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/****************************************************************************
*
* (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 "SpeedSectionTest.h"
SpeedSectionTest::SpeedSectionTest(void)
: _spySpeed(NULL)
, _spySection(NULL)
, _speedSection(NULL)
{
}
void SpeedSectionTest::init(void)
{
SectionTest::init();
rgSpeedSignals[specifyFlightSpeedChangedIndex] = SIGNAL(specifyFlightSpeedChanged(bool));
_speedSection = _simpleItem->speedSection();
_createSpy(_speedSection, &_spySpeed);
QVERIFY(_spySpeed);
SectionTest::_createSpy(_speedSection, &_spySection);
QVERIFY(_spySection);
}
void SpeedSectionTest::cleanup(void)
{
delete _spySpeed;
delete _spySection;
SectionTest::cleanup();
}
void SpeedSectionTest::_createSpy(SpeedSection* speedSection, MultiSignalSpy** speedSpy)
{
*speedSpy = NULL;
MultiSignalSpy* spy = new MultiSignalSpy();
QCOMPARE(spy->init(speedSection, rgSpeedSignals, cSpeedSignals), true);
*speedSpy = spy;
}
void SpeedSectionTest::_testDirty(void)
{
// Check for dirty not signalled if same value
_speedSection->setSpecifyFlightSpeed(_speedSection->specifyFlightSpeed());
QVERIFY(_spySection->checkNoSignals());
QCOMPARE(_speedSection->dirty(), false);
_speedSection->flightSpeed()->setRawValue(_speedSection->flightSpeed()->rawValue());
QVERIFY(_spySection->checkNoSignals());
QCOMPARE(_speedSection->dirty(), false);
// Check for no duplicate dirty signalling on change
_speedSection->setSpecifyFlightSpeed(!_speedSection->specifyFlightSpeed());
QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), true);
QCOMPARE(_speedSection->dirty(), true);
_spySection->clearAllSignals();
_speedSection->setSpecifyFlightSpeed(!_speedSection->specifyFlightSpeed());
QVERIFY(_spySection->checkNoSignalByMask(dirtyChangedMask));
QCOMPARE(_speedSection->dirty(), true);
_spySection->clearAllSignals();
// Check that the dirty bit can be cleared
_speedSection->setDirty(false);
QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), false);
QCOMPARE(_speedSection->dirty(), false);
_spySection->clearAllSignals();
// Flight speed change should only signal if specifyFlightSpeed is set
_speedSection->setSpecifyFlightSpeed(false);
_speedSection->setDirty(false);
_spySection->clearAllSignals();
_speedSection->flightSpeed()->setRawValue(_speedSection->flightSpeed()->rawValue().toDouble() + 1);
QVERIFY(_spySection->checkNoSignalByMask(dirtyChangedMask));
QCOMPARE(_speedSection->dirty(), false);
_speedSection->setSpecifyFlightSpeed(true);
_speedSection->setDirty(false);
_spySection->clearAllSignals();
_speedSection->flightSpeed()->setRawValue(_speedSection->flightSpeed()->rawValue().toDouble() + 1);
QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), true);
QCOMPARE(_speedSection->dirty(), true);
}
void SpeedSectionTest::_testSettingsAvailable(void)
{
// No settings specified to start
QCOMPARE(_speedSection->specifyFlightSpeed(), false);
QCOMPARE(_speedSection->settingsSpecified(), false);
// Check correct reaction to specifyFlightSpeed on/off
_speedSection->setSpecifyFlightSpeed(true);
QCOMPARE(_speedSection->specifyFlightSpeed(), true);
QCOMPARE(_speedSection->settingsSpecified(), true);
QVERIFY(_spySpeed->checkSignalByMask(specifyFlightSpeedChangedMask));
QCOMPARE(_spySpeed->pullBoolFromSignalIndex(specifyFlightSpeedChangedIndex), true);
QVERIFY(_spySection->checkSignalByMask(settingsSpecifiedChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(settingsSpecifiedChangedIndex), true);
_spySection->clearAllSignals();
_spySpeed->clearAllSignals();
_speedSection->setSpecifyFlightSpeed(false);
QCOMPARE(_speedSection->specifyFlightSpeed(), false);
QCOMPARE(_speedSection->settingsSpecified(), false);
QVERIFY(_spySpeed->checkSignalByMask(specifyFlightSpeedChangedMask));
QCOMPARE(_spySpeed->pullBoolFromSignalIndex(specifyFlightSpeedChangedIndex), false);
QVERIFY(_spySection->checkSignalByMask(settingsSpecifiedChangedMask));
QCOMPARE(_spySection->pullBoolFromSignalIndex(settingsSpecifiedChangedIndex), false);
_spySection->clearAllSignals();
_spySpeed->clearAllSignals();
}
void SpeedSectionTest::_checkAvailable(void)
{
MissionItem missionItem(1, // sequence number
MAV_CMD_NAV_TAKEOFF,
MAV_FRAME_GLOBAL_RELATIVE_ALT,
10.1234567, // param 1-7
20.1234567,
30.1234567,
40.1234567,
50.1234567,
60.1234567,
70.1234567,
true, // autoContinue
false); // isCurrentItem
SimpleMissionItem* item = new SimpleMissionItem(_offlineVehicle, false /* flyView */, missionItem, this);
QVERIFY(item->speedSection());
QCOMPARE(item->speedSection()->available(), false);
}
void SpeedSectionTest::_testItemCount(void)
{
// No settings specified to start
QCOMPARE(_speedSection->itemCount(), 0);
_speedSection->setSpecifyFlightSpeed(true);
QCOMPARE(_speedSection->itemCount(), 1);
QVERIFY(_spySection->checkSignalByMask(itemCountChangedMask));
QCOMPARE(_spySection->pullIntFromSignalIndex(itemCountChangedIndex), 1);
_spySection->clearAllSignals();
_spySpeed->clearAllSignals();
_speedSection->setSpecifyFlightSpeed(false);
QCOMPARE(_speedSection->itemCount(), 0);
QVERIFY(_spySection->checkSignalByMask(itemCountChangedMask));
QCOMPARE(_spySection->pullIntFromSignalIndex(itemCountChangedIndex), 0);
_spySection->clearAllSignals();
_spySpeed->clearAllSignals();
}
void SpeedSectionTest::_testAppendSectionItems(void)
{
int seqNum = 0;
QList<MissionItem*> rgMissionItems;
// No settings specified to start
QCOMPARE(_speedSection->itemCount(), 0);
_speedSection->appendSectionItems(rgMissionItems, this, seqNum);
QCOMPARE(rgMissionItems.count(), 0);
QCOMPARE(seqNum, 0);
rgMissionItems.clear();
_speedSection->setSpecifyFlightSpeed(true);
_speedSection->appendSectionItems(rgMissionItems, this, seqNum);
QCOMPARE(rgMissionItems.count(), 1);
QCOMPARE(seqNum, 1);
MissionItem expectedSpeedItem(0, MAV_CMD_DO_CHANGE_SPEED, MAV_FRAME_MISSION, _offlineVehicle->multiRotor() ? 1 : 0, _speedSection->flightSpeed()->rawValue().toDouble(), -1, 0, 0, 0, 0, true, false);
_missionItemsEqual(*rgMissionItems[0], expectedSpeedItem);
}
void SpeedSectionTest::_testScanForSection(void)
{
QCOMPARE(_speedSection->available(), true);
int scanIndex = 0;
QmlObjectListModel visualItems;
_commonScanTest(_speedSection);
// Check for a scan success
double flightSpeed = 10.123456;
MissionItem validSpeedItem(0, MAV_CMD_DO_CHANGE_SPEED, MAV_FRAME_MISSION, _offlineVehicle->multiRotor() ? 1 : 0, flightSpeed, -1, 0, 0, 0, 0, true, false);
SimpleMissionItem simpleItem(_offlineVehicle, false /* flyView */, validSpeedItem, NULL);
MissionItem& simpleMissionItem = simpleItem.missionItem();
visualItems.append(&simpleItem);
scanIndex = 0;
QCOMPARE(_speedSection->scanForSection(&visualItems, scanIndex), true);
QCOMPARE(visualItems.count(), 0);
QCOMPARE(_speedSection->settingsSpecified(), true);
QCOMPARE(_speedSection->specifyFlightSpeed(), true);
QCOMPARE(_speedSection->flightSpeed()->rawValue().toDouble(), flightSpeed);
_speedSection->setSpecifyFlightSpeed(false);
visualItems.clear();
scanIndex = 0;
// Flight speed command but incorrect settings
simpleMissionItem = validSpeedItem;
simpleMissionItem.setParam1(_offlineVehicle->multiRotor() ? 0 : 1);
visualItems.append(&simpleItem);
QCOMPARE(_speedSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_speedSection->settingsSpecified(), false);
visualItems.clear();
scanIndex = 0;
simpleMissionItem = validSpeedItem;
simpleMissionItem.setParam3(50);
visualItems.append(&simpleItem);
QCOMPARE(_speedSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_speedSection->settingsSpecified(), false);
visualItems.clear();
scanIndex = 0;
simpleMissionItem = validSpeedItem;
simpleMissionItem.setParam4(1);
visualItems.append(&simpleItem);
QCOMPARE(_speedSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_speedSection->settingsSpecified(), false);
visualItems.clear();
scanIndex = 0;
simpleMissionItem = validSpeedItem;
simpleMissionItem.setParam5(1);
visualItems.append(&simpleItem);
QCOMPARE(_speedSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_speedSection->settingsSpecified(), false);
visualItems.clear();
scanIndex = 0;
simpleMissionItem = validSpeedItem;
simpleMissionItem.setParam6(1);
visualItems.append(&simpleItem);
QCOMPARE(_speedSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_speedSection->settingsSpecified(), false);
visualItems.clear();
scanIndex = 0;
simpleMissionItem = validSpeedItem;
simpleMissionItem.setParam7(1);
visualItems.append(&simpleItem);
QCOMPARE(_speedSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
QCOMPARE(_speedSection->settingsSpecified(), false);
visualItems.clear();
scanIndex = 0;
// Valid item in wrong position
MissionItem waypointMissionItem(0, MAV_CMD_NAV_WAYPOINT, MAV_FRAME_GLOBAL_RELATIVE_ALT, 0, 0, 0, 0, 0, 0, 0, true, false);
SimpleMissionItem simpleWaypointItem(_offlineVehicle, false /* flyView */, waypointMissionItem, NULL);
simpleMissionItem = validSpeedItem;
visualItems.append(&simpleWaypointItem);
visualItems.append(&simpleMissionItem);
QCOMPARE(_speedSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 2);
QCOMPARE(_speedSection->settingsSpecified(), false);
visualItems.clear();
scanIndex = 0;
}
void SpeedSectionTest::_testSpecifiedFlightSpeedChanged(void)
{
// specifiedFlightSpeedChanged SHOULD NOT signal if flight speed is changed when specifyFlightSpeed IS NOT set
_speedSection->setSpecifyFlightSpeed(false);
_spySpeed->clearAllSignals();
_speedSection->flightSpeed()->setRawValue(_speedSection->flightSpeed()->rawValue().toDouble() + 1);
QVERIFY(_spySpeed->checkNoSignalByMask(specifiedFlightSpeedChangedMask));
// specifiedFlightSpeedChanged SHOULD signal if flight speed is changed when specifyFlightSpeed IS set
_speedSection->setSpecifyFlightSpeed(true);
_spySpeed->clearAllSignals();
_speedSection->flightSpeed()->setRawValue(_speedSection->flightSpeed()->rawValue().toDouble() + 1);
QVERIFY(_spySpeed->checkSignalByMask(specifiedFlightSpeedChangedMask));
}