Merge pull request #2914 from DonLakeFlyer/ComplexUnitTest

ComplexMissionItem unit test

qgroundcontrol.pro

@@ -506,6 +506,7 @@ HEADERS += \
     src/FactSystem/FactSystemTestBase.h \
     src/FactSystem/FactSystemTestGeneric.h \
     src/FactSystem/FactSystemTestPX4.h \
+    src/MissionManager/ComplexMissionItemTest.h \
     src/MissionManager/MissionControllerTest.h \
     src/MissionManager/MissionControllerManagerTest.h \
     src/MissionManager/MissionItemTest.h \
@@ -530,6 +531,7 @@ SOURCES += \
     src/FactSystem/FactSystemTestBase.cc \
     src/FactSystem/FactSystemTestGeneric.cc \
     src/FactSystem/FactSystemTestPX4.cc \
+    src/MissionManager/ComplexMissionItemTest.cc \
     src/MissionManager/MissionControllerTest.cc \
     src/MissionManager/MissionControllerManagerTest.cc \
     src/MissionManager/MissionItemTest.cc \

src/MissionManager/ComplexMissionItem.cc

@@ -59,7 +59,8 @@ ComplexMissionItem::ComplexMissionItem(Vehicle* vehicle, QObject* parent)
 
     connect(&_gridSpacingFact,  &Fact::valueChanged, this, &ComplexMissionItem::_generateGrid);
     connect(&_gridAngleFact,    &Fact::valueChanged, this, &ComplexMissionItem::_generateGrid);
-    connect(this, &ComplexMissionItem::cameraTriggerChanged, this, &ComplexMissionItem::_signalLastSequenceNumberChanged);
+
+    connect(this, &ComplexMissionItem::cameraTriggerChanged, this, &ComplexMissionItem::_cameraTriggerChanged);
 }
 
 void ComplexMissionItem::clearPolygon(void)
@@ -77,8 +78,10 @@ void ComplexMissionItem::clearPolygon(void)
     _polygonPath.clear();
 
     _clearGrid();
+    setDirty(true);
 
     emit specifiesCoordinateChanged();
+    emit lastSequenceNumberChanged(lastSequenceNumber());
 }
 
 void ComplexMissionItem::addPolygonCoordinate(const QGeoCoordinate coordinate)
@@ -87,14 +90,13 @@ void ComplexMissionItem::addPolygonCoordinate(const QGeoCoordinate coordinate)
     emit polygonPathChanged();
 
     int pointCount = _polygonPath.count();
-    if (pointCount == 1) {
-        setCoordinate(coordinate);
-    } else if (pointCount == 3) {
-        emit specifiesCoordinateChanged();
+    if (pointCount >= 3) {
+        if (pointCount == 3) {
+            emit specifiesCoordinateChanged();
+        }
+        _generateGrid();
     }
-    _setExitCoordinate(coordinate);
-
-    _generateGrid();
+    setDirty(true);
 }
 
 int ComplexMissionItem::lastSequenceNumber(void) const
@@ -103,10 +105,10 @@ int ComplexMissionItem::lastSequenceNumber(void) const
 
     if (_gridPoints.count()) {
         lastSeq += _gridPoints.count() - 1;
-    }
-    if (_cameraTrigger) {
-        // Account for two trigger messages
-        lastSeq += 2;
+        if (_cameraTrigger) {
+            // Account for two trigger messages
+            lastSeq += 2;
+        }
     }
 
     return lastSeq;
@@ -117,7 +119,6 @@ void ComplexMissionItem::setCoordinate(const QGeoCoordinate& coordinate)
     if (_coordinate != coordinate) {
         _coordinate = coordinate;
         emit coordinateChanged(_coordinate);
-        _setExitCoordinate(coordinate);
     }
 }
 
@@ -259,8 +260,6 @@ void ComplexMissionItem::_clearGrid(void)
     }
     emit gridPointsChanged();
     _gridPoints.clear();
-    emit gridPointsChanged();
-
 }
 
 void ComplexMissionItem::_generateGrid(void)
@@ -511,7 +510,11 @@ QmlObjectListModel* ComplexMissionItem::getMissionItems(void) const
     return pMissionItems;
 }
 
-void ComplexMissionItem::_signalLastSequenceNumberChanged(void)
+void ComplexMissionItem::_cameraTriggerChanged(void)
 {
-    emit lastSequenceNumberChanged(lastSequenceNumber());
+    setDirty(true);
+    if (_gridPoints.count()) {
+        // If we have grid turn on/off camera trigger will add/remove two camera trigger mission items
+        emit lastSequenceNumberChanged(lastSequenceNumber());
+    }
 }

src/MissionManager/ComplexMissionItem.h

@@ -103,7 +103,7 @@ signals:
     void gridAltitudeRelativeChanged    (bool gridAltitudeRelative);
 
 private slots:
-    void _signalLastSequenceNumberChanged(void);
+    void _cameraTriggerChanged(void);
 
 private:
     void _clear(void);

src/MissionManager/ComplexMissionItemTest.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 ComplexMissionItemTest_H
+#define ComplexMissionItemTest_H
+
+#include "UnitTest.h"
+#include "TCPLink.h"
+#include "MultiSignalSpy.h"
+#include "ComplexMissionItem.h"
+
+#include <QGeoCoordinate>
+
+/// Unit test for SimpleMissionItem
+class ComplexMissionItemTest : public UnitTest
+{
+    Q_OBJECT
+    
+public:
+    ComplexMissionItemTest(void);
+
+protected:
+    void init(void) final;
+    void cleanup(void) final;
+    
+private slots:
+    void _testDirty(void);
+    void _testAddPolygonCoordinate(void);
+    void _testClearPolygon(void);
+    void _testCameraTrigger(void);
+
+private:
+    enum {
+        polygonPathChangedIndex = 0,
+        lastSequenceNumberChangedIndex,
+        altitudeChangedIndex,
+        gridAngleChangedIndex,
+        gridPointsChangedIndex,
+        cameraTriggerChangedIndex,
+        altDifferenceChangedIndex,
+        altPercentChangedIndex,
+        azimuthChangedIndex,
+        commandDescriptionChangedIndex,
+        commandNameChangedIndex,
+        coordinateChangedIndex,
+        exitCoordinateChangedIndex,
+        dirtyChangedIndex,
+        distanceChangedIndex,
+        isCurrentItemChangedIndex,
+        sequenceNumberChangedIndex,
+        isSimpleItemChangedIndex,
+        specifiesCoordinateChangedIndex,
+        isStandaloneCoordinateChangedIndex,
+        coordinateHasRelativeAltitudeChangedIndex,
+        exitCoordinateHasRelativeAltitudeChangedIndex,
+        exitCoordinateSameAsEntryChangedIndex,
+        maxSignalIndex
+    };
+
+    enum {
+        polygonPathChangedMask =                        1 << polygonPathChangedIndex,
+        lastSequenceNumberChangedMask =                 1 << lastSequenceNumberChangedIndex,
+        altitudeChangedMask =                           1 << altitudeChangedIndex,
+        gridAngleChangedMask =                          1 << gridAngleChangedIndex,
+        gridPointsChangedMask =                         1 << gridPointsChangedIndex,
+        cameraTriggerChangedMask =                      1 << cameraTriggerChangedIndex,
+        altDifferenceChangedMask =                      1 << altDifferenceChangedIndex,
+        altPercentChangedMask =                         1 << altPercentChangedIndex,
+        azimuthChangedMask =                            1 << azimuthChangedIndex,
+        commandDescriptionChangedMask =                 1 << commandDescriptionChangedIndex,
+        commandNameChangedMask =                        1 << commandNameChangedIndex,
+        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,
+        coordinateHasRelativeAltitudeChangedMask =      1 << coordinateHasRelativeAltitudeChangedIndex,
+        exitCoordinateHasRelativeAltitudeChangedMask =  1 << exitCoordinateHasRelativeAltitudeChangedIndex,
+        exitCoordinateSameAsEntryChangedMask =          1 << exitCoordinateSameAsEntryChangedIndex,
+    };
+
+    static const size_t _cComplexMissionItemSignals = maxSignalIndex;
+    const char*         _rgComplexMissionItemSignals[_cComplexMissionItemSignals];
+
+    MultiSignalSpy*         _multiSpy;
+    ComplexMissionItem*     _complexItem;
+    QList<QGeoCoordinate>   _polyPoints;
+};
+
+#endif

src/MissionManager/VisualMissionItem.h

@@ -75,7 +75,7 @@ public:
     Q_PROPERTY(bool exitCoordinateHasRelativeAltitude READ exitCoordinateHasRelativeAltitude NOTIFY exitCoordinateHasRelativeAltitudeChanged)
 
     /// @return true: exitCoordinate and coordinate are the same value
-    Q_PROPERTY(bool exitCoordinateSameAsEntry READ exitCoordinateSameAsEntry NOTIFY exitCoordinateSameAsEntry)
+    Q_PROPERTY(bool exitCoordinateSameAsEntry READ exitCoordinateSameAsEntry NOTIFY exitCoordinateSameAsEntryChanged)
 
     // General properties associated with all types of visual mission items
 
@@ -152,7 +152,7 @@ signals:
 
     void coordinateHasRelativeAltitudeChanged       (bool coordinateHasRelativeAltitude);
     void exitCoordinateHasRelativeAltitudeChanged   (bool exitCoordinateHasRelativeAltitude);
-    void exitCoordinateSameAsEntry                  (bool exitCoordinateSameAsEntry);
+    void exitCoordinateSameAsEntryChanged           (bool exitCoordinateSameAsEntry);
 
 protected:
     Vehicle*    _vehicle;

src/qgcunittest/MultiSignalSpy.cc

@@ -53,10 +53,9 @@ MultiSignalSpy::~MultiSignalSpy()
 /// Initializes the class. Must be called once before use.
 ///     @return true if success, false for failure
 
-bool MultiSignalSpy::init(
-                        QObject*        signalEmitter,  ///< [in] object which the signals are emitted from
-                        const char**    rgSignals,      ///< [in] array of signals to spy on
-                        size_t          cSignals)       ///< [in] numbers of signals in rgSignals
+bool MultiSignalSpy::init(QObject*        signalEmitter,    ///< [in] object which the signals are emitted from
+                          const char**    rgSignals,        ///< [in] array of signals to spy on
+                          size_t          cSignals)         ///< [in] numbers of signals in rgSignals
 {
     if (!signalEmitter || !rgSignals || cSignals == 0) {
         qDebug() << "Invalid arguments";
@@ -85,7 +84,7 @@ bool MultiSignalSpy::init(
     return true;
 }
 
-bool MultiSignalSpy::_checkSignalByMaskWorker(quint16 mask, bool multipleSignalsAllowed)
+bool MultiSignalSpy::_checkSignalByMaskWorker(quint32 mask, bool multipleSignalsAllowed)
 {
     for (size_t i=0; i<_cSignals; i++) {
         if ((1 << i) & mask) {
@@ -94,7 +93,7 @@ bool MultiSignalSpy::_checkSignalByMaskWorker(quint16 mask, bool multipleSignals
             
             if ((multipleSignalsAllowed && spy->count() ==  0) || (!multipleSignalsAllowed && spy->count() != 1)) {
                 qDebug() << "Failed index:" << i;
-                _printSignalState();
+                _printSignalState(mask);
                 return false;
             }
         }
@@ -103,7 +102,7 @@ bool MultiSignalSpy::_checkSignalByMaskWorker(quint16 mask, bool multipleSignals
     return true;
 }
 
-bool MultiSignalSpy::_checkOnlySignalByMaskWorker(quint16 mask, bool multipleSignalsAllowed)
+bool MultiSignalSpy::_checkOnlySignalByMaskWorker(quint32 mask, bool multipleSignalsAllowed)
 {
     for (size_t i=0; i<_cSignals; i++) {
         QSignalSpy* spy = _rgSpys[i];
@@ -111,12 +110,12 @@ bool MultiSignalSpy::_checkOnlySignalByMaskWorker(quint16 mask, bool multipleSig
 
         if ((1 << i) & mask) {
             if ((multipleSignalsAllowed && spy->count() ==  0) || (!multipleSignalsAllowed && spy->count() != 1)) {
-                _printSignalState();
+                _printSignalState(mask);
                 return false;
             }
         } else {
             if (spy->count() != 0) {
-                _printSignalState();
+                _printSignalState(mask);
                 return false;
             }
         }
@@ -125,28 +124,28 @@ bool MultiSignalSpy::_checkOnlySignalByMaskWorker(quint16 mask, bool multipleSig
     return true;
 }
 
-bool MultiSignalSpy::checkSignalByMask(quint16 mask)
+bool MultiSignalSpy::checkSignalByMask(quint32 mask)
 {
     return _checkSignalByMaskWorker(mask, false /* multipleSignalsAllowed */);
 }
 
-bool MultiSignalSpy::checkOnlySignalByMask(quint16 mask)
+bool MultiSignalSpy::checkOnlySignalByMask(quint32 mask)
 {
     return _checkOnlySignalByMaskWorker(mask, false /* multipleSignalsAllowed */);
 }
 
-bool MultiSignalSpy::checkSignalsByMask(quint16 mask)
+bool MultiSignalSpy::checkSignalsByMask(quint32 mask)
 {
     return _checkSignalByMaskWorker(mask, true /* multipleSignalsAllowed */);
 }
 
-bool MultiSignalSpy::checkOnlySignalsByMask(quint16 mask)
+bool MultiSignalSpy::checkOnlySignalsByMask(quint32 mask)
 {
     return _checkOnlySignalByMaskWorker(mask, true /* multipleSignalsAllowed */);
 }
 
 /// @return true if signal count = 0 for specified signals
-bool MultiSignalSpy::checkNoSignalByMask(quint16 mask)
+bool MultiSignalSpy::checkNoSignalByMask(quint32 mask)
 {
     for (size_t i=0; i<_cSignals; i++) {
         if ((1 << i) & mask) {
@@ -154,7 +153,7 @@ bool MultiSignalSpy::checkNoSignalByMask(quint16 mask)
             Q_ASSERT(spy != NULL);
 
             if (spy->count() != 0) {
-                _printSignalState();
+                _printSignalState(mask);
                 return false;
             }
         }
@@ -170,7 +169,7 @@ bool MultiSignalSpy::checkNoSignals(void)
 }
 
 /// @return QSignalSpy for the specified signal
-QSignalSpy* MultiSignalSpy::getSpyByIndex(quint16 index)
+QSignalSpy* MultiSignalSpy::getSpyByIndex(quint32 index)
 {
     Q_ASSERT(index < _cSignals);
     Q_ASSERT(_rgSpys[index] != NULL);
@@ -179,7 +178,7 @@ QSignalSpy* MultiSignalSpy::getSpyByIndex(quint16 index)
 }
 
 /// Sets the signal count to 0 for the specified signal
-void MultiSignalSpy::clearSignalByIndex(quint16 index)
+void MultiSignalSpy::clearSignalByIndex(quint32 index)
 {
     Q_ASSERT(index < _cSignals);
     Q_ASSERT(_rgSpys[index] != NULL);
@@ -188,7 +187,7 @@ void MultiSignalSpy::clearSignalByIndex(quint16 index)
 }
 
 /// Sets the signal count to 0 for all specified signals
-void MultiSignalSpy::clearSignalsByMask(quint16 mask)
+void MultiSignalSpy::clearSignalsByMask(quint32 mask)
 {
     for (size_t i=0; i<_cSignals; i++) {
         if ((1 << i) & mask) {
@@ -203,7 +202,7 @@ void MultiSignalSpy::clearSignalsByMask(quint16 mask)
 /// Sets the signal count to 0 for all signals
 void MultiSignalSpy::clearAllSignals(void)
 {
-    for (quint16 i=0;i<_cSignals; i++) {
+    for (quint32 i=0;i<_cSignals; i++) {
         clearSignalByIndex(i);
     }
 }
@@ -217,7 +216,7 @@ void MultiSignalSpy::timerEvent(QTimerEvent * event)
 /// Waits the specified signal
 ///     @return false for timeout
 bool MultiSignalSpy::waitForSignalByIndex(
-                                          quint16 index,  ///< [in] index of signal to wait on
+                                          quint32 index,  ///< [in] index of signal to wait on
                                           int     msec)   ///< [in] numbers of milleconds to wait before timeout, -1 wait forever
 {
     // Check input parameters
@@ -250,17 +249,31 @@ bool MultiSignalSpy::waitForSignalByIndex(
     return spy->count() != 0;
 }
 
-void MultiSignalSpy::_printSignalState(void)
+void MultiSignalSpy::_printSignalState(quint32 mask)
 {
     for (size_t i=0; i<_cSignals; i++) {
+        bool expected = (1 << i) & mask;
+
         QSignalSpy* spy = _rgSpys[i];
         Q_ASSERT(spy != NULL);
-        qDebug() << "Signal index:" << i << "count:" << spy->count();
+        qDebug() << "Signal index:" << i << "count:" << spy->count() << "expected:" << expected << _rgSignals[i];
     }
 }
 
-bool MultiSignalSpy::pullBoolFromSignalIndex(quint16 index)
+bool MultiSignalSpy::pullBoolFromSignalIndex(quint32 index)
 {
     QSignalSpy* spy = getSpyByIndex(index);
     return spy->value(0).value(0).toBool();
 }
+
+int MultiSignalSpy::pullIntFromSignalIndex(quint32 index)
+{
+    QSignalSpy* spy = getSpyByIndex(index);
+    return spy->value(0).value(0).toInt();
+}
+
+QGeoCoordinate MultiSignalSpy::pullQGeoCoordinateFromSignalIndex(quint32 index)
+{
+    QSignalSpy* spy = getSpyByIndex(index);
+    return spy->value(0).value(0).value<QGeoCoordinate>();
+}

src/qgcunittest/MultiSignalSpy.h

@@ -26,6 +26,7 @@
 
 #include <QObject>
 #include <QSignalSpy>
+#include <QGeoCoordinate>
 
 /// @file
 ///     @brief This class allows you to keep track of signal counts on a set of signals associated with an object.
@@ -46,42 +47,44 @@ public:
     /// @param mask bit mask specifying which signals to check. The lowest order bit represents
     ///     index 0 into the rgSignals array and so on up the bit mask.
     /// @return true if signal count = 1 for the specified signals
-    bool checkSignalByMask(quint16 mask);
+    bool checkSignalByMask(quint32 mask);
 
     /// @return true if signal count = 1 for specified signals and signal count of 0
     ///     for all other signals
-    bool checkOnlySignalByMask(quint16 mask);
+    bool checkOnlySignalByMask(quint32 mask);
 
     /// @param mask bit mask specifying which signals to check. The lowest order bit represents
     ///     index 0 into the rgSignals array and so on up the bit mask.
     /// @return true if signal count >= 1 for the specified signals
-    bool checkSignalsByMask(quint16 mask);
+    bool checkSignalsByMask(quint32 mask);
 
     /// @return true if signal count >= 1 for specified signals and signal count of 0
     ///     for all other signals
-    bool checkOnlySignalsByMask(quint16 mask);
+    bool checkOnlySignalsByMask(quint32 mask);
 
-    bool checkNoSignalByMask(quint16 mask);
+    bool checkNoSignalByMask(quint32 mask);
     bool checkNoSignals(void);
 
-    void clearSignalByIndex(quint16 index);
-    void clearSignalsByMask(quint16 mask);
+    void clearSignalByIndex(quint32 index);
+    void clearSignalsByMask(quint32 mask);
     void clearAllSignals(void);
 
-    bool waitForSignalByIndex(quint16 index, int msec);
+    bool waitForSignalByIndex(quint32 index, int msec);
     
-    QSignalSpy* getSpyByIndex(quint16 index);
+    QSignalSpy* getSpyByIndex(quint32 index);
+
+    // Returns the value type for the first parameter of the signal
+    bool pullBoolFromSignalIndex(quint32 index);
+    int pullIntFromSignalIndex(quint32 index);
+    QGeoCoordinate pullQGeoCoordinateFromSignalIndex(quint32 index);
 
-    /// Returns the boolean value for a signal which has a single bool param
-    bool pullBoolFromSignalIndex(quint16 index);
-    
 private:
     // QObject overrides
     void timerEvent(QTimerEvent * event);
     
-    void _printSignalState(void);
-    bool _checkSignalByMaskWorker(quint16 mask, bool multipleSignalsAllowed);
-    bool _checkOnlySignalByMaskWorker(quint16 mask, bool multipleSignalsAllowed);
+    void _printSignalState(quint32 mask);
+    bool _checkSignalByMaskWorker(quint32 mask, bool multipleSignalsAllowed);
+    bool _checkOnlySignalByMaskWorker(quint32 mask, bool multipleSignalsAllowed);
 
     QObject*        _signalEmitter;
     const char**    _rgSignals;

src/qgcunittest/UnitTestList.cc

@@ -33,6 +33,7 @@
 #include "MessageBoxTest.h"
 #include "MissionItemTest.h"
 #include "SimpleMissionItemTest.h"
+#include "ComplexMissionItemTest.h"
 #include "MissionControllerTest.h"
 #include "MissionManagerTest.h"
 #include "RadioConfigTest.h"
@@ -49,6 +50,7 @@ UT_REGISTER_TEST(MavlinkLogTest)
 UT_REGISTER_TEST(MessageBoxTest)
 UT_REGISTER_TEST(MissionItemTest)
 UT_REGISTER_TEST(SimpleMissionItemTest)
+UT_REGISTER_TEST(ComplexMissionItemTest)
 UT_REGISTER_TEST(MissionControllerTest)
 UT_REGISTER_TEST(MissionManagerTest)
 UT_REGISTER_TEST(RadioConfigTest)