    StructureScanComplexItem* newItem = new StructureScanComplexItem(_offlineVehicle, this);
    QVERIFY(newItem->load(items[0].toObject(), 10, errorString));
    QVERIFY(errorString.isEmpty());
    _validateItem(newItem);
    newItem->deleteLater();
}

void StructureScanComplexItemTest::_testGimbalAngleUpdate(void)
{
    // This sets the item to CameraCalc::CameraSpecNone and non-standard gimbal angles
    _initItem();

    // Switching to a camera specific setup should set gimbal angles to defaults surface scan
    _structureScanItem->cameraCalc()->setCameraSpecType(CameraCalc::CameraSpecCustom);
    QCOMPARE(_structureScanItem->gimbalPitch()->cookedValue().toDouble(), 0.0);
    QCOMPARE(_structureScanItem->gimbalYaw()->cookedValue().toDouble(), 90.0);
}