New FactSystem unit test

files/qml/FactTextInput.qml

-import QtQuick 2.0
+import QtQuick 2.2
 import QtQuick.Controls 1.2
 import QGroundControl.FactSystem 1.0
 

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
 }
 
 #

qgroundcontrol.qrc

@@ -230,6 +230,7 @@
     </qresource>
     <qresource prefix="/unittest">
         <file alias="MockLink.param">src/qgcunittest/MockLink.param</file>
+        <file alias="FactSystemTest.qml">src/FactSystem/FactSystemTest.qml</file>
     </qresource>
     <qresource prefix="/QLoggingCategory">
         <file alias="qtlogging.ini">files/QLoggingCategory/qtlogging.ini</file>

src/FactSystem/FactSystemTest.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ 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 <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+#include "FactSystemTest.h"
+#include "LinkManager.h"
+#include "MockLink.h"
+#include "AutoPilotPluginManager.h"
+#include "UASManager.h"
+#include "QGCApplication.h"
+#include "QGCQuickWidget.h"
+
+#include <QQuickItem>
+
+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<Fact*>();
+    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<QObject*>("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<Fact*>();
+    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<QVariant> 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<QObject*>("testControl");
+    QVERIFY(control != NULL);
+    QCOMPARE(control->property("text").toInt(), 12);
+}
+

src/FactSystem/FactSystemTest.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ 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 <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+#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

src/FactSystem/FactSystemTest.qml

+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