Merge pull request #5006 from DonLakeFlyer/UTPlusFixes

Big investment in Plan oriented unit tests

qgroundcontrol.pro

@@ -384,13 +384,17 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory  { APMFirmwarePlugin {
         src/FactSystem/FactSystemTestGeneric.h \
         src/FactSystem/FactSystemTestPX4.h \
         src/FactSystem/ParameterManagerTest.h \
-        src/MissionManager/SurveyMissionItemTest.h \
+        src/MissionManager/CameraSectionTest.h \
         src/MissionManager/MissionCommandTreeTest.h \
         src/MissionManager/MissionControllerManagerTest.h \
         src/MissionManager/MissionControllerTest.h \
         src/MissionManager/MissionItemTest.h \
         src/MissionManager/MissionManagerTest.h \
+        src/MissionManager/SectionTest.h \
         src/MissionManager/SimpleMissionItemTest.h \
+        src/MissionManager/SpeedSectionTest.h \
+        src/MissionManager/SurveyMissionItemTest.h \
+        src/MissionManager/VisualMissionItemTest.h \
         src/qgcunittest/FileDialogTest.h \
         src/qgcunittest/FileManagerTest.h \
         src/qgcunittest/FlightGearTest.h \
@@ -412,13 +416,17 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory  { APMFirmwarePlugin {
         src/FactSystem/FactSystemTestGeneric.cc \
         src/FactSystem/FactSystemTestPX4.cc \
         src/FactSystem/ParameterManagerTest.cc \
-        src/MissionManager/SurveyMissionItemTest.cc \
+        src/MissionManager/CameraSectionTest.cc \
         src/MissionManager/MissionCommandTreeTest.cc \
         src/MissionManager/MissionControllerManagerTest.cc \
         src/MissionManager/MissionControllerTest.cc \
         src/MissionManager/MissionItemTest.cc \
         src/MissionManager/MissionManagerTest.cc \
+        src/MissionManager/SectionTest.cc \
         src/MissionManager/SimpleMissionItemTest.cc \
+        src/MissionManager/SpeedSectionTest.cc \
+        src/MissionManager/SurveyMissionItemTest.cc \
+        src/MissionManager/VisualMissionItemTest.cc \
         src/qgcunittest/FileDialogTest.cc \
         src/qgcunittest/FileManagerTest.cc \
         src/qgcunittest/FlightGearTest.cc \

src/MissionManager/CameraSection.cc

@@ -48,13 +48,14 @@ CameraSection::CameraSection(Vehicle* vehicle, QObject* parent)
     _cameraPhotoIntervalDistanceFact.setRawValue    (_cameraPhotoIntervalDistanceFact.rawDefaultValue());
     _cameraPhotoIntervalTimeFact.setRawValue        (_cameraPhotoIntervalTimeFact.rawDefaultValue());
 
-    connect(this,               &CameraSection::specifyGimbalChanged,   this, &CameraSection::_setDirtyAndUpdateItemCount);
-    connect(&_cameraActionFact, &Fact::valueChanged,                    this, &CameraSection::_setDirtyAndUpdateItemCount);
+    connect(this,               &CameraSection::specifyGimbalChanged,   this, &CameraSection::_specifyGimbalChanged);
+    connect(&_cameraActionFact, &Fact::valueChanged,                    this, &CameraSection::_cameraActionChanged);
 
-    connect(&_gimbalPitchFact,                  &Fact::valueChanged, this, &CameraSection::_setDirty);
-    connect(&_gimbalYawFact,                    &Fact::valueChanged, this, &CameraSection::_setDirty);
-    connect(&_cameraPhotoIntervalDistanceFact,  &Fact::valueChanged, this, &CameraSection::_setDirty);
-    connect(&_cameraPhotoIntervalTimeFact,      &Fact::valueChanged, this, &CameraSection::_setDirty);
+    connect(&_gimbalPitchFact,                  &Fact::valueChanged,                    this, &CameraSection::_setDirty);
+    connect(&_gimbalYawFact,                    &Fact::valueChanged,                    this, &CameraSection::_setDirty);
+    connect(&_cameraPhotoIntervalDistanceFact,  &Fact::valueChanged,                    this, &CameraSection::_setDirty);
+    connect(&_cameraPhotoIntervalTimeFact,      &Fact::valueChanged,                    this, &CameraSection::_setDirty);
+    connect(this,                               &CameraSection::specifyGimbalChanged,   this, &CameraSection::_setDirty);
 
     connect(&_gimbalYawFact,                    &Fact::valueChanged, this, &CameraSection::_updateSpecifiedGimbalYaw);
 }
@@ -188,7 +189,7 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss
     }
 }
 
-bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int& scanIndex)
+bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int scanIndex)
 {
     bool foundGimbal = false;
     bool foundCameraAction = false;
@@ -218,7 +219,6 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int& scanInd
         case MAV_CMD_DO_MOUNT_CONTROL:
             if (!foundGimbal && missionItem.param2() == 0 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == MAV_MOUNT_MODE_MAVLINK_TARGETING) {
                 foundGimbal = true;
-                scanIndex++;
                 setSpecifyGimbal(true);
                 gimbalPitch()->setRawValue(missionItem.param1());
                 gimbalYaw()->setRawValue(missionItem.param3());
@@ -231,7 +231,6 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int& scanInd
         case MAV_CMD_IMAGE_START_CAPTURE:
             if (!foundCameraAction && missionItem.param1() != 0 && missionItem.param2() == 0 && missionItem.param3() == -1 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
                 foundCameraAction = true;
-                scanIndex++;
                 cameraAction()->setRawValue(TakePhotosIntervalTime);
                 cameraPhotoIntervalTime()->setRawValue(missionItem.param1());
                 visualItems->removeAt(scanIndex)->deleteLater();
@@ -251,7 +250,6 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int& scanInd
                         if (nextMissionItem.command() == MAV_CMD_IMAGE_STOP_CAPTURE && nextMissionItem.param1() == 0 && nextMissionItem.param2() == 0 && nextMissionItem.param3() == 0 && nextMissionItem.param4() == 0 && nextMissionItem.param5() == 0 && nextMissionItem.param6() == 0 && nextMissionItem.param7() == 0) {
                             // We found a stop taking photos pair
                             foundCameraAction = true;
-                            scanIndex += 2;
                             cameraAction()->setRawValue(StopTakingPhotos);
                             visualItems->removeAt(scanIndex)->deleteLater();
                             visualItems->removeAt(scanIndex)->deleteLater();
@@ -264,7 +262,6 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int& scanInd
                 // We didn't find a stop taking photos pair, check for trigger distance
                 if (missionItem.param1() > 0) {
                     foundCameraAction = true;
-                    scanIndex++;
                     cameraAction()->setRawValue(TakePhotoIntervalDistance);
                     cameraPhotoIntervalDistance()->setRawValue(missionItem.param1());
                     visualItems->removeAt(scanIndex)->deleteLater();
@@ -278,7 +275,6 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int& scanInd
         case MAV_CMD_VIDEO_START_CAPTURE:
             if (!foundCameraAction && missionItem.param1() == 0 && missionItem.param2() == -1 && missionItem.param3() == -1 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
                 foundCameraAction = true;
-                scanIndex++;
                 cameraAction()->setRawValue(TakeVideo);
                 visualItems->removeAt(scanIndex)->deleteLater();
             }
@@ -288,7 +284,6 @@ bool CameraSection::scanForSection(QmlObjectListModel* visualItems, int& scanInd
         case MAV_CMD_VIDEO_STOP_CAPTURE:
             if (!foundCameraAction && missionItem.param1() == 0 && missionItem.param2() == 0 && missionItem.param3() == 0 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
                 foundCameraAction = true;
-                scanIndex++;
                 cameraAction()->setRawValue(StopTakingVideo);
                 visualItems->removeAt(scanIndex)->deleteLater();
             }
@@ -337,3 +332,25 @@ void CameraSection::_updateSpecifiedGimbalYaw(void)
 {
     emit specifiedGimbalYawChanged(specifiedGimbalYaw());
 }
+
+void CameraSection::_updateSettingsSpecified(void)
+{
+    bool newSettingsSpecified = _specifyGimbal || _cameraActionFact.rawValue().toInt() != CameraActionNone;
+    if (newSettingsSpecified != _settingsSpecified) {
+        _settingsSpecified = newSettingsSpecified;
+        emit settingsSpecifiedChanged(newSettingsSpecified);
+    }
+}
+
+void CameraSection::_specifyGimbalChanged(bool specifyGimbal)
+{
+    Q_UNUSED(specifyGimbal);
+    _setDirtyAndUpdateItemCount();
+    _updateSettingsSpecified();
+}
+
+void CameraSection::_cameraActionChanged(void)
+{
+    _setDirtyAndUpdateItemCount();
+    _updateSettingsSpecified();
+}

src/MissionManager/CameraSection.h

@@ -56,7 +56,7 @@ public:
     bool dirty              (void) const override { return _dirty; }
     void setAvailable       (bool available) override;
     void setDirty           (bool dirty) override;
-    bool scanForSection     (QmlObjectListModel* visualItems, int& scanIndex) override;
+    bool scanForSection     (QmlObjectListModel* visualItems, int scanIndex) override;
     void appendSectionItems (QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum) override;
     int  itemCount          (void) const override;
     bool settingsSpecified  (void) const override {return _settingsSpecified; }
@@ -69,6 +69,9 @@ private slots:
     void _setDirty(void);
     void _setDirtyAndUpdateItemCount(void);
     void _updateSpecifiedGimbalYaw(void);
+    void _specifyGimbalChanged(bool specifyGimbal);
+    void _updateSettingsSpecified(void);
+    void _cameraActionChanged(void);
 
 private:
     bool    _available;

src/MissionManager/CameraSectionTest.h

+/****************************************************************************
+ *
+ *   (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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "SectionTest.h"
+#include "CameraSection.h"
+
+/// Unit test for CameraSection
+class CameraSectionTest : public SectionTest
+{
+    Q_OBJECT
+    
+public:
+    CameraSectionTest(void);
+
+    void init(void) override;
+    void cleanup(void) override;
+
+private slots:
+    void _testDirty(void);
+    void _testSettingsAvailable(void);
+    void _checkAvailable(void);
+    void _testItemCount(void);
+    void _testAppendSectionItems(void);
+    void _testScanForGimbalSection(void);
+    void _testScanForPhotoIntervalTimeSection(void);
+    void _testScanForPhotoIntervalDistanceSection(void);
+    void _testScanForStartVideoSection(void);
+    void _testScanForStopVideoSection(void);
+    void _testScanForStopImageSection(void);
+    void _testScanForFullSection(void);
+
+private:
+    void _createSpy(CameraSection* cameraSection, MultiSignalSpy** cameraSpy);
+
+    enum {
+        specifyGimbalChangedIndex = 0,
+        specifiedGimbalYawChangedIndex,
+        maxSignalIndex,
+    };
+
+    enum {
+        specifyGimbalChangedMask =      1 << specifyGimbalChangedIndex,
+        specifiedGimbalYawChangedMask = 1 << specifiedGimbalYawChangedIndex
+    };
+
+    static const size_t cCameraSignals = maxSignalIndex;
+    const char*         rgCameraSignals[cCameraSignals];
+
+    MultiSignalSpy*     _spyCamera;
+    MultiSignalSpy*     _spySection;
+    CameraSection*      _cameraSection;
+    SimpleMissionItem*  _validGimbalItem;
+    SimpleMissionItem*  _validDistanceItem;
+    SimpleMissionItem*  _validTimeItem;
+    SimpleMissionItem*  _validStartVideoItem;
+    SimpleMissionItem*  _validStopVideoItem;
+    SimpleMissionItem*  _validStopDistanceItem;
+    SimpleMissionItem*  _validStopTimeItem;
+};

src/MissionManager/MissionController.cc

@@ -1543,7 +1543,9 @@ void MissionController::_scanForAdditionalSettings(QmlObjectListModel* visualIte
         qCDebug(MissionControllerLog) << "MissionController::_scanForAdditionalSettings count:scanIndex" << visualItems->count() << scanIndex;
 
         MissionSettingsItem* settingsItem = qobject_cast<MissionSettingsItem*>(visualItem);
-        if (settingsItem && settingsItem->scanForMissionSettings(visualItems, scanIndex)) {
+        if (settingsItem) {
+            scanIndex++;
+            settingsItem->scanForMissionSettings(visualItems, scanIndex);
             continue;
         }
 

src/MissionManager/MissionSettingsItem.cc

@@ -43,11 +43,12 @@ MissionSettingsItem::MissionSettingsItem(Vehicle* vehicle, QObject* parent)
     }
 
     _plannedHomePositionAltitudeFact.setMetaData    (_metaDataMap[_plannedHomePositionAltitudeName]);
-
     _plannedHomePositionAltitudeFact.setRawValue    (_plannedHomePositionAltitudeFact.rawDefaultValue());
-
     setHomePositionSpecialCase(true);
 
+    _cameraSection.setAvailable(true);
+    _speedSection.setAvailable(true);
+
     connect(this,               &MissionSettingsItem::specifyMissionFlightSpeedChanged, this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
     connect(this,               &MissionSettingsItem::missionEndRTLChanged,             this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
     connect(&_cameraSection,    &CameraSection::itemCountChanged,                       this, &MissionSettingsItem::_setDirtyAndUpdateLastSequenceNumber);
@@ -184,17 +185,9 @@ bool MissionSettingsItem::scanForMissionSettings(QmlObjectListModel* visualItems
 
     qCDebug(MissionSettingsComplexItemLog) << "MissionSettingsItem::scanForMissionSettings count:scanIndex" << visualItems->count() << scanIndex;
 
-    MissionSettingsItem* settingsItem = visualItems->value<MissionSettingsItem*>(scanIndex);
-    if (!settingsItem) {
-        qWarning() << "Item specified by scanIndex not MissionSettingsItem";
-        return false;
-    }
-
     // Scan through the initial mission items for possible mission settings
-
-    scanIndex++;
-    foundCameraSection = settingsItem->_cameraSection.scanForSection(visualItems, scanIndex);
-    foundSpeedSection = settingsItem->_speedSection.scanForSection(visualItems, scanIndex);
+    foundCameraSection = _cameraSection.scanForSection(visualItems, scanIndex);
+    foundSpeedSection = _speedSection.scanForSection(visualItems, scanIndex);
 
     // Look at the end of the mission for end actions
 
@@ -206,7 +199,7 @@ bool MissionSettingsItem::scanForMissionSettings(QmlObjectListModel* visualItems
         if (missionItem.command() == MAV_CMD_NAV_RETURN_TO_LAUNCH &&
                 missionItem.param1() == 0 && missionItem.param2() == 0 && missionItem.param3() == 0 && missionItem.param4() == 0 && missionItem.param5() == 0 && missionItem.param6() == 0 && missionItem.param7() == 0) {
             qCDebug(MissionSettingsComplexItemLog) << "Scan: Found end action RTL";
-            settingsItem->_missionEndRTL = true;
+            _missionEndRTL = true;
             visualItems->removeAt(lastIndex)->deleteLater();
         }
     }

src/MissionManager/MissionSettingsItem.h

@@ -37,7 +37,7 @@ public:
     QObject* speedSection(void) { return &_speedSection; }
 
     /// Scans the loaded items for settings items
-    static bool scanForMissionSettings(QmlObjectListModel* visualItems, int scanIndex);
+    bool scanForMissionSettings(QmlObjectListModel* visualItems, int scanIndex);
 
     /// Adds the optional mission end action to the list
     ///     @param items Mission items list to append to

src/MissionManager/Section.h

@@ -41,9 +41,9 @@ public:
 
     /// Scans the loaded items for the section items
     ///     @param visualItems Item list
-    ///     @param scanIndex[in,out] Index to start scanning from
+    ///     @param scanIndex Index to start scanning from
     /// @return true: section found, items added, scanIndex updated
-    virtual bool scanForSection(QmlObjectListModel* visualItems, int& scanIndex) = 0;
+    virtual bool scanForSection(QmlObjectListModel* visualItems, int scanIndex) = 0;
 
     /// Appends the mission items associated with this section
     ///     @param items List to append to

src/MissionManager/SectionTest.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 "SectionTest.h"
+#include "SurveyMissionItem.h"
+
+SectionTest::SectionTest(void)
+    : _simpleItem(NULL)
+{
+    
+}
+
+void SectionTest::init(void)
+{
+    VisualMissionItemTest::init();
+
+    rgSectionSignals[availableChangedIndex] =           SIGNAL(availableChanged(bool));
+    rgSectionSignals[settingsSpecifiedChangedIndex] =   SIGNAL(settingsSpecifiedChanged(bool));
+    rgSectionSignals[dirtyChangedIndex] =               SIGNAL(dirtyChanged(bool));
+    rgSectionSignals[itemCountChangedIndex] =           SIGNAL(itemCountChanged(int));
+
+    MissionItem missionItem(1,              // sequence number
+                            MAV_CMD_NAV_WAYPOINT,
+                            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
+    _simpleItem = new SimpleMissionItem(_offlineVehicle, missionItem);
+}
+
+void SectionTest::cleanup(void)
+{
+    delete _simpleItem;
+    VisualMissionItemTest::cleanup();
+}
+
+void SectionTest::_createSpy(Section* section, MultiSignalSpy** sectionSpy)
+{
+    *sectionSpy = NULL;
+    MultiSignalSpy* spy = new MultiSignalSpy();
+    QCOMPARE(spy->init(section, rgSectionSignals, cSectionSignals), true);
+    *sectionSpy = spy;
+}
+
+void SectionTest::_missionItemsEqual(MissionItem& item1, MissionItem& item2)
+{
+    QCOMPARE(item1.command(),           item2.command());
+    QCOMPARE(item1.frame(),             item2.frame());
+    QCOMPARE(item1.autoContinue(),      item2.autoContinue());
+    QCOMPARE(item1.param1(),            item2.param1());
+    QCOMPARE(item1.param2(),            item2.param2());
+    QCOMPARE(item1.param3(),            item2.param3());
+    QCOMPARE(item1.param4(),            item2.param4());
+    QCOMPARE(item1.param5(),            item2.param5());
+    QCOMPARE(item1.param6(),            item2.param6());
+    QCOMPARE(item1.param7(),            item2.param7());
+}
+
+void SectionTest::_commonScanTest(Section* section)
+{
+    QCOMPARE(section->available(), true);
+
+    QmlObjectListModel emptyVisualItems;
+
+    QmlObjectListModel waypointVisualItems;
+    MissionItem waypointItem(0, MAV_CMD_NAV_WAYPOINT, MAV_FRAME_GLOBAL_RELATIVE_ALT, 0, 0, 0, 0, 0, 0, 0, true, false);
+    SimpleMissionItem simpleItem(_offlineVehicle, waypointItem);
+    waypointVisualItems.append(&simpleItem);
+    waypointVisualItems.append(&simpleItem);
+    waypointVisualItems.append(&simpleItem);
+
+    QmlObjectListModel complexVisualItems;
+    SurveyMissionItem surveyItem(_offlineVehicle);
+    complexVisualItems.append(&surveyItem);
+
+    // This tests the common cases which should not lead to scan succeess
+
+    int scanIndex = 0;
+    QCOMPARE(section->scanForSection(&emptyVisualItems, scanIndex), false);
+    QCOMPARE(scanIndex, 0);
+
+    scanIndex = 0;
+    QCOMPARE(section->scanForSection(&waypointVisualItems, scanIndex), false);
+    QCOMPARE(scanIndex, 0);
+
+    scanIndex = 0;
+    QCOMPARE(section->scanForSection(&complexVisualItems, scanIndex), false);
+    QCOMPARE(scanIndex, 0);
+}

src/MissionManager/SectionTest.h

+/****************************************************************************
+ *
+ *   (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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "VisualMissionItemTest.h"
+#include "SimpleMissionItemTest.h"
+
+/// Unit test for Sections
+class SectionTest : public VisualMissionItemTest
+{
+    Q_OBJECT
+    
+public:
+    SectionTest(void);
+
+    void init(void) override;
+    void cleanup(void) override;
+
+protected:
+    void _createSpy(Section* section, MultiSignalSpy** sectionSpy);
+    void _missionItemsEqual(MissionItem& item1, MissionItem& item2);
+    void _commonScanTest(Section* section);
+
+    enum {
+        availableChangedIndex = 0,
+        settingsSpecifiedChangedIndex,
+        dirtyChangedIndex,
+        itemCountChangedIndex,
+        maxSignalIndex,
+    };
+
+    enum {
+        availableChangedMask =          1 << availableChangedIndex,
+        settingsSpecifiedChangedMask =  1 << settingsSpecifiedChangedIndex,
+        dirtyChangedMask =              1 << dirtyChangedIndex,
+        itemCountChangedMask =          1 << itemCountChangedIndex
+    };
+
+    static const size_t cSectionSignals = maxSignalIndex;
+    const char*         rgSectionSignals[cSectionSignals];
+
+    SimpleMissionItem*  _simpleItem;
+};

src/MissionManager/SimpleMissionItem.cc

@@ -560,7 +560,10 @@ void SimpleMissionItem::setDirty(bool dirty)
 {
     if (!_homePositionSpecialCase || (_dirty != dirty)) {
         _dirty = dirty;
-        _cameraSection->setDirty(false);
+        if (!dirty) {
+            _cameraSection->setDirty(false);
+            _speedSection->setDirty(false);
+        }
         emit dirtyChanged(dirty);
     }
 }
@@ -690,7 +693,7 @@ double SimpleMissionItem::specifiedGimbalYaw(void)
     return _cameraSection->available() ? _cameraSection->specifiedGimbalYaw() : missionItem().specifiedGimbalYaw();
 }
 
-bool SimpleMissionItem::scanForSections(QmlObjectListModel* visualItems, int& scanIndex, Vehicle* vehicle)
+bool SimpleMissionItem::scanForSections(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicle)
 {
     bool sectionFound = false;
 

src/MissionManager/SimpleMissionItem.h

@@ -52,7 +52,7 @@ public:
     ///     @param scanIndex Index to start scanning from
     ///     @param vehicle Vehicle associated with this mission
     /// @return true: section found, scanIndex updated
-    bool scanForSections(QmlObjectListModel* visualItems, int& scanIndex, Vehicle* vehicle);
+    bool scanForSections(QmlObjectListModel* visualItems, int scanIndex, Vehicle* vehicle);
 
     // Property accesors
     

src/MissionManager/SimpleMissionItemTest.h

@@ -7,18 +7,13 @@
  *
  ****************************************************************************/
 
+#pragma once
 
-#ifndef SimpleMissionItemTest_H
-#define SimpleMissionItemTest_H
-
-#include "UnitTest.h"
-#include "TCPLink.h"
-#include "MultiSignalSpy.h"
-
-#include <QGeoCoordinate>
+#include "VisualMissionItemTest.h"
+#include "SimpleMissionItem.h"
 
 /// Unit test for SimpleMissionItem
-class SimpleMissionItemTest : public UnitTest
+class SimpleMissionItemTest : public VisualMissionItemTest
 {
     Q_OBJECT
     
@@ -30,10 +25,34 @@ public:
 
 private slots:
     void _testSignals(void);
+    void _testCameraSectionSignals(void);
     void _testEditorFacts(void);
     void _testDefaultValues(void);
     
 private:
+    enum {
+        commandChangedIndex = 0,
+        frameChangedIndex,
+        friendlyEditAllowedChangedIndex,
+        headingDegreesChangedIndex,
+        rawEditChangedIndex,
+        cameraSectionChangedIndex,
+        speedSectionChangedIndex,
+        maxSignalIndex,
+    };
+
+    enum {
+        commandChangedMask =                1 << commandChangedIndex,
+        frameChangedMask =                  1 << frameChangedIndex,
+        friendlyEditAllowedChangedMask =    1 << friendlyEditAllowedChangedIndex,
+        headingDegreesChangedMask =         1 << headingDegreesChangedIndex,
+        rawEditChangedMask =                1 << rawEditChangedIndex,
+        cameraSectionChangedMask =          1 << cameraSectionChangedIndex,
+        speedSectionChangedMask =           1 << speedSectionChangedIndex
+    };
+
+    static const size_t cSimpleItemSignals = maxSignalIndex;
+    const char*         rgSimpleItemSignals[cSimpleItemSignals];
 
     typedef struct {
         MAV_CMD        command;
@@ -51,7 +70,9 @@ private:
         bool                relativeAltCheckbox;
     } ItemExpected_t;
 
-    Vehicle*    _offlineVehicle;
+    SimpleMissionItem*  _simpleItem;
+    MultiSignalSpy*     _spySimpleItem;
+    MultiSignalSpy*     _spyVisualItem;
 
     static const ItemInfo_t     _rgItemInfo[];
     static const ItemExpected_t _rgItemExpected[];
@@ -64,5 +85,3 @@ private:
     static const FactValue_t    _rgFactValuesConditionDelay[];
     static const FactValue_t    _rgFactValuesDoJump[];
 };
-
-#endif

src/MissionManager/SpeedSection.cc

@@ -41,7 +41,6 @@ SpeedSection::SpeedSection(Vehicle* vehicle, QObject* parent)
     _flightSpeedFact.setMetaData(_metaDataMap[_flightSpeedName]);
     _flightSpeedFact.setRawValue(flightSpeed);
 
-    connect(this,               &SpeedSection::specifyFlightSpeedChanged,  this, &SpeedSection::_setDirtyAndUpdateItemCount);
     connect(this,               &SpeedSection::specifyFlightSpeedChanged,  this, &SpeedSection::settingsSpecifiedChanged);
     connect(&_flightSpeedFact,  &Fact::valueChanged,                       this, &SpeedSection::_setDirty);
 }
@@ -66,12 +65,6 @@ void SpeedSection::_setDirty(void)
     setDirty(true);
 }
 
-void SpeedSection::_setDirtyAndUpdateItemCount(void)
-{
-    setDirty(true);
-    emit itemCountChanged(itemCount());
-}
-
 void SpeedSection::setDirty(bool dirty)
 {
     if (_dirty != dirty) {
@@ -85,6 +78,8 @@ void SpeedSection::setSpecifyFlightSpeed(bool specifyFlightSpeed)
     if (specifyFlightSpeed != _specifyFlightSpeed) {
         _specifyFlightSpeed = specifyFlightSpeed;
         emit specifyFlightSpeedChanged(specifyFlightSpeed);
+        setDirty(true);
+        emit itemCountChanged(itemCount());
     }
 }
 
@@ -113,7 +108,7 @@ void SpeedSection::appendSectionItems(QList<MissionItem*>& items, QObject* missi
     }
 }
 
-bool SpeedSection::scanForSection(QmlObjectListModel* visualItems, int& scanIndex)
+bool SpeedSection::scanForSection(QmlObjectListModel* visualItems, int scanIndex)
 {
     if (!_available || scanIndex >= visualItems->count()) {
         return false;
@@ -137,7 +132,6 @@ bool SpeedSection::scanForSection(QmlObjectListModel* visualItems, int& scanInde
         visualItems->removeAt(scanIndex)->deleteLater();
         _flightSpeedFact.setRawValue(missionItem.param2());
         setSpecifyFlightSpeed(true);
-        scanIndex++;
         return true;
     }
 

src/MissionManager/SpeedSection.h

@@ -32,7 +32,7 @@ public:
     bool dirty              (void) const override { return _dirty; }
     void setAvailable       (bool available) override;
     void setDirty           (bool dirty) override;
-    bool scanForSection     (QmlObjectListModel* visualItems, int& scanIndex) override;
+    bool scanForSection     (QmlObjectListModel* visualItems, int scanIndex) override;
     void appendSectionItems (QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum) override;
     int  itemCount          (void) const override;
     bool settingsSpecified  (void) const override;
@@ -42,13 +42,12 @@ signals:
 
 private slots:
     void _setDirty(void);
-    void _setDirtyAndUpdateItemCount(void);
 
 private:
-    bool        _available;
-    bool        _dirty;
-    bool        _specifyFlightSpeed;
-    Fact        _flightSpeedFact;
+    bool    _available;
+    bool    _dirty;
+    bool    _specifyFlightSpeed;
+    Fact    _flightSpeedFact;
 
     static QMap<QString, FactMetaData*> _metaDataMap;
 

src/MissionManager/SpeedSectionTest.h

+/****************************************************************************
+ *
+ *   (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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "SectionTest.h"
+#include "SpeedSection.h"
+
+/// Unit test for CameraSection
+class SpeedSectionTest : public SectionTest
+{
+    Q_OBJECT
+    
+public:
+    SpeedSectionTest(void);
+
+    void init(void) override;
+    void cleanup(void) override;
+
+private slots:
+    void _testDirty(void);
+    void _testSettingsAvailable(void);
+    void _checkAvailable(void);
+    void _testItemCount(void);
+    void _testAppendSectionItems(void);
+    void _testScanForSection(void);
+
+private:
+    void _createSpy(SpeedSection* speedSection, MultiSignalSpy** speedSpy);
+
+    enum {
+        specifyFlightSpeedChangedIndex = 0,
+        maxSignalIndex,
+    };
+
+    enum {
+        specifyFlightSpeedChangedMask = 1 << specifyFlightSpeedChangedIndex
+    };
+
+    static const size_t cSpeedSignals = maxSignalIndex;
+    const char*         rgSpeedSignals[cSpeedSignals];
+
+    MultiSignalSpy* _spySpeed;
+    MultiSignalSpy* _spySection;
+    SpeedSection*   _speedSection;
+};

src/MissionManager/VisualMissionItemTest.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 "VisualMissionItemTest.h"
+#include "SimpleMissionItem.h"
+#include "QGCApplication.h"
+
+VisualMissionItemTest::VisualMissionItemTest(void)
+    : _offlineVehicle(NULL)
+{
+    
+}
+
+void VisualMissionItemTest::init(void)
+{
+    UnitTest::init();
+    _offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4,
+                                  MAV_TYPE_QUADROTOR,
+                                  qgcApp()->toolbox()->firmwarePluginManager(),
+                                  this);
+
+    rgVisualItemSignals[altDifferenceChangedIndex] =                        SIGNAL(altDifferenceChanged(double));
+    rgVisualItemSignals[altPercentChangedIndex] =                           SIGNAL(altPercentChanged(double));
+    rgVisualItemSignals[azimuthChangedIndex] =                              SIGNAL(azimuthChanged(double));
+    rgVisualItemSignals[commandDescriptionChangedIndex] =                   SIGNAL(commandDescriptionChanged());
+    rgVisualItemSignals[commandNameChangedIndex] =                          SIGNAL(commandNameChanged());
+    rgVisualItemSignals[abbreviationChangedIndex] =                         SIGNAL(abbreviationChanged());
+    rgVisualItemSignals[coordinateChangedIndex] =                           SIGNAL(coordinateChanged(const QGeoCoordinate&));
+    rgVisualItemSignals[exitCoordinateChangedIndex] =                       SIGNAL(exitCoordinateChanged(const QGeoCoordinate&));
+    rgVisualItemSignals[dirtyChangedIndex] =                                SIGNAL(dirtyChanged(bool));
+    rgVisualItemSignals[distanceChangedIndex] =                             SIGNAL(distanceChanged(double));
+    rgVisualItemSignals[isCurrentItemChangedIndex] =                        SIGNAL(isCurrentItemChanged(bool));
+    rgVisualItemSignals[sequenceNumberChangedIndex] =                       SIGNAL(sequenceNumberChanged(int));
+    rgVisualItemSignals[isSimpleItemChangedIndex] =                         SIGNAL(isSimpleItemChanged(bool));
+    rgVisualItemSignals[specifiesCoordinateChangedIndex] =                  SIGNAL(specifiesCoordinateChanged());
+    rgVisualItemSignals[isStandaloneCoordinateChangedIndex] =               SIGNAL(isStandaloneCoordinateChanged());
+    rgVisualItemSignals[specifiesAltitudeOnlyChangedIndex] =                SIGNAL(specifiesAltitudeOnlyChanged());
+    rgVisualItemSignals[specifiedFlightSpeedChangedIndex] =                 SIGNAL(specifiedFlightSpeedChanged());
+    rgVisualItemSignals[specifiedGimbalYawChangedIndex] =                   SIGNAL(specifiedGimbalYawChanged());
+    rgVisualItemSignals[lastSequenceNumberChangedIndex] =                   SIGNAL(lastSequenceNumberChanged(int));
+    rgVisualItemSignals[missionGimbalYawChangedIndex] =                     SIGNAL(missionGimbalYawChanged(double));
+    rgVisualItemSignals[missionVehicleYawChangedIndex] =                    SIGNAL(missionVehicleYawChanged(double));
+    rgVisualItemSignals[coordinateHasRelativeAltitudeChangedIndex] =        SIGNAL(coordinateHasRelativeAltitudeChanged(bool));
+    rgVisualItemSignals[exitCoordinateHasRelativeAltitudeChangedIndex] =    SIGNAL(exitCoordinateHasRelativeAltitudeChanged(bool));
+    rgVisualItemSignals[exitCoordinateSameAsEntryChangedIndex] =            SIGNAL(exitCoordinateSameAsEntryChanged(bool));
+}
+
+void VisualMissionItemTest::cleanup(void)
+{
+    delete _offlineVehicle;
+    UnitTest::cleanup();
+}

src/MissionManager/VisualMissionItemTest.h

+/****************************************************************************
+ *
+ *   (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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "UnitTest.h"
+#include "TCPLink.h"
+#include "MultiSignalSpy.h"
+
+#include <QGeoCoordinate>
+
+/// Unit test for SimpleMissionItem
+class VisualMissionItemTest : public UnitTest
+{
+    Q_OBJECT
+    
+public:
+    VisualMissionItemTest(void);
+
+    void init(void) override;
+    void cleanup(void) override;
+
+protected:
+    enum {
+        altDifferenceChangedIndex = 0,
+        altPercentChangedIndex,
+        azimuthChangedIndex,
+        commandDescriptionChangedIndex,
+        commandNameChangedIndex,
+        abbreviationChangedIndex,
+        coordinateChangedIndex,
+        exitCoordinateChangedIndex,
+        dirtyChangedIndex,
+        distanceChangedIndex,
+        isCurrentItemChangedIndex,
+        sequenceNumberChangedIndex,
+        isSimpleItemChangedIndex,
+        specifiesCoordinateChangedIndex,
+        isStandaloneCoordinateChangedIndex,
+        specifiesAltitudeOnlyChangedIndex,
+        specifiedFlightSpeedChangedIndex,
+        specifiedGimbalYawChangedIndex,
+        lastSequenceNumberChangedIndex,
+        missionGimbalYawChangedIndex,
+        missionVehicleYawChangedIndex,
+        coordinateHasRelativeAltitudeChangedIndex,
+        exitCoordinateHasRelativeAltitudeChangedIndex,
+        exitCoordinateSameAsEntryChangedIndex,
+        maxSignalIndex,
+    };
+
+    enum {
+        altDifferenceChangedMask =                      1 << altDifferenceChangedIndex,
+        altPercentChangedMask =                         1 << altPercentChangedIndex,
+        azimuthChangedMask =                            1 << azimuthChangedIndex,
+        commandDescriptionChangedMask =                 1 << commandDescriptionChangedIndex,
+        commandNameChangedMask =                        1 << commandNameChangedIndex,
+        abbreviationChangedMask =                       1 << abbreviationChangedIndex,
+        coordinateChangedMask =                         1 << coordinateChangedIndex,
+        exitCoordinateChangedMask =                     1 << exitCoordinateChangedIndex,
+        dirtyChangedMask =                              1 << dirtyChangedIndex,
+        distanceChangedMask =                           1 << distanceChangedIndex,
+        isCurrentItemChangedMask =                      1 << isCurrentItemChangedIndex,
+        sequenceNumberChangedMask =                     1 << sequenceNumberChangedIndex,
+        isSimpleItemChangedMask =                       1 << isSimpleItemChangedIndex,
+        specifiesCoordinateChangedMask =                1 << specifiesCoordinateChangedIndex,
+        isStandaloneCoordinateChangedMask =             1 << isStandaloneCoordinateChangedIndex,
+        specifiesAltitudeOnlyChangedMask =              1 << specifiesAltitudeOnlyChangedIndex,
+        specifiedFlightSpeedChangedMask =               1 << specifiedFlightSpeedChangedIndex,
+        specifiedGimbalYawChangedMask =                 1 << specifiedGimbalYawChangedIndex,
+        lastSequenceNumberChangedMask =                 1 << lastSequenceNumberChangedIndex,
+        missionGimbalYawChangedMask =                   1 << missionGimbalYawChangedIndex,
+        missionVehicleYawChangedMask =                  1 << missionVehicleYawChangedIndex,
+        coordinateHasRelativeAltitudeChangedMask =      1 << coordinateHasRelativeAltitudeChangedIndex,
+        exitCoordinateHasRelativeAltitudeChangedMask =  1 << exitCoordinateHasRelativeAltitudeChangedIndex,
+        exitCoordinateSameAsEntryChangedMask =          1 << exitCoordinateSameAsEntryChangedIndex,
+    };
+
+    static const size_t cVisualItemSignals = maxSignalIndex;
+    const char*         rgVisualItemSignals[cVisualItemSignals];
+
+    Vehicle*        _offlineVehicle;
+};

src/qgcunittest/UnitTestList.cc

@@ -32,6 +32,9 @@
 #include "MissionCommandTreeTest.h"
 #include "LogDownloadTest.h"
 #include "SendMavCommandTest.h"
+#include "VisualMissionItemTest.h"
+#include "CameraSectionTest.h"
+#include "SpeedSectionTest.h"
 
 UT_REGISTER_TEST(FactSystemTestGeneric)
 UT_REGISTER_TEST(FactSystemTestPX4)
@@ -51,6 +54,8 @@ UT_REGISTER_TEST(MissionCommandTreeTest)
 UT_REGISTER_TEST(LogDownloadTest)
 UT_REGISTER_TEST(SendMavCommandTest)
 UT_REGISTER_TEST(SurveyMissionItemTest)
+UT_REGISTER_TEST(CameraSectionTest)
+UT_REGISTER_TEST(SpeedSectionTest)
 
 // List of unit test which are currently disabled.
 // If disabling a new test, include reason in comment.