diff --git a/files/qml/FactTextInput.qml b/files/qml/FactTextInput.qml
index 560ff0d6a5aa8a00222240bd9e961f7b87159034..41212c0824aedb46d745a93782988778405744df 100644
--- a/files/qml/FactTextInput.qml
+++ b/files/qml/FactTextInput.qml
@@ -1,4 +1,4 @@
-import QtQuick 2.0
+import QtQuick 2.2
import QtQuick.Controls 1.2
import QGroundControl.FactSystem 1.0
diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index 20ab90558b941c270e50a7879e58148d2bb477d4..846c8945c9e73aa80b2ec921b64eeefca742b619 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -484,7 +484,6 @@ HEADERS += \
src/uas/QGCUASParamManagerInterface.h \
src/uas/QGCUASFileManager.h \
src/ui/QGCUASFileView.h \
- src/uas/QGCUASWorker.h \
src/CmdLineOptParser.h \
src/uas/QGXPX4UAS.h \
src/QGCFileDialog.h \
@@ -625,7 +624,6 @@ SOURCES += \
src/ui/menuactionhelper.cpp \
src/uas/QGCUASFileManager.cc \
src/ui/QGCUASFileView.cc \
- src/uas/QGCUASWorker.cc \
src/CmdLineOptParser.cc \
src/uas/QGXPX4UAS.cc \
src/QGCFileDialog.cc \
@@ -670,7 +668,8 @@ HEADERS += \
src/qgcunittest/LinkManagerTest.h \
src/qgcunittest/MainWindowTest.h \
src/AutoPilotPlugins/PX4/Tests/FlightModeConfigTest.h \
- src/qgcunittest/MavlinkLogTest.h
+ src/qgcunittest/MavlinkLogTest.h \
+ src/FactSystem/FactSystemTest.h
SOURCES += \
src/qgcunittest/UnitTest.cc \
@@ -691,7 +690,8 @@ SOURCES += \
src/qgcunittest/LinkManagerTest.cc \
src/qgcunittest/MainWindowTest.cc \
src/AutoPilotPlugins/PX4/Tests/FlightModeConfigTest.cc \
- src/qgcunittest/MavlinkLogTest.cc
+ src/qgcunittest/MavlinkLogTest.cc \
+ src/FactSystem/FactSystemTest.cc
}
#
diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc
index 30f19bf6272d4f8d639b8d7a6b643d33a6f9a174..e86f2173bbcd5990b3c5e417a1f0af4651eed85e 100644
--- a/qgroundcontrol.qrc
+++ b/qgroundcontrol.qrc
@@ -230,6 +230,7 @@
src/qgcunittest/MockLink.param
+ src/FactSystem/FactSystemTest.qml
files/QLoggingCategory/qtlogging.ini
diff --git a/src/FactSystem/FactSystemTest.cc b/src/FactSystem/FactSystemTest.cc
new file mode 100644
index 0000000000000000000000000000000000000000..c64b92727ba8b2e534232fd7450ff00b37aa2008
--- /dev/null
+++ b/src/FactSystem/FactSystemTest.cc
@@ -0,0 +1,194 @@
+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see .
+
+ ======================================================================*/
+
+/// @file
+/// @author Don Gagne
+
+#include "FactSystemTest.h"
+#include "LinkManager.h"
+#include "MockLink.h"
+#include "AutoPilotPluginManager.h"
+#include "UASManager.h"
+#include "QGCApplication.h"
+#include "QGCQuickWidget.h"
+
+#include
+
+UT_REGISTER_TEST(FactSystemTest)
+
+/// FactSystem Unit Test
+FactSystemTest::FactSystemTest(void)
+{
+
+}
+
+void FactSystemTest::init(void)
+{
+ UnitTest::init();
+
+ LinkManager* _linkMgr = LinkManager::instance();
+
+ MockLink* link = new MockLink();
+ _linkMgr->addLink(link);
+ _linkMgr->connectLink(link);
+
+ // Wait for the uas to work it's way through the various threads
+
+ QSignalSpy spyUas(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)));
+ QCOMPARE(spyUas.wait(5000), true);
+
+ _uas = UASManager::instance()->getActiveUAS();
+ Q_ASSERT(_uas);
+
+ _paramMgr = _uas->getParamManager();
+ Q_ASSERT(_paramMgr);
+
+ // Get the plugin for the uas
+
+ AutoPilotPluginManager* pluginMgr = AutoPilotPluginManager::instance();
+ Q_ASSERT(pluginMgr);
+
+ _plugin = pluginMgr->getInstanceForAutoPilotPlugin(_uas);
+ Q_ASSERT(_plugin);
+
+ // Wait for the plugin to be ready
+
+ QSignalSpy spyPlugin(_plugin, SIGNAL(pluginReady()));
+ if (!_plugin->pluginIsReady()) {
+ QCOMPARE(spyPlugin.wait(5000), true);
+ }
+ Q_ASSERT(_plugin->pluginIsReady());
+}
+
+void FactSystemTest::cleanup(void)
+{
+ UnitTest::cleanup();
+}
+
+/// Basic test of parameter values in Fact System
+void FactSystemTest::_parameter_test(void)
+{
+ // Get the parameter facts from the AutoPilot
+
+ AutoPilotPluginManager* pluginMgr = AutoPilotPluginManager::instance();
+ Q_ASSERT(pluginMgr);
+
+ AutoPilotPlugin* plugin = pluginMgr->getInstanceForAutoPilotPlugin(_uas);
+ Q_ASSERT(plugin);
+
+ QObject* parameterFacts = plugin->parameterFacts();
+ QVERIFY(parameterFacts != NULL);
+
+ // Compare the value in the Parameter Manager with the value from the FactSystem
+
+ QVariant factVariant = parameterFacts->property("RC_MAP_THROTTLE");
+ Fact* fact = factVariant.value();
+ QVERIFY(fact != NULL);
+ QVariant factValue = fact->value();
+ QCOMPARE(factValue.isValid(), true);
+
+ QVariant paramValue;
+ Q_ASSERT(_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), "RC_MAP_THROTTLE", paramValue));
+
+ QCOMPARE(factValue.toInt(), paramValue.toInt());
+}
+
+/// Test that QML can reference a Fact
+void FactSystemTest::_qml_test(void)
+{
+ QGCQuickWidget* widget = new QGCQuickWidget;
+
+ widget->setSource(QUrl::fromUserInput("qrc:unittest/FactSystemTest.qml"));
+
+ QQuickItem* rootObject = widget->rootObject();
+ QObject* control = rootObject->findChild("testControl");
+ QVERIFY(control != NULL);
+ QVariant qmlValue = control->property("text").toInt();
+
+ QVariant paramMgrValue;
+ Q_ASSERT(_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), "RC_MAP_THROTTLE", paramMgrValue));
+
+ QCOMPARE(qmlValue.toInt(), paramMgrValue.toInt());
+}
+
+// Test correct behavior when the Param Manager gets a parameter update
+void FactSystemTest::_paramMgrSignal_test(void)
+{
+ // Get the parameter Fact from the AutoPilot
+
+ AutoPilotPluginManager* pluginMgr = AutoPilotPluginManager::instance();
+ Q_ASSERT(pluginMgr);
+
+ AutoPilotPlugin* plugin = pluginMgr->getInstanceForAutoPilotPlugin(_uas);
+ Q_ASSERT(plugin);
+
+ QObject* parameterFacts = plugin->parameterFacts();
+ QVERIFY(parameterFacts != NULL);
+
+ QVariant factVariant = parameterFacts->property("RC_MAP_THROTTLE");
+ Fact* fact = factVariant.value();
+ QVERIFY(fact != NULL);
+
+ // Setting a new value into the parameter should trigger a valueChanged signal on the Fact
+
+ QSignalSpy spyFact(fact, SIGNAL(valueChanged(QVariant)));
+
+ QVariant paramValue = 12;
+ _paramMgr->setParameter(_paramMgr->getDefaultComponentId(), "RC_MAP_THROTTLE", paramValue);
+ _paramMgr->sendPendingParameters(true, false);
+
+ // Wait for the Fact::valueChanged signal to come through
+ QCOMPARE(spyFact.wait(5000), true);
+
+ // Make sure the signal has the right value
+ QList arguments = spyFact.takeFirst();
+ qDebug() << arguments.at(0).type();
+ QCOMPARE(arguments.at(0).toInt(), 12);
+
+ // Make sure the Fact has the new value
+ QCOMPARE(fact->value().toInt(), 12);
+}
+
+/// Test QML getting an updated Fact value
+void FactSystemTest::_qmlUpdate_test(void)
+{
+ QGCQuickWidget* widget = new QGCQuickWidget;
+
+ widget->setSource(QUrl::fromUserInput("qrc:unittest/FactSystemTest.qml"));
+
+ // Change the value using param manager
+
+ QVariant paramValue = 12;
+ _paramMgr->setParameter(_paramMgr->getDefaultComponentId(), "RC_MAP_THROTTLE", paramValue);
+ _paramMgr->sendPendingParameters(true, false);
+
+ QTest::qWait(500); // Let the signals flow through
+
+ // Make sure the qml has the right value
+
+ QQuickItem* rootObject = widget->rootObject();
+ QObject* control = rootObject->findChild("testControl");
+ QVERIFY(control != NULL);
+ QCOMPARE(control->property("text").toInt(), 12);
+}
+
diff --git a/src/FactSystem/FactSystemTest.h b/src/FactSystem/FactSystemTest.h
new file mode 100644
index 0000000000000000000000000000000000000000..07d43f2d0611991245e40437cd31a283bc6fcdcf
--- /dev/null
+++ b/src/FactSystem/FactSystemTest.h
@@ -0,0 +1,58 @@
+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see .
+
+ ======================================================================*/
+
+/// @file
+/// @author Don Gagne
+
+#ifndef FactSystemTest_H
+#define FactSystemTest_H
+
+#include "UnitTest.h"
+#include "UASInterface.h"
+#include "AutoPilotPlugin.h"
+
+// Unit Test for Fact System
+class FactSystemTest : public UnitTest
+{
+ Q_OBJECT
+
+public:
+ FactSystemTest(void);
+
+private slots:
+ void init(void);
+ void cleanup(void);
+
+ void _parameter_test(void);
+ void _qml_test(void);
+ void _paramMgrSignal_test(void);
+ void _qmlUpdate_test(void);
+
+private:
+ UASInterface* _uas;
+ QGCUASParamManagerInterface* _paramMgr;
+ AutoPilotPlugin* _plugin;
+ LinkManager* _linkMgr;
+};
+
+#endif
diff --git a/src/FactSystem/FactSystemTest.qml b/src/FactSystem/FactSystemTest.qml
new file mode 100644
index 0000000000000000000000000000000000000000..6559a3ec01cf73105e44abcfce2228ffedaf1053
--- /dev/null
+++ b/src/FactSystem/FactSystemTest.qml
@@ -0,0 +1,16 @@
+import QtQuick 2.2
+import QtQuick.Controls 1.2
+import QGroundControl.FactSystem 1.0
+import QGroundControlFactControls 1.0
+
+Item {
+ TextInput {
+ objectName: "testControl"
+ text: parameterFacts.RC_MAP_THROTTLE.value
+ font.family: "Helvetica"
+ font.pointSize: 24
+ color: "red"
+ focus: true
+ onAccepted: { parameterFacts.RC_MAP_THROTTLE.value = text; }
+ }
+}
\ No newline at end of file