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Unverified Commit 6cb2e103 authored by Don Gagne's avatar Don Gagne Committed by GitHub
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Merge pull request #8846 from airmap/terrain-test 

Add a follow terrain test
parents 680689b5 50180bf8
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Showing with 227 additions and 41 deletions
src/MissionManager/TransectStyleComplexItem.cc
View file @ 6cb2e103
......@@ -51,7 +51,7 @@ TransectStyleComplexItem::TransectStyleComplexItem(PlanMasterController* masterC
, _terrainAdjustMaxClimbRateFact (settingsGroup, _metaDataMap[terrainAdjustMaxClimbRateName])
, _terrainAdjustMaxDescentRateFact (settingsGroup, _metaDataMap[terrainAdjustMaxDescentRateName])
{
_terrainQueryTimer.setInterval(_terrainQueryTimeoutMsecs);
_terrainQueryTimer.setInterval(qgcApp()->runningUnitTests() ? 10 : _terrainQueryTimeoutMsecs);
_terrainQueryTimer.setSingleShot(true);
connect(&_terrainQueryTimer, &QTimer::timeout, this, &TransectStyleComplexItem::_reallyQueryTransectsPathHeightInfo);
......
src/MissionManager/TransectStyleComplexItemTest.cc
View file @ 6cb2e103
......@@ -12,22 +12,17 @@
TransectStyleComplexItemTest::TransectStyleComplexItemTest(void)
{
_polygonVertices << QGeoCoordinate(47.633550640000003, -122.08982199)
<< QGeoCoordinate(47.634129020000003, -122.08887249)
<< QGeoCoordinate(47.633619320000001, -122.08811074)
<< QGeoCoordinate(47.633189139999999, -122.08900124);
}
void TransectStyleComplexItemTest::init(void)
{
TransectStyleComplexItemTestBase::init();
_transectStyleItem = new TransectStyleItem(_masterController, this);
_transectStyleItem = new TestTransectStyleItem(_masterController, this);
_transectStyleItem->cameraTriggerInTurnAround()->setRawValue(false);
_transectStyleItem->cameraCalc()->cameraName()->setRawValue(_transectStyleItem->cameraCalc()->customCameraName());
_transectStyleItem->cameraCalc()->valueSetIsDistance()->setRawValue(true);
_transectStyleItem->cameraCalc()->distanceToSurface()->setRawValue(100);
_setSurveyAreaPolygon();
_transectStyleItem->setDirty(false);
_rgSignals[cameraShotsChangedIndex] = SIGNAL(cameraShotsChanged());
......@@ -85,7 +80,7 @@ void TransectStyleComplexItemTest::_testDirty(void)
}
rgFacts.clear();
_adjustSurveAreaPolygon();
_transectStyleItem->_adjustSurveAreaPolygon();
QVERIFY(_transectStyleItem->dirty());
_transectStyleItem->setDirty(false);
QVERIFY(!_transectStyleItem->surveyAreaPolygon()->dirty());
......@@ -98,20 +93,13 @@ void TransectStyleComplexItemTest::_testDirty(void)
_multiSpy->clearAllSignals();
}
void TransectStyleComplexItemTest::_setSurveyAreaPolygon(void)
{
for (const QGeoCoordinate vertex: _polygonVertices) {
_transectStyleItem->surveyAreaPolygon()->appendVertex(vertex);
}
}
void TransectStyleComplexItemTest::_testRebuildTransects(void)
{
// Changing the survey polygon should trigger:
// _rebuildTransects calls
// coveredAreaChanged signal
// lastSequenceNumberChanged signal
_adjustSurveAreaPolygon();
_transectStyleItem->_adjustSurveAreaPolygon();
QVERIFY(_transectStyleItem->rebuildTransectsPhase1Called);
QVERIFY(_transectStyleItem->recalcCameraShotsCalled);
// FIXME: Temproarily not possible
......@@ -176,7 +164,7 @@ void TransectStyleComplexItemTest::_testRebuildTransects(void)
void TransectStyleComplexItemTest::_testDistanceSignalling(void)
{
_adjustSurveAreaPolygon();
_transectStyleItem->_adjustSurveAreaPolygon();
QVERIFY(_multiSpy->checkSignalsByMask(complexDistanceChangedMask | greatestDistanceToChangedMask));
_transectStyleItem->setDirty(false);
_multiSpy->clearAllSignals();
......@@ -195,12 +183,7 @@ void TransectStyleComplexItemTest::_testDistanceSignalling(void)
rgFacts.clear();
}
void TransectStyleComplexItemTest::_adjustSurveAreaPolygon(void)
{
QGeoCoordinate vertex = _transectStyleItem->surveyAreaPolygon()->vertexCoordinate(0);
vertex.setLatitude(vertex.latitude() + 1);
_transectStyleItem->surveyAreaPolygon()->adjustVertex(0, vertex);
}
void TransectStyleComplexItemTest::_testAltMode(void)
{
......@@ -226,21 +209,57 @@ void TransectStyleComplexItemTest::_testAltMode(void)
QVERIFY(!_transectStyleItem->followTerrain());
}
TransectStyleItem::TransectStyleItem(PlanMasterController* masterController, QObject* parent)
void TransectStyleComplexItemTest::_testFollowTerrain(void) {
_multiSpy->clearAllSignals();
_transectStyleItem->cameraCalc()->distanceToSurface()->setRawValue(50);
_transectStyleItem->setFollowTerrain(true);
_multiSpy->clearAllSignals();
while(_transectStyleItem->readyForSaveState() != TransectStyleComplexItem::ReadyForSave) {
QVERIFY(_multiSpy->waitForSignalByIndex(lastSequenceNumberChangedIndex, 50));
}
QList<double> expectedTerrainValues{497,509,512,512};
QCOMPARE(_transectStyleItem->transects().size(), 1);
for (const auto& transect : _transectStyleItem->transects()) {
QCOMPARE(transect.size(), 4);
for (const auto pt : transect) {
QCOMPARE(pt.coord.altitude(), expectedTerrainValues.front());
expectedTerrainValues.pop_front();
}
}
}
TestTransectStyleItem::TestTransectStyleItem(PlanMasterController* masterController, QObject* parent)
: TransectStyleComplexItem (masterController, false /* flyView */, QStringLiteral("UnitTestTransect"), parent)
, rebuildTransectsPhase1Called (false)
, recalcComplexDistanceCalled (false)
, recalcCameraShotsCalled (false)
{
// We use a 100m by 100m square test polygon
const double edgeDistance = 100;
surveyAreaPolygon()->appendVertex(UnitTestTerrainQuery::linearSlopeRegion.center());
surveyAreaPolygon()->appendVertex(surveyAreaPolygon()->vertexCoordinate(0).atDistanceAndAzimuth(edgeDistance, 90));
surveyAreaPolygon()->appendVertex(surveyAreaPolygon()->vertexCoordinate(1).atDistanceAndAzimuth(edgeDistance, 180));
surveyAreaPolygon()->appendVertex(surveyAreaPolygon()->vertexCoordinate(2).atDistanceAndAzimuth(edgeDistance, -90.0));
_transects.append(QList<TransectStyleComplexItem::CoordInfo_t>{
{surveyAreaPolygon()->vertexCoordinate(0), CoordTypeSurveyEntry},
{surveyAreaPolygon()->vertexCoordinate(2), CoordTypeSurveyExit}}
);
}
void TransectStyleItem::_rebuildTransectsPhase1(void)
void TestTransectStyleItem::_rebuildTransectsPhase1(void)
{
rebuildTransectsPhase1Called = true;
}
void TransectStyleItem::_recalcCameraShots(void)
void TestTransectStyleItem::_recalcCameraShots(void)
{
recalcCameraShotsCalled = true;
}
void TestTransectStyleItem::_adjustSurveAreaPolygon(void)
{
QGeoCoordinate vertex = surveyAreaPolygon()->vertexCoordinate(0);
vertex.setLatitude(vertex.latitude() + 1);
surveyAreaPolygon()->adjustVertex(0, vertex);
}
src/MissionManager/TransectStyleComplexItemTest.h
View file @ 6cb2e103
......@@ -16,7 +16,7 @@
#include <QGeoCoordinate>
class TransectStyleItem;
class TestTransectStyleItem;
class TransectStyleComplexItemTest : public TransectStyleComplexItemTestBase
{
......@@ -34,11 +34,9 @@ private slots:
void _testRebuildTransects (void);
void _testDistanceSignalling(void);
void _testAltMode (void);
void _testFollowTerrain (void);
private:
void _setSurveyAreaPolygon (void);
void _adjustSurveAreaPolygon(void);
enum {
// These signals are from TransectStyleComplexItem
cameraShotsChangedIndex = 0,
......@@ -74,16 +72,15 @@ private:
const char* _rgSignals[_cSignals];
MultiSignalSpy* _multiSpy = nullptr;
QList<QGeoCoordinate> _polygonVertices;
TransectStyleItem* _transectStyleItem = nullptr;
TestTransectStyleItem* _transectStyleItem = nullptr;
};
class TransectStyleItem : public TransectStyleComplexItem
class TestTransectStyleItem : public TransectStyleComplexItem
{
Q_OBJECT
public:
TransectStyleItem(PlanMasterController* masterController, QObject* parent = nullptr);
TestTransectStyleItem(PlanMasterController* masterController, QObject* parent = nullptr);
// Overrides from ComplexMissionItem
QString patternName (void) const final { return QString(); }
......@@ -98,6 +95,10 @@ public:
bool rebuildTransectsPhase1Called;
bool recalcComplexDistanceCalled;
bool recalcCameraShotsCalled;
void _adjustSurveAreaPolygon(void);
QList<QList<CoordInfo_t>> transects() const {
return _transects;
}
private slots:
// Overrides from TransectStyleComplexItem
......
src/Terrain/TerrainQuery.cc
View file @ 6cb2e103
......@@ -41,7 +41,7 @@ TerrainAirMapQuery::TerrainAirMapQuery(QObject* parent)
void TerrainAirMapQuery::requestCoordinateHeights(const QList<QGeoCoordinate>& coordinates)
{
if (qgcApp()->runningUnitTests()) {
emit coordinateHeightsReceived(false, QList<double>());
UnitTestTerrainQuery(this).requestCoordinateHeights(coordinates);
return;
}
......@@ -62,7 +62,7 @@ void TerrainAirMapQuery::requestCoordinateHeights(const QList<QGeoCoordinate>& c
void TerrainAirMapQuery::requestPathHeights(const QGeoCoordinate& fromCoord, const QGeoCoordinate& toCoord)
{
if (qgcApp()->runningUnitTests()) {
emit pathHeightsReceived(false, qQNaN(), qQNaN(), QList<double>());
UnitTestTerrainQuery(this).requestPathHeights(fromCoord, toCoord);
return;
}
......@@ -82,7 +82,7 @@ void TerrainAirMapQuery::requestPathHeights(const QGeoCoordinate& fromCoord, con
void TerrainAirMapQuery::requestCarpetHeights(const QGeoCoordinate& swCoord, const QGeoCoordinate& neCoord, bool statsOnly)
{
if (qgcApp()->runningUnitTests()) {
emit carpetHeightsReceived(false, qQNaN(), qQNaN(), QList<QList<double>>());
UnitTestTerrainQuery(this).requestCarpetHeights(swCoord, neCoord, statsOnly);
return;
}
......@@ -283,7 +283,7 @@ TerrainOfflineAirMapQuery::TerrainOfflineAirMapQuery(QObject* parent)
void TerrainOfflineAirMapQuery::requestCoordinateHeights(const QList<QGeoCoordinate>& coordinates)
{
if (qgcApp()->runningUnitTests()) {
emit coordinateHeightsReceived(false, QList<double>());
UnitTestTerrainQuery(this).requestCoordinateHeights(coordinates);
return;
}
......@@ -297,7 +297,7 @@ void TerrainOfflineAirMapQuery::requestCoordinateHeights(const QList<QGeoCoordin
void TerrainOfflineAirMapQuery::requestPathHeights(const QGeoCoordinate& fromCoord, const QGeoCoordinate& toCoord)
{
if (qgcApp()->runningUnitTests()) {
emit pathHeightsReceived(false, qQNaN(), qQNaN(), QList<double>());
UnitTestTerrainQuery(this).requestPathHeights(fromCoord, toCoord);
return;
}
......@@ -307,7 +307,7 @@ void TerrainOfflineAirMapQuery::requestPathHeights(const QGeoCoordinate& fromCoo
void TerrainOfflineAirMapQuery::requestCarpetHeights(const QGeoCoordinate& swCoord, const QGeoCoordinate& neCoord, bool statsOnly)
{
if (qgcApp()->runningUnitTests()) {
emit carpetHeightsReceived(false, qQNaN(), qQNaN(), QList<QList<double>>());
UnitTestTerrainQuery(this).requestCarpetHeights(swCoord, neCoord, statsOnly);
return;
}
......@@ -802,3 +802,117 @@ void TerrainPolyPathQuery::_terrainDataReceived(bool success, const TerrainPathQ
_pathQuery.requestData(_rgCoords[_curIndex], _rgCoords[_curIndex+1]);
}
}
const QGeoCoordinate UnitTestTerrainQuery::pointNemo{-48.875556, -123.392500};
const UnitTestTerrainQuery::Flat10Region UnitTestTerrainQuery::flat10Region{{
pointNemo,
QGeoCoordinate{
pointNemo.latitude() - UnitTestTerrainQuery::regionExtentDeg,
pointNemo.longitude() + UnitTestTerrainQuery::regionExtentDeg
}
}};
const double UnitTestTerrainQuery::Flat10Region::elevationMts = 10;
const UnitTestTerrainQuery::LinearSlopeRegion UnitTestTerrainQuery::linearSlopeRegion{{
flat10Region.topRight(),
QGeoCoordinate{
flat10Region.topRight().latitude() - UnitTestTerrainQuery::regionExtentDeg,
flat10Region.topRight().longitude() + UnitTestTerrainQuery::regionExtentDeg
}
}};
const double UnitTestTerrainQuery::LinearSlopeRegion::minElevationMts = -100;
const double UnitTestTerrainQuery::LinearSlopeRegion::maxElevationMts = 1000;
const double UnitTestTerrainQuery::LinearSlopeRegion::dElevationMts = maxElevationMts-minElevationMts;
UnitTestTerrainQuery::UnitTestTerrainQuery(TerrainQueryInterface* parent)
:TerrainQueryInterface(parent)
{}
void UnitTestTerrainQuery::requestCoordinateHeights(const QList<QGeoCoordinate>& coordinates) {
QList<double> result = requestCoordinateHeightsSync(coordinates);
emit qobject_cast<TerrainQueryInterface*>(parent())->coordinateHeightsReceived(result.size() == coordinates.size(), result);
}
void UnitTestTerrainQuery::requestPathHeights(const QGeoCoordinate& fromCoord, const QGeoCoordinate& toCoord) {
QPair<QList<QGeoCoordinate>, QList<double>> result = requestPathHeightsSync(fromCoord, toCoord);
emit qobject_cast<TerrainQueryInterface*>(parent())->pathHeightsReceived(
result.second.size() > 0,
result.first[0].distanceTo(result.first[1]),
result.first[result.first.size()-2].distanceTo(result.first.back()),
result.second
);
}
void UnitTestTerrainQuery::requestCarpetHeights(const QGeoCoordinate& swCoord, const QGeoCoordinate& neCoord, bool) {
assert(swCoord.longitude() < neCoord.longitude());
assert(swCoord.latitude() < neCoord.latitude());
double min = std::numeric_limits<double>::max();
double max = std::numeric_limits<double>::min();
QList<QList<double>> carpet;
for (double lat = swCoord.latitude(); lat < neCoord.latitude(); lat++) {
QList<double> row = requestPathHeightsSync({lat,swCoord.longitude()}, {lat,neCoord.longitude()}).second;
if (row.size() == 0) {
emit carpetHeightsReceived(false, qQNaN(), qQNaN(), QList<QList<double>>());
return;
}
for (const auto val : row) {
min = std::min(val,min);
max = std::max(val,max);
}
carpet.push_back(row);
}
emit qobject_cast<TerrainQueryInterface*>(parent())->carpetHeightsReceived(true, min, max, carpet);
}
QPair<QList<QGeoCoordinate>, QList<double>> UnitTestTerrainQuery::requestPathHeightsSync(const QGeoCoordinate& fromCoord, const QGeoCoordinate& toCoord) {
QList<QGeoCoordinate> coordinates;
coordinates.push_back(fromCoord);
//cast to pixels
long x0 = std::floor(fromCoord.longitude()/one_second_deg);
long x1 = std::floor(toCoord.longitude()/one_second_deg);
long y0 = std::floor(fromCoord.latitude()/one_second_deg);
long y1 = std::floor(toCoord.latitude()/one_second_deg);
//bresenham line algo
long dx = abs(x1-x0), sx = x0<x1 ? 1 : -1;
long dy = abs(y1-y0), sy = y0<y1 ? 1 : -1;
long err = (dx>dy ? dx : -dy)/2, e2;
while(true) {
e2 = err;
if (e2 >-dx) { err -= dy; x0 += sx; }
if (e2 < dy) { err += dx; y0 += sy; }
if ((x0==x1 && y0==y1)) {
break;
}
coordinates.push_back({y0*one_second_deg, x0*one_second_deg});
}
coordinates.push_back(toCoord);
return QPair<QList<QGeoCoordinate>, QList<double>>(coordinates, requestCoordinateHeightsSync(coordinates));
}
QList<double> UnitTestTerrainQuery::requestCoordinateHeightsSync(const QList<QGeoCoordinate>& coordinates) {
QList<double> result;
for (const auto& coordinate : coordinates) {
if (flat10Region.contains(coordinate)) {
result.push_back(UnitTestTerrainQuery::Flat10Region::elevationMts);
} else if (linearSlopeRegion.contains(coordinate)) {
//cast to one_second_deg grid and round to int to emulate SRTM1 even better
long x = (coordinate.longitude() - linearSlopeRegion.topLeft().longitude())/one_second_deg;
long dx = regionExtentDeg/one_second_deg;
double fraction = 1.0 * x / dx;
result.push_back(
std::round(
UnitTestTerrainQuery::LinearSlopeRegion::minElevationMts
+ (fraction * UnitTestTerrainQuery::LinearSlopeRegion::dElevationMts)
)
);
} else {
result.clear();
break;
}
}
return result;
}
src/Terrain/TerrainQuery.h
View file @ 6cb2e103
......@@ -15,6 +15,7 @@
#include <QObject>
#include <QGeoCoordinate>
#include <QGeoRectangle>
#include <QNetworkAccessManager>
#include <QNetworkReply>
#include <QTimer>
......@@ -294,3 +295,54 @@ private:
QList<TerrainPathQuery::PathHeightInfo_t> _rgPathHeightInfo;
TerrainPathQuery _pathQuery;
};
///
/// @brief The MockTerrainQuery class provides unit test terrain query responses for the disconnected environment.
/// @details It provides preset, emulated, 1 arc-second (SRMT1) resultion regions that are either
/// flat, sloped or rugged in a fashion that aids testing terrain-sensitive functionality. All emulated
/// regions are positioned around Point Nemo - should real terrain became useful and checked in one day.
///
class UnitTestTerrainQuery : public TerrainQueryInterface {
public:
static constexpr double regionExtentDeg = 0.1; //every region 0.1deg x 0.1deg across (around 11km north to south)
static constexpr double one_second_deg = 1.0/3600;
/// @brief Point Nemo is a point on Earth furthest from land
static const QGeoCoordinate pointNemo;
///
/// @brief flat10Region is a region with constant 10m terrain elevation
///
struct Flat10Region : public QGeoRectangle {
Flat10Region(const QGeoRectangle& region)
:QGeoRectangle(region)
{}
static const double elevationMts;
};
static const Flat10Region flat10Region;
///
/// @brief linearSlopeRegion is a region with a linear west to east slope raising from -100m to 1000m
///
struct LinearSlopeRegion : public QGeoRectangle {
LinearSlopeRegion(const QGeoRectangle& region)
:QGeoRectangle(region)
{}
static const double minElevationMts;
static const double maxElevationMts;
static const double dElevationMts;
};
static const LinearSlopeRegion linearSlopeRegion;
UnitTestTerrainQuery(TerrainQueryInterface* parent = nullptr);
void requestCoordinateHeights(const QList<QGeoCoordinate>& coordinates) Q_DECL_OVERRIDE;
void requestPathHeights(const QGeoCoordinate& fromCoord, const QGeoCoordinate& toCoord) Q_DECL_OVERRIDE;
void requestCarpetHeights(const QGeoCoordinate& swCoord, const QGeoCoordinate& neCoord, bool statsOnly) Q_DECL_OVERRIDE;
QList<double> requestCoordinateHeightsSync(const QList<QGeoCoordinate>& coordinates);
QPair<QList<QGeoCoordinate>, QList<double>> requestPathHeightsSync(const QGeoCoordinate& fromCoord, const QGeoCoordinate& toCoord);
};
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