Add MissionController unit test

QGCApplication.pro

@@ -454,6 +454,8 @@ HEADERS += \
     src/FactSystem/FactSystemTestGeneric.h \
     src/FactSystem/FactSystemTestPX4.h \
     src/MissionItemTest.h \
+    src/MissionManager/MissionControllerTest.h \
+    src/MissionManager/MissionControllerManagerTest.h \
     src/MissionManager/MissionManagerTest.h \
     src/qgcunittest/FileDialogTest.h \
     src/qgcunittest/FileManagerTest.h \
@@ -474,6 +476,8 @@ SOURCES += \
     src/FactSystem/FactSystemTestGeneric.cc \
     src/FactSystem/FactSystemTestPX4.cc \
     src/MissionItemTest.cc \
+    src/MissionManager/MissionControllerTest.cc \
+    src/MissionManager/MissionControllerManagerTest.cc \
     src/MissionManager/MissionManagerTest.cc \
     src/qgcunittest/FileDialogTest.cc \
     src/qgcunittest/FileManagerTest.cc \

src/MissionManager/MissionController.cc

@@ -446,6 +446,13 @@ void MissionController::_activeVehicleChanged(Vehicle* activeVehicle)
 
 void MissionController::_activeVehicleHomePositionAvailableChanged(bool homePositionAvailable)
 {
+    MissionItem* homeItem =  qobject_cast<MissionItem*>(_missionItems->get(0));
+
+    if (homePositionAvailable) {
+        homeItem->setCoordinate(_liveHomePosition);
+    }
+    homeItem->setHomePositionValid(homePositionAvailable);
+
     _liveHomePositionAvailable = homePositionAvailable;
     emit liveHomePositionAvailableChanged(_liveHomePositionAvailable);
 }

src/MissionManager/MissionControllerTest.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/>.
+ 
+ ======================================================================*/
+
+#include "MissionControllerTest.h"
+#include "LinkManager.h"
+#include "MultiVehicleManager.h"
+
+UT_REGISTER_TEST(MissionControllerTest)
+
+MissionControllerTest::MissionControllerTest(void)
+    : _missionController(NULL)
+{
+    
+}
+
+void MissionControllerTest::cleanup(void)
+{
+    delete _missionController;
+
+    MissionControllerManagerTest::cleanup();
+}
+
+void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType)
+{
+    MissionControllerManagerTest::_initForFirmwareType(firmwareType);
+
+    _rgSignals[missionItemsChangedSignalIndex] =                SIGNAL(missionItemsChanged());
+    _rgSignals[waypointLinesChangedSignalIndex] =               SIGNAL(waypointLinesChanged());
+    _rgSignals[liveHomePositionAvailableChangedSignalIndex] =   SIGNAL(liveHomePositionAvailableChanged(bool));
+    _rgSignals[liveHomePositionChangedSignalIndex] =            SIGNAL(liveHomePositionChanged(const QGeoCoordinate&));
+
+    _missionController = new MissionController();
+    Q_CHECK_PTR(_missionController);
+
+    _multiSpy = new MultiSignalSpy();
+    Q_CHECK_PTR(_multiSpy);
+    QCOMPARE(_multiSpy->init(_missionController, _rgSignals, _cSignals), true);
+
+    _missionController->start(false /* editMode */);
+
+    // All signals should some through on start
+    QCOMPARE(_multiSpy->checkOnlySignalByMask(missionItemsChangedSignalMask | waypointLinesChangedSignalMask | liveHomePositionAvailableChangedSignalMask | liveHomePositionChangedSignalMask), true);
+    _multiSpy->clearAllSignals();
+
+    QmlObjectListModel* missionItems = _missionController->missionItems();
+    QVERIFY(missionItems);
+
+    // Empty vehicle only has home position
+    QCOMPARE(missionItems->count(), 1);
+
+    // Home position should be in first slot
+    MissionItem* homeItem = qobject_cast<MissionItem*>(missionItems->get(0));
+    QVERIFY(homeItem);
+    QCOMPARE(homeItem->homePosition(), true);
+
+    // Home should have no children
+    QCOMPARE(homeItem->childItems()->count(), 0);
+
+    // No waypoint lines
+    QmlObjectListModel* waypointLines = _missionController->waypointLines();
+    QVERIFY(waypointLines);
+    QCOMPARE(waypointLines->count(), 0);
+
+    // Should not have home position yet
+    QCOMPARE(_missionController->liveHomePositionAvailable(), false);
+
+    // AutoSync should be off by default
+    QCOMPARE(_missionController->autoSync(), false);
+}
+
+void MissionControllerTest::_testEmptyVehicleWorker(MAV_AUTOPILOT firmwareType)
+{
+    _initForFirmwareType(firmwareType);
+
+    // FYI: A significant amount of empty vehicle testing is in _initForFirmwareType since that
+    // sets up an empty vehicle
+
+    // APM stack doesn't support HOME_POSITION yet
+    bool expectedHomePositionValid = firmwareType == MAV_AUTOPILOT_PX4 ? true : false;
+
+    QmlObjectListModel* missionItems = _missionController->missionItems();
+    QVERIFY(missionItems);
+    MissionItem* homeItem = qobject_cast<MissionItem*>(missionItems->get(0));
+    QVERIFY(homeItem);
+
+    if (expectedHomePositionValid) {
+        // Wait for the home position to show up
+
+        if (!_missionController->liveHomePositionAvailable()) {
+            QVERIFY(_multiSpy->waitForSignalByIndex(liveHomePositionChangedSignalIndex, 2000));
+
+            // Once the home position shows up we get a number of addititional signals
+            QCOMPARE(_multiSpy->checkOnlySignalsByMask(liveHomePositionChangedSignalMask | liveHomePositionAvailableChangedSignalMask | waypointLinesChangedSignalMask), true);
+
+            // These should be signalled once
+            QCOMPARE(_multiSpy->checkSignalByMask(liveHomePositionChangedSignalMask | liveHomePositionAvailableChangedSignalMask), true);
+
+            // Waypoint lines get spit out multiple tiems
+            QCOMPARE(_multiSpy->checkSignalByMask(waypointLinesChangedSignalMask), false);
+
+            _multiSpy->clearAllSignals();
+        }
+    }
+
+    QCOMPARE(homeItem->homePositionValid(), expectedHomePositionValid);
+    QCOMPARE(_missionController->liveHomePositionAvailable(), expectedHomePositionValid);
+    QCOMPARE(_missionController->liveHomePosition().isValid(), expectedHomePositionValid);
+}
+
+void MissionControllerTest::_testEmptyVehiclePX4(void)
+{
+    _testEmptyVehicleWorker(MAV_AUTOPILOT_PX4);
+}
+
+void MissionControllerTest::_testEmptyVehicleAPM(void)
+{
+    _testEmptyVehicleWorker(MAV_AUTOPILOT_ARDUPILOTMEGA);
+}
+
+void MissionControllerTest::_testAddWaypointWorker(MAV_AUTOPILOT firmwareType)
+{
+    _initForFirmwareType(firmwareType);
+
+    QGeoCoordinate coordinate(37.803784, -122.462276);
+
+    _missionController->addMissionItem(coordinate);
+
+    QCOMPARE(_multiSpy->checkOnlySignalsByMask(waypointLinesChangedSignalMask), true);
+
+    QmlObjectListModel* missionItems = _missionController->missionItems();
+    QVERIFY(missionItems);
+
+    QCOMPARE(missionItems->count(), 2);
+
+    MissionItem* homeItem = qobject_cast<MissionItem*>(missionItems->get(0));
+    MissionItem* item = qobject_cast<MissionItem*>(missionItems->get(1));
+    QVERIFY(homeItem);
+    QVERIFY(item);
+
+    QCOMPARE(item->command(), MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF);
+    QCOMPARE(homeItem->childItems()->count(), 0);
+    QCOMPARE(item->childItems()->count(), 0);
+
+    int expectedLineCount;
+    if (homeItem->homePositionValid()) {
+        expectedLineCount = 1;
+    } else {
+        expectedLineCount = 0;
+    }
+
+    QmlObjectListModel* waypointLines = _missionController->waypointLines();
+    QVERIFY(waypointLines);
+    QCOMPARE(waypointLines->count(), expectedLineCount);
+}
+
+void MissionControllerTest::_testAddWayppointAPM(void)
+{
+    _testAddWaypointWorker(MAV_AUTOPILOT_ARDUPILOTMEGA);
+}
+
+
+void MissionControllerTest::_testAddWayppointPX4(void)
+{
+    _testAddWaypointWorker(MAV_AUTOPILOT_PX4);
+}

src/MissionManager/MissionControllerTest.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2015 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/>.
+ 
+ ======================================================================*/
+
+#ifndef MissionControllerTest_H
+#define MissionControllerTest_H
+
+#include "UnitTest.h"
+#include "MockLink.h"
+#include "MissionManager.h"
+#include "MultiSignalSpy.h"
+#include "MissionControllerManagerTest.h"
+#include "MissionController.h"
+
+#include <QGeoCoordinate>
+
+class MissionControllerTest : public MissionControllerManagerTest
+{
+    Q_OBJECT
+    
+public:
+    MissionControllerTest(void);
+
+private slots:
+    void cleanup(void);
+
+    void _testEmptyVehicleAPM(void);
+    void _testEmptyVehiclePX4(void);
+    void _testAddWayppointAPM(void);
+    void _testAddWayppointPX4(void);
+
+private:
+    void _initForFirmwareType(MAV_AUTOPILOT firmwareType);
+    void _testEmptyVehicleWorker(MAV_AUTOPILOT firmwareType);
+    void _testAddWaypointWorker(MAV_AUTOPILOT firmwareType);
+
+    enum {
+        missionItemsChangedSignalIndex = 0,
+        waypointLinesChangedSignalIndex,
+        liveHomePositionAvailableChangedSignalIndex,
+        liveHomePositionChangedSignalIndex,
+        maxSignalIndex
+    };
+
+    enum {
+        missionItemsChangedSignalMask =                 1 << missionItemsChangedSignalIndex,
+        waypointLinesChangedSignalMask =                1 <<  waypointLinesChangedSignalIndex,
+        liveHomePositionAvailableChangedSignalMask =    1 << liveHomePositionAvailableChangedSignalIndex,
+        liveHomePositionChangedSignalMask =             1 << liveHomePositionChangedSignalIndex,
+    };
+
+    MultiSignalSpy*     _multiSpy;
+    static const size_t _cSignals = maxSignalIndex;
+    const char*         _rgSignals[_cSignals];
+
+    MissionController*  _missionController;
+};
+
+#endif

src/MissionManager/MissionManagerTest.h

@@ -28,10 +28,11 @@
 #include "MockLink.h"
 #include "MissionManager.h"
 #include "MultiSignalSpy.h"
+#include "MissionControllerManagerTest.h"
 
 #include <QGeoCoordinate>
 
-class MissionManagerTest : public UnitTest
+class MissionManagerTest : public MissionControllerManagerTest
 {
     Q_OBJECT
     
@@ -39,67 +40,19 @@ public:
     MissionManagerTest(void);
     
 private slots:
-    void cleanup(void);
-    
-    void _testEmptyVehicleAPM(void);
-    void _testEmptyVehiclePX4(void);
     void _testWriteFailureHandlingAPM(void);
     void _testReadFailureHandlingAPM(void);
     void _testWriteFailureHandlingPX4(void);
     void _testReadFailureHandlingPX4(void);
 
 private:
-    void _initForFirmwareType(MAV_AUTOPILOT firmwareType);
-    void _checkInProgressValues(bool inProgress);
     void _roundTripItems(MockLinkMissionItemHandler::FailureMode_t failureMode, MissionManager::ErrorCode_t errorCode, bool failFirstTimeOnly);
     void _writeItems(MockLinkMissionItemHandler::FailureMode_t failureMode, MissionManager::ErrorCode_t errorCode, bool failFirstTimeOnly);
     void _testWriteFailureHandlingWorker(void);
     void _testReadFailureHandlingWorker(void);
-    void _readEmptyVehicleWorker(void);
-    
-    MockLink*       _mockLink;
-    MissionManager* _missionManager;
     
-    enum {
-        canEditChangedSignalIndex = 0,
-        newMissionItemsAvailableSignalIndex,
-        inProgressChangedSignalIndex,
-        errorSignalIndex,
-        maxSignalIndex
-    };
-    
-    enum {
-        canEditChangedSignalMask =              1 << canEditChangedSignalIndex,
-        newMissionItemsAvailableSignalMask =    1 << newMissionItemsAvailableSignalIndex,
-        inProgressChangedSignalMask =           1 << inProgressChangedSignalIndex,
-        errorSignalMask =                       1 << errorSignalIndex,
-    };
-
-    MultiSignalSpy*     _multiSpy;
-    static const size_t _cSignals = maxSignalIndex;
-    const char*         _rgSignals[_cSignals];
-    
-    typedef struct {
-        int            sequenceNumber;
-        QGeoCoordinate coordinate;
-        int            command;
-        double         param1;
-        double         param2;
-        double         param3;
-        double         param4;
-        bool           autocontinue;
-        bool           isCurrentItem;
-        int            frame;
-    } ItemInfo_t;
-    
-    typedef struct {
-        const char*         itemStream;
-        const ItemInfo_t    expectedItem;
-    } TestCase_t;
-
-    static const TestCase_t _rgTestCases[];
-    static const size_t     _cTestCases;
-    static const int        _signalWaitTime = MissionManager::_ackTimeoutMilliseconds * MissionManager::_maxRetryCount * 2;
+    static const MissionControllerManagerTest::TestCase_t   _rgTestCases[];
+    static const size_t                                     _cTestCases;
 };
 
 #endif