Merge pull request #5310 from DonLakeFlyer/CameraSectionFixes

CameraSection: Scanning fixes plus unit test

src/MissionManager/CameraSection.h

@@ -90,6 +90,15 @@ private slots:
     void _cameraActionChanged(void);
 
 private:
+    bool _scanGimbal(QmlObjectListModel* visualItems, int scanIndex);
+    bool _scanTakePhoto(QmlObjectListModel* visualItems, int scanIndex);
+    bool _scanTakePhotosIntervalTime(QmlObjectListModel* visualItems, int scanIndex);
+    bool _scanStopTakingPhotos(QmlObjectListModel* visualItems, int scanIndex);
+    bool _scanTriggerDistance(QmlObjectListModel* visualItems, int scanIndex);
+    bool _scanTakeVideo(QmlObjectListModel* visualItems, int scanIndex);
+    bool _scanStopTakingVideo(QmlObjectListModel* visualItems, int scanIndex);
+    bool _scanSetCameraMode(QmlObjectListModel* visualItems, int scanIndex);
+
     bool    _available;
     bool    _settingsSpecified;
     bool    _specifyGimbal;

src/MissionManager/CameraSectionTest.cc

@@ -8,6 +8,9 @@
  ****************************************************************************/
 
 #include "CameraSectionTest.h"
+#include "QGCApplication.h"
+#include "MissionCommandTree.h"
+#include "MissionCommandUIInfo.h"
 
 CameraSectionTest::CameraSectionTest(void)
     : _spyCamera(NULL)
@@ -20,6 +23,8 @@ CameraSectionTest::CameraSectionTest(void)
     , _validStopVideoItem(NULL)
     , _validStopDistanceItem(NULL)
     , _validStopTimeItem(NULL)
+    , _validCameraPhotoModeItem(NULL)
+    , _validCameraVideoModeItem(NULL)
 {
     
 }
@@ -116,6 +121,8 @@ void CameraSectionTest::cleanup(void)
     delete _validStopDistanceItem;
     delete _validStopTimeItem;
     delete _validTakePhotoItem;
+    delete _validCameraPhotoModeItem;
+    delete _validCameraVideoModeItem;
     SectionTest::cleanup();
 }
 
@@ -567,7 +574,7 @@ void CameraSectionTest::_testScanForGimbalSection(void)
     visualItems.clear();
     scanIndex = 0;
 
-/*
+    /*
     MAV_CMD_DO_MOUNT_CONTROL
     Mission Param #1	pitch (WIP: DEPRECATED: or lat in degrees) depending on mount mode.
     Mission Param #2	roll (WIP: DEPRECATED: or lon in degrees) depending on mount mode.
@@ -662,7 +669,7 @@ void CameraSectionTest::_testScanForCameraModeSection(void)
     visualItems.clear();
     scanIndex = 0;
 
-/*
+    /*
     MAV_CMD_SET_CAMERA_MODE
     Mission Param #1	Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)
     Mission Param #2	Camera mode (0: photo mode, 1: video mode)
@@ -691,7 +698,7 @@ void CameraSectionTest::_testScanForPhotoIntervalTimeSection(void)
 
     _commonScanTest(_cameraSection);
 
-/*
+    /*
     MAV_CMD_IMAGE_START_CAPTURE	WIP: Start image capture sequence. Sends CAMERA_IMAGE_CAPTURED after each capture.
     Mission Param #1	Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)
     Mission Param #2	Duration between two consecutive pictures (in seconds)
@@ -762,7 +769,7 @@ void CameraSectionTest::_testScanForPhotoIntervalDistanceSection(void)
 
     _commonScanTest(_cameraSection);
 
-/*
+    /*
     MAV_CMD_DO_SET_CAM_TRIGG_DIST	Mission command to set CAM_TRIGG_DIST for this flight
     Mission Param #1	Camera trigger distance (meters)
     Mission Param #2	Empty
@@ -852,7 +859,7 @@ void CameraSectionTest::_testScanForStartVideoSection(void)
 
     _commonScanTest(_cameraSection);
 
-/*
+    /*
     MAV_CMD_VIDEO_START_CAPTURE	WIP: Starts video capture (recording)
     Mission Param #1	Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)
     Mission Param #2	Frames per second, set to -1 for highest framerate possible.
@@ -939,7 +946,7 @@ void CameraSectionTest::_testScanForStopVideoSection(void)
 
     _commonScanTest(_cameraSection);
 
-/*
+    /*
     MAV_CMD_VIDEO_STOP_CAPTURE	Stop the current video capture (recording)
     Mission Param #1	WIP: Camera ID
 */
@@ -1057,7 +1064,7 @@ void CameraSectionTest::_testScanForTakePhotoSection(void)
 
     _commonScanTest(_cameraSection);
 
-/*
+    /*
     MAV_CMD_IMAGE_START_CAPTURE	Start image capture sequence. Sends CAMERA_IMAGE_CAPTURED after each capture.
       Mission Param #1	Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)
       Mission Param #2	Duration between two consecutive pictures (in seconds)
@@ -1118,8 +1125,42 @@ void CameraSectionTest::_testScanForTakePhotoSection(void)
     visualItems.clear();
 }
 
-void CameraSectionTest::_testScanForFullSection(void)
+void CameraSectionTest::_validateItemScan(SimpleMissionItem* validItem)
 {
+    QVERIFY(_cameraSection->settingsSpecified());
+    if (validItem == _validGimbalItem) {
+        QCOMPARE(_cameraSection->specifyGimbal(), true);
+        QCOMPARE(_cameraSection->gimbalPitch()->rawValue().toDouble(), validItem->missionItem().param1());
+        QCOMPARE(_cameraSection->gimbalYaw()->rawValue().toDouble(), validItem->missionItem().param3());
+    } else if (validItem == _validDistanceItem) {
+        QCOMPARE(_cameraSection->cameraAction()->rawValue().toInt(), (int)CameraSection::TakePhotoIntervalDistance);
+        QCOMPARE(_cameraSection->cameraPhotoIntervalDistance()->rawValue().toInt(), (int)_validDistanceItem->missionItem().param1());
+    } else if (validItem == _validTimeItem) {
+    } else if (validItem == _validStartVideoItem) {
+    } else if (validItem == _validStopVideoItem) {
+    } else if (validItem == _validTakePhotoItem) {
+    } else if (validItem == _validCameraPhotoModeItem) {
+    } else if (validItem == _validCameraVideoModeItem) {
+    }
+}
+
+void CameraSectionTest::_resetSection(void)
+{
+    _cameraSection->gimbalYaw()->setRawValue(0);
+    _cameraSection->gimbalPitch()->setRawValue(0);
+    _cameraSection->setSpecifyGimbal(false);
+    _cameraSection->cameraPhotoIntervalTime()->setRawValue(0);
+    _cameraSection->cameraPhotoIntervalDistance()->setRawValue(0);
+    _cameraSection->cameraAction()->setRawValue(CameraSection::CameraActionNone);
+    _cameraSection->cameraMode()->setRawValue(CameraSection::CameraModePhoto);
+    _cameraSection->setSpecifyCameraMode(false);
+}
+
+/// Test that we can scan the commands associated with the camera section in various orders/combinations.
+void CameraSectionTest::_testScanForMultipleItems(void)
+{
+    MissionCommandTree* commandTree = qgcApp()->toolbox()->missionCommandTree();
+
     QCOMPARE(_cameraSection->available(), true);
 
     int scanIndex = 0;
@@ -1127,19 +1168,51 @@ void CameraSectionTest::_testScanForFullSection(void)
 
     _commonScanTest(_cameraSection);
 
-    SimpleMissionItem* newValidGimbalItem = new SimpleMissionItem(_offlineVehicle, this);
-    SimpleMissionItem* newValidDistanceItem = new SimpleMissionItem(_offlineVehicle, this);
-    newValidGimbalItem->missionItem() = _validGimbalItem->missionItem();
-    newValidDistanceItem->missionItem() = _validDistanceItem->missionItem();
-    visualItems.append(newValidGimbalItem);
-    visualItems.append(newValidDistanceItem);
+    QList<SimpleMissionItem*> rgCameraItems;
+    rgCameraItems << _validGimbalItem << _validCameraPhotoModeItem << _validCameraVideoModeItem;
+
+    QList<SimpleMissionItem*> rgActionItems;
+    rgActionItems << _validDistanceItem << _validTimeItem <<  _validStartVideoItem <<  _validStopVideoItem << _validTakePhotoItem;
+
+    // Camera action followed by gimbal/mode
+    foreach (SimpleMissionItem* actionItem, rgActionItems) {
+        foreach (SimpleMissionItem* cameraItem, rgCameraItems) {
+            SimpleMissionItem* item1 = new SimpleMissionItem(_offlineVehicle, this);
+            item1->missionItem() = actionItem->missionItem();
+            SimpleMissionItem* item2 = new SimpleMissionItem(_offlineVehicle, this);
+            item2->missionItem() = cameraItem->missionItem();
+            visualItems.append(item1);
+            visualItems.append(item2);
+            qDebug() << commandTree->getUIInfo(_offlineVehicle, (MAV_CMD)item1->command())->rawName() << commandTree->getUIInfo(_offlineVehicle, (MAV_CMD)item2->command())->rawName();;
+
+            scanIndex = 0;
             QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), true);
-    QCOMPARE(visualItems.count(), 0);
-    QCOMPARE(_cameraSection->settingsSpecified(), true);
-    QCOMPARE(_cameraSection->specifyGimbal(), true);
-    QCOMPARE(_cameraSection->cameraAction()->rawValue().toInt(), (int)CameraSection::TakePhotoIntervalDistance);
-    QCOMPARE(_cameraSection->cameraPhotoIntervalDistance()->rawValue().toInt(), (int)_validDistanceItem->missionItem().param1());
-    QCOMPARE(_cameraSection->gimbalPitch()->rawValue().toDouble(), _validGimbalItem->missionItem().param1());
-    QCOMPARE(_cameraSection->gimbalYaw()->rawValue().toDouble(), _validGimbalItem->missionItem().param3());
-    visualItems.clear();
+
+            _validateItemScan(cameraItem);
+
+            _resetSection();
+            visualItems.clearAndDeleteContents();
+        }
+    }
+
+    // Gimbal/Mode followed by camera action
+    foreach (SimpleMissionItem* actionItem, rgCameraItems) {
+        foreach (SimpleMissionItem* cameraItem, rgActionItems) {
+            SimpleMissionItem* item1 = new SimpleMissionItem(_offlineVehicle, this);
+            item1->missionItem() = actionItem->missionItem();
+            SimpleMissionItem* item2 = new SimpleMissionItem(_offlineVehicle, this);
+            item2->missionItem() = cameraItem->missionItem();
+            visualItems.append(item1);
+            visualItems.append(item2);
+            qDebug() << commandTree->getUIInfo(_offlineVehicle, (MAV_CMD)item1->command())->rawName() << commandTree->getUIInfo(_offlineVehicle, (MAV_CMD)item2->command())->rawName();;
+
+            scanIndex = 0;
+            QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), true);
+
+            _validateItemScan(cameraItem);
+
+            _resetSection();
+            visualItems.clearAndDeleteContents();
+        }
+    }
 }

src/MissionManager/CameraSectionTest.h

@@ -37,10 +37,12 @@ private slots:
     void _testScanForStopImageSection(void);
     void _testScanForCameraModeSection(void);
     void _testScanForTakePhotoSection(void);
-    void _testScanForFullSection(void);
+    void _testScanForMultipleItems(void);
 
 private:
     void _createSpy(CameraSection* cameraSection, MultiSignalSpy** cameraSpy);
+    void _validateItemScan(SimpleMissionItem* validItem);
+    void _resetSection(void);
 
     enum {
         specifyGimbalChangedIndex = 0,