Merge pull request #6516 from DonLakeFlyer/CameraSurveyUnitTest

Camera/Transects unit tests and fixes

src/MissionManager/CameraCalcTest.cc

@@ -22,6 +22,8 @@ void CameraCalcTest::init(void)
 
     _offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_QUADROTOR, qgcApp()->toolbox()->firmwarePluginManager(), this);
     _cameraCalc = new CameraCalc(_offlineVehicle, "CameraCalcUnitTest" /* settingsGroup */, this);
+    _cameraCalc->cameraName()->setRawValue(_cameraCalc->customCameraName());
+    _cameraCalc->setDirty(false);
 
     _rgSignals[dirtyChangedIndex] =                     SIGNAL(dirtyChanged(bool));
     _rgSignals[imageFootprintSideChangedIndex] =        SIGNAL(imageFootprintSideChanged(double));
@@ -80,11 +82,52 @@ void CameraCalcTest::_testDirty(void)
     }
     rgFacts.clear();
 
-    _cameraCalc->cameraName()->setRawValue(_cameraCalc->customCameraName());
+
+    _cameraCalc->setDistanceToSurfaceRelative(!_cameraCalc->distanceToSurfaceRelative());
     QVERIFY(_cameraCalc->dirty());
     _multiSpy->clearAllSignals();
 
-    _cameraCalc->setDistanceToSurfaceRelative(!_cameraCalc->distanceToSurfaceRelative());
+    _cameraCalc->cameraName()->setRawValue(_cameraCalc->manualCameraName());
     QVERIFY(_cameraCalc->dirty());
     _multiSpy->clearAllSignals();
 }
+
+void CameraCalcTest::_testAdjustedFootprint(void)
+{
+    double adjustedFootprintFrontal = _cameraCalc->adjustedFootprintFrontal()->rawValue().toDouble();
+    double adjustedFootprintSide = _cameraCalc->adjustedFootprintSide()->rawValue().toDouble();
+    _cameraCalc->valueSetIsDistance()->setRawValue(true);
+    changeFactValue(_cameraCalc->distanceToSurface());
+    QVERIFY(adjustedFootprintFrontal != _cameraCalc->adjustedFootprintFrontal()->rawValue().toDouble());
+    QVERIFY(adjustedFootprintSide != _cameraCalc->adjustedFootprintSide()->rawValue().toDouble());
+
+    adjustedFootprintFrontal = _cameraCalc->adjustedFootprintFrontal()->rawValue().toDouble();
+    adjustedFootprintSide = _cameraCalc->adjustedFootprintSide()->rawValue().toDouble();
+    _cameraCalc->valueSetIsDistance()->setRawValue(false);
+    changeFactValue(_cameraCalc->imageDensity());
+    QVERIFY(adjustedFootprintFrontal != _cameraCalc->adjustedFootprintFrontal()->rawValue().toDouble());
+    QVERIFY(adjustedFootprintSide != _cameraCalc->adjustedFootprintSide()->rawValue().toDouble());
+
+    adjustedFootprintFrontal = _cameraCalc->adjustedFootprintFrontal()->rawValue().toDouble();
+    _cameraCalc->valueSetIsDistance()->setRawValue(true);
+    changeFactValue(_cameraCalc->frontalOverlap());
+    QVERIFY(adjustedFootprintFrontal != _cameraCalc->adjustedFootprintFrontal()->rawValue().toDouble());
+
+    adjustedFootprintSide = _cameraCalc->adjustedFootprintSide()->rawValue().toDouble();
+    _cameraCalc->valueSetIsDistance()->setRawValue(false);
+    changeFactValue(_cameraCalc->sideOverlap());
+    QVERIFY(adjustedFootprintSide != _cameraCalc->adjustedFootprintSide()->rawValue().toDouble());
+}
+
+void CameraCalcTest::_testAltDensityRecalc(void)
+{
+    _cameraCalc->valueSetIsDistance()->setRawValue(true);
+    double imageDensity = _cameraCalc->imageDensity()->rawValue().toDouble();
+    _cameraCalc->distanceToSurface()->setRawValue(_cameraCalc->distanceToSurface()->rawValue().toDouble() + 1);
+    QVERIFY(imageDensity != _cameraCalc->imageDensity()->rawValue().toDouble());
+
+    _cameraCalc->valueSetIsDistance()->setRawValue(false);
+    double distanceToSurface = _cameraCalc->distanceToSurface()->rawValue().toDouble();
+    _cameraCalc->imageDensity()->setRawValue(_cameraCalc->imageDensity()->rawValue().toDouble() + 1);
+    QVERIFY(distanceToSurface != _cameraCalc->distanceToSurface()->rawValue().toDouble());
+}

src/MissionManager/CameraCalcTest.h

@@ -27,7 +27,9 @@ protected:
     void cleanup(void) final;
     
 private slots:
-    void _testDirty(void);
+    void _testDirty             (void);
+    void _testAdjustedFootprint (void);
+    void _testAltDensityRecalc  (void);
 
 private:
     enum {

src/MissionManager/CorridorScanComplexItem.cc

@@ -480,3 +480,8 @@ bool CorridorScanComplexItem::readyForSave(void) const
 {
     return TransectStyleComplexItem::readyForSave();
 }
+
+double CorridorScanComplexItem::timeBetweenShots(void)
+{
+    return _cruiseSpeed == 0 ? 0 : _cameraCalc.adjustedFootprintSide()->rawValue().toDouble() / _cruiseSpeed;
+}

src/MissionManager/CorridorScanComplexItem.h

@@ -33,15 +33,16 @@ public:
 
     Q_INVOKABLE void rotateEntryPoint(void);
 
-    // Overrides from ComplexMissionItem
-    bool    load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
-    QString mapVisualQML        (void) const final { return QStringLiteral("CorridorScanMapVisual.qml"); }
-
     // Overrides from TransectStyleComplexItem
     void    save                (QJsonArray&  planItems) final;
     bool    specifiesCoordinate (void) const final;
     void    appendMissionItems  (QList<MissionItem*>& items, QObject* missionItemParent) final;
     void    applyNewAltitude    (double newAltitude) final;
+    double  timeBetweenShots    (void) final;
+
+    // Overrides from ComplexMissionItem
+    bool    load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
+    QString mapVisualQML        (void) const final { return QStringLiteral("CorridorScanMapVisual.qml"); }
 
     // Overrides from VisualMissionionItem
     QString commandDescription  (void) const final { return tr("Corridor Scan"); }

src/MissionManager/SurveyComplexItem.cc

@@ -1433,3 +1433,9 @@ void SurveyComplexItem::rotateEntryPoint(void)
 
     setDirty(true);
 }
+
+double SurveyComplexItem::timeBetweenShots(void)
+{
+    return _cruiseSpeed == 0 ? 0 : _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / _cruiseSpeed;
+}
+

src/MissionManager/SurveyComplexItem.h

@@ -40,6 +40,7 @@ public:
     bool    specifiesCoordinate (void) const final { return true; }
     void    appendMissionItems  (QList<MissionItem*>& items, QObject* missionItemParent) final;
     void    applyNewAltitude    (double newAltitude) final;
+    double  timeBetweenShots    (void) final;
 
     // Overrides from VisualMissionionItem
     QString commandDescription  (void) const final { return tr("Survey"); }

src/MissionManager/TransectStyleComplexItem.cc

@@ -309,11 +309,6 @@ void TransectStyleComplexItem::applyNewAltitude(double newAltitude)
     //_altitudeFact.setRawValue(newAltitude);
 }
 
-double TransectStyleComplexItem::timeBetweenShots(void)
-{
-    return _cruiseSpeed == 0 ? 0 : _cameraCalc.adjustedFootprintSide()->rawValue().toDouble() / _cruiseSpeed;
-}
-
 void TransectStyleComplexItem::_updateCoordinateAltitudes(void)
 {
     emit coordinateChanged(coordinate());
@@ -383,6 +378,7 @@ void TransectStyleComplexItem::_rebuildTransects(void)
     _rebuildTransectsPhase2();
 
     emit lastSequenceNumberChanged(lastSequenceNumber());
+    emit timeBetweenShotsChanged();
 }
 
 void TransectStyleComplexItem::_queryTransectsPathHeightInfo(void)

src/MissionManager/TransectStyleComplexItem.h

@@ -59,12 +59,13 @@ public:
     Fact* terrainAdjustMaxClimbRate     (void) { return &_terrainAdjustMaxDescentRateFact; }
 
     int             cameraShots             (void) const { return _cameraShots; }
-    double          timeBetweenShots        (void);
     double          coveredArea             (void) const;
     double          cameraMinTriggerInterval(void) const { return _cameraMinTriggerInterval; }
     bool            hoverAndCaptureAllowed  (void) const;
     bool            followTerrain           (void) const { return _followTerrain; }
 
+    virtual double  timeBetweenShots        (void) { return 0; } // Most be overridden. Implementation here is needed for unit testing.
+
     void setFollowTerrain(bool followTerrain);
 
     // Overrides from ComplexMissionItem

src/MissionManager/TransectStyleComplexItemTest.cc

@@ -25,6 +25,10 @@ void TransectStyleComplexItemTest::init(void)
 
     _offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_QUADROTOR, qgcApp()->toolbox()->firmwarePluginManager(), this);
     _transectStyleItem = new TransectStyleItem(_offlineVehicle, 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);
 
@@ -107,36 +111,58 @@ void TransectStyleComplexItemTest::_setSurveyAreaPolygon(void)
 void TransectStyleComplexItemTest::_testRebuildTransects(void)
 {
     // Changing the survey polygon should trigger:
-    //  _rebuildTransects call
+    //  _rebuildTransects calls
     //  coveredAreaChanged signal
     //  lastSequenceNumberChanged signal
     _adjustSurveAreaPolygon();
-    QVERIFY(_transectStyleItem->rebuildTransectsCalled);
+    QVERIFY(_transectStyleItem->rebuildTransectsPhase1Called);
+    QVERIFY(_transectStyleItem->rebuildTransectsPhase2Called);
     QVERIFY(_multiSpy->checkSignalsByMask(coveredAreaChangedMask | lastSequenceNumberChangedMask));
-    _transectStyleItem->rebuildTransectsCalled = false;
+    _transectStyleItem->rebuildTransectsPhase1Called = false;
+    _transectStyleItem->rebuildTransectsPhase2Called = false;
     _transectStyleItem->setDirty(false);
     _multiSpy->clearAllSignals();
 
     // Changes to these facts should trigger:
-    //  _rebuildTransects call
+    //  _rebuildTransects calls
     //  lastSequenceNumberChanged signal
     QList<Fact*> rgFacts;
     rgFacts << _transectStyleItem->turnAroundDistance()
             << _transectStyleItem->cameraTriggerInTurnAround()
             << _transectStyleItem->hoverAndCapture()
             << _transectStyleItem->refly90Degrees()
-            << _transectStyleItem->cameraCalc()->adjustedFootprintSide()
-            << _transectStyleItem->cameraCalc()->adjustedFootprintFrontal();
+            << _transectStyleItem->cameraCalc()->frontalOverlap()
+            << _transectStyleItem->cameraCalc()->sideOverlap();
     foreach(Fact* fact, rgFacts) {
         qDebug() << fact->name();
         changeFactValue(fact);
-        QVERIFY(_transectStyleItem->rebuildTransectsCalled);
+        QVERIFY(_transectStyleItem->rebuildTransectsPhase1Called);
+        QVERIFY(_transectStyleItem->rebuildTransectsPhase2Called);
         QVERIFY(_multiSpy->checkSignalsByMask(lastSequenceNumberChangedMask));
         _transectStyleItem->setDirty(false);
         _multiSpy->clearAllSignals();
-        _transectStyleItem->rebuildTransectsCalled = false;
+        _transectStyleItem->rebuildTransectsPhase1Called = false;
+        _transectStyleItem->rebuildTransectsPhase2Called = false;
     }
     rgFacts.clear();
+
+    _transectStyleItem->cameraCalc()->valueSetIsDistance()->setRawValue(false);
+    _transectStyleItem->rebuildTransectsPhase1Called = false;
+    _transectStyleItem->rebuildTransectsPhase2Called = false;
+    changeFactValue(_transectStyleItem->cameraCalc()->imageDensity());
+    QVERIFY(_transectStyleItem->rebuildTransectsPhase1Called);
+    QVERIFY(_transectStyleItem->rebuildTransectsPhase2Called);
+    QVERIFY(_multiSpy->checkSignalsByMask(lastSequenceNumberChangedMask));
+    _multiSpy->clearAllSignals();
+
+    _transectStyleItem->cameraCalc()->valueSetIsDistance()->setRawValue(true);
+    _transectStyleItem->rebuildTransectsPhase1Called = false;
+    _transectStyleItem->rebuildTransectsPhase2Called = false;
+    changeFactValue(_transectStyleItem->cameraCalc()->distanceToSurface());
+    QVERIFY(_transectStyleItem->rebuildTransectsPhase1Called);
+    QVERIFY(_transectStyleItem->rebuildTransectsPhase2Called);
+    QVERIFY(_multiSpy->checkSignalsByMask(lastSequenceNumberChangedMask));
+    _multiSpy->clearAllSignals();
 }
 
 void TransectStyleComplexItemTest::_testDistanceSignalling(void)
@@ -193,17 +219,18 @@ void TransectStyleComplexItemTest::_testAltMode(void)
 
 TransectStyleItem::TransectStyleItem(Vehicle* vehicle, QObject* parent)
     : TransectStyleComplexItem      (vehicle, false /* flyView */, QStringLiteral("UnitTestTransect"), parent)
-    , rebuildTransectsCalled    (false)
+    , rebuildTransectsPhase1Called  (false)
+    , rebuildTransectsPhase2Called  (false)
 {
 
 }
 
 void TransectStyleItem::_rebuildTransectsPhase1(void)
 {
-    rebuildTransectsCalled = true;
+    rebuildTransectsPhase1Called = true;
 }
 
 void TransectStyleItem::_rebuildTransectsPhase2(void)
 {
-
+    rebuildTransectsPhase2Called = true;
 }

src/MissionManager/TransectStyleComplexItemTest.h

@@ -31,7 +31,7 @@ protected:
 private slots:
     void _testDirty             (void);
     void _testRebuildTransects  (void);
-    void _testDistanceSignalling        (void);
+    void _testDistanceSignalling(void);
     void _testAltMode           (void);
 
 private:
@@ -97,7 +97,8 @@ public:
     void    appendMissionItems  (QList<MissionItem*>& items, QObject* missionItemParent) final { Q_UNUSED(items); Q_UNUSED(missionItemParent); }
     void    applyNewAltitude    (double newAltitude) final { Q_UNUSED(newAltitude); }
 
-    bool rebuildTransectsCalled;
+    bool rebuildTransectsPhase1Called;
+    bool rebuildTransectsPhase2Called;
 
 private slots:
     // Overrides from TransectStyleComplexItem

src/qgcunittest/UnitTest.cc

@@ -524,11 +524,14 @@ bool UnitTest::doubleNaNCompare(double value1, double value2)
     }
 }
 
-void UnitTest::changeFactValue(Fact* fact)
+void UnitTest::changeFactValue(Fact* fact,double increment)
 {
     if (fact->typeIsBool()) {
         fact->setRawValue(!fact->rawValue().toBool());
     } else {
-        fact->setRawValue(fact->rawValue().toDouble() + 1);
+        if (increment == 0) {
+            increment = 1;
+        }
+        fact->setRawValue(fact->rawValue().toDouble() + increment);
     }
 }

src/qgcunittest/UnitTest.h

@@ -98,7 +98,8 @@ public:
     static bool doubleNaNCompare(double value1, double value2);
 
     /// Changes the Facts rawValue such that it emits a valueChanged signal.
-    void changeFactValue(Fact* fact);
+    ///     @param increment 0 use standard increment, other increment by specified amount if double value
+    void changeFactValue(Fact* fact, double increment = 0);
 
 protected slots: