Merge pull request #5007 from DonLakeFlyer/UniTestGimbal

Unit testing around gimbal visuals

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc

@@ -237,11 +237,11 @@ QString ArduCopterFirmwarePlugin::geoFenceRadiusParam(Vehicle* vehicle)
 
 bool ArduCopterFirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const
 {
-    if (vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("WP_YAW_BEHAVIOR"))) {
+    if (!vehicle->isOfflineEditingVehicle() && vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("WP_YAW_BEHAVIOR"))) {
         Fact* yawMode = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("WP_YAW_BEHAVIOR"));
         return yawMode && yawMode->rawValue().toInt() != 0;
     }
-    return false;
+    return true;
 }
 
 void ArduCopterFirmwarePlugin::missionFlightSpeedInfo(Vehicle* vehicle, double& hoverSpeed, double& cruiseSpeed)

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -518,11 +518,11 @@ void PX4FirmwarePlugin::_handleAutopilotVersion(Vehicle* vehicle, mavlink_messag
 
 bool PX4FirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const
 {
-    if (vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("MIS_YAWMODE"))) {
+    if (!vehicle->isOfflineEditingVehicle() && vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("MIS_YAWMODE"))) {
         Fact* yawMode = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("MIS_YAWMODE"));
         return yawMode && yawMode->rawValue().toInt() == 1;
     }
-    return false;
+    return true;
 }
 
 void PX4FirmwarePlugin::missionFlightSpeedInfo(Vehicle* vehicle, double& hoverSpeed, double& cruiseSpeed)

src/FlightMap/MapItems/MissionItemIndicator.qml

@@ -35,7 +35,7 @@ MapQuickItem {
             index:          missionItem ? missionItem.sequenceNumber : 0
             gimbalYaw:      missionItem.missionGimbalYaw
             vehicleYaw:     missionItem.missionVehicleYaw
-            showGimbalYaw:  missionItem.showMissionGimbalYaw
+            showGimbalYaw:  !isNaN(missionItem.missionGimbalYaw)
             onClicked:      _item.clicked()
 
             property bool _isCurrentItem:   missionItem ? missionItem.isCurrentItem : false

src/MissionManager/MissionControllerTest.cc

@@ -200,3 +200,27 @@ void MissionControllerTest::_setupVisualItemSignals(VisualMissionItem* visualIte
     Q_CHECK_PTR(_multiSpyMissionItem);
     QCOMPARE(_multiSpyMissionItem->init(visualItem, _rgVisualItemSignals, _cVisualItemSignals), true);
 }
+
+void MissionControllerTest::_testGimbalRecalc(void)
+{
+    _initForFirmwareType(MAV_AUTOPILOT_PX4);
+    _missionController->insertSimpleMissionItem(QGeoCoordinate(0, 0), 1);
+    _missionController->insertSimpleMissionItem(QGeoCoordinate(0, 0), 2);
+    _missionController->insertSimpleMissionItem(QGeoCoordinate(0, 0), 3);
+    _missionController->insertSimpleMissionItem(QGeoCoordinate(0, 0), 4);
+
+    // No specific gimbal yaw set yet
+    for (int i=1; i<_missionController->visualItems()->count(); i++) {
+        VisualMissionItem* visualItem = _missionController->visualItems()->value<VisualMissionItem*>(i);
+        QVERIFY(qIsNaN(visualItem->missionGimbalYaw()));
+    }
+
+    // Specify gimbal yaw on settings item should generate yaw on all items
+    MissionSettingsItem* settingsItem = _missionController->visualItems()->value<MissionSettingsItem*>(0);
+    settingsItem->cameraSection()->setSpecifyGimbal(true);
+    settingsItem->cameraSection()->gimbalYaw()->setRawValue(0.0);
+    for (int i=1; i<_missionController->visualItems()->count(); i++) {
+        VisualMissionItem* visualItem = _missionController->visualItems()->value<VisualMissionItem*>(i);
+        QCOMPARE(visualItem->missionGimbalYaw(), 0.0);
+    }
+}

src/MissionManager/MissionControllerTest.h

@@ -31,6 +31,9 @@ public:
 private slots:
     void cleanup(void);
 
+    void _testGimbalRecalc(void);
+
+private:
     void _testEmptyVehicleAPM(void);
     void _testEmptyVehiclePX4(void);
     void _testAddWayppointAPM(void);

src/MissionManager/MissionSettingsItem.h

@@ -33,8 +33,8 @@ public:
 
     Fact*   plannedHomePositionAltitude (void) { return &_plannedHomePositionAltitudeFact; }
 
-    QObject* cameraSection(void) { return &_cameraSection; }
-    QObject* speedSection(void) { return &_speedSection; }
+    CameraSection* cameraSection(void) { return &_cameraSection; }
+    SpeedSection* speedSection(void) { return &_speedSection; }
 
     /// Scans the loaded items for settings items
     bool scanForMissionSettings(QmlObjectListModel* visualItems, int scanIndex);

src/MissionManager/SimpleMissionItem.cc

@@ -80,9 +80,9 @@ SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, QObject* parent)
 
     connect(&_missionItem, &MissionItem::specifiedFlightSpeedChanged, this, &SimpleMissionItem::specifiedFlightSpeedChanged);
 
-    connect(this, &SimpleMissionItem::sequenceNumberChanged,    this, &SimpleMissionItem::lastSequenceNumberChanged);
-    connect(this, &SimpleMissionItem::cameraSectionChanged,     this, &SimpleMissionItem::_setDirtyFromSignal);
-    connect(this, &SimpleMissionItem::cameraSectionChanged,     this, &SimpleMissionItem::_updateLastSequenceNumber);
+    connect(this, &SimpleMissionItem::sequenceNumberChanged,        this, &SimpleMissionItem::lastSequenceNumberChanged);
+    connect(this, &SimpleMissionItem::cameraSectionChanged,         this, &SimpleMissionItem::_setDirtyFromSignal);
+    connect(this, &SimpleMissionItem::cameraSectionChanged,         this, &SimpleMissionItem::_updateLastSequenceNumber);
 }
 
 SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, const MissionItem& missionItem, QObject* parent)
@@ -736,8 +736,10 @@ void SimpleMissionItem::_updateOptionalSections(void)
     connect(_cameraSection, &CameraSection::specifyGimbalChanged,       this, &SimpleMissionItem::specifiedGimbalYawChanged);
     connect(_cameraSection, &CameraSection::specifiedGimbalYawChanged,  this, &SimpleMissionItem::specifiedGimbalYawChanged);
 
-    connect(_speedSection, &CameraSection::dirtyChanged,                this, &SimpleMissionItem::_sectionDirtyChanged);
-    connect(_speedSection, &CameraSection::itemCountChanged,            this, &SimpleMissionItem::_updateLastSequenceNumber);
+    connect(_speedSection,                  &SpeedSection::dirtyChanged,                this, &SimpleMissionItem::_sectionDirtyChanged);
+    connect(_speedSection,                  &SpeedSection::itemCountChanged,            this, &SimpleMissionItem::_updateLastSequenceNumber);
+    connect(_speedSection,                  &SpeedSection::specifyFlightSpeedChanged,   this, &SimpleMissionItem::specifiedFlightSpeedChanged);
+    connect(_speedSection->flightSpeed(),   &Fact::rawValueChanged,                     this, &SimpleMissionItem::specifiedFlightSpeedChanged);
 
     emit cameraSectionChanged(_cameraSection);
     emit speedSectionChanged(_speedSection);

src/MissionManager/SimpleMissionItemTest.cc

@@ -107,8 +107,7 @@ void SimpleMissionItemTest::init(void)
 
     _spySimpleItem = new MultiSignalSpy();
     QCOMPARE(_spySimpleItem->init(_simpleItem, rgSimpleItemSignals, cSimpleItemSignals), true);
-    _spyVisualItem = new MultiSignalSpy();
-    QCOMPARE(_spyVisualItem->init(_simpleItem, rgVisualItemSignals, cVisualItemSignals), true);
+    VisualMissionItemTest::_createSpy(_simpleItem, &_spyVisualItem);
 }
 
 void SimpleMissionItemTest::cleanup(void)
@@ -257,7 +256,33 @@ void SimpleMissionItemTest::_testSignals(void)
     QVERIFY(_spyVisualItem->checkSignalsByMask(commandNameChangedMask | dirtyChangedMask | coordinateChangedMask));
 }
 
-void SimpleMissionItemTest::_testCameraSectionSignals(void)
+void SimpleMissionItemTest::_testCameraSection(void)
 {
+    // No gimbal yaw to start with
+    QVERIFY(qIsNaN(_simpleItem->specifiedGimbalYaw()));
+    QVERIFY(qIsNaN(_simpleItem->missionGimbalYaw()));
+    QCOMPARE(_simpleItem->dirty(), false);
+
+    double gimbalYaw = 10.1234;
+    _simpleItem->cameraSection()->setSpecifyGimbal(true);
+    _simpleItem->cameraSection()->gimbalYaw()->setRawValue(gimbalYaw);
+    QCOMPARE(_simpleItem->specifiedGimbalYaw(), gimbalYaw);
+    QVERIFY(qIsNaN(_simpleItem->missionGimbalYaw()));
+    QCOMPARE(_spyVisualItem->checkSignalsByMask(specifiedGimbalYawChangedMask), true);
+    QCOMPARE(_simpleItem->dirty(), true);
+}
+
 
+void SimpleMissionItemTest::_testSpeedSection(void)
+{
+    // No flight speed
+    QVERIFY(qIsNaN(_simpleItem->specifiedFlightSpeed()));
+    QCOMPARE(_simpleItem->dirty(), false);
+
+    double flightSpeed = 10.1234;
+    _simpleItem->speedSection()->setSpecifyFlightSpeed(true);
+    _simpleItem->speedSection()->flightSpeed()->setRawValue(flightSpeed);
+    QCOMPARE(_simpleItem->specifiedFlightSpeed(), flightSpeed);
+    QCOMPARE(_spyVisualItem->checkSignalsByMask(specifiedFlightSpeedChangedMask), true);
+    QCOMPARE(_simpleItem->dirty(), true);
 }

src/MissionManager/SimpleMissionItemTest.h

@@ -25,10 +25,11 @@ public:
 
 private slots:
     void _testSignals(void);
-    void _testCameraSectionSignals(void);
     void _testEditorFacts(void);
     void _testDefaultValues(void);
-    
+    void _testCameraSection(void);
+    void _testSpeedSection(void);
+
 private:
     enum {
         commandChangedIndex = 0,

src/MissionManager/VisualMissionItem.h

@@ -67,7 +67,6 @@ public:
     Q_PROPERTY(double           specifiedGimbalYaw                  READ specifiedGimbalYaw                                             NOTIFY specifiedGimbalYawChanged)                   ///< NaN if this item goes not specify gimbal yaw
     Q_PROPERTY(double           missionGimbalYaw                    READ missionGimbalYaw                                               NOTIFY missionGimbalYawChanged)                     ///< Current gimbal yaw state at this point in mission
     Q_PROPERTY(double           missionVehicleYaw                   READ missionVehicleYaw                                              NOTIFY missionVehicleYawChanged)                    ///< Expected vehicle yaw at this point in mission
-    Q_PROPERTY(double           showMissionGimbalYaw                READ showMissionGimbalYaw                                           NOTIFY missionGimbalYawChanged)                     ///< true: Show gimbal yaw position on map indicators
 
     // The following properties are calculated/set by the MissionController recalc methods
 
@@ -143,7 +142,6 @@ public:
 
     double  missionGimbalYaw    (void) const { return _missionGimbalYaw; }
     double  missionVehicleYaw   (void) const { return _missionVehicleYaw; }
-    bool    showMissionGimbalYaw(void) const { return !qIsNaN(_missionGimbalYaw); }
     void    setMissionVehicleYaw(double vehicleYaw);
 
     static const char* jsonTypeKey;                 ///< Json file attribute which specifies the item type

src/MissionManager/VisualMissionItemTest.cc

@@ -56,3 +56,11 @@ void VisualMissionItemTest::cleanup(void)
     delete _offlineVehicle;
     UnitTest::cleanup();
 }
+
+void VisualMissionItemTest::_createSpy(SimpleMissionItem* simpleItem, MultiSignalSpy** visualSpy)
+{
+    *visualSpy = NULL;
+    MultiSignalSpy* spy = new MultiSignalSpy();
+    QCOMPARE(spy->init(simpleItem, rgVisualItemSignals, cVisualItemSignals), true);
+    *visualSpy = spy;
+}

src/MissionManager/VisualMissionItemTest.h

@@ -12,6 +12,7 @@
 #include "UnitTest.h"
 #include "TCPLink.h"
 #include "MultiSignalSpy.h"
+#include "SimpleMissionItem.h"
 
 #include <QGeoCoordinate>
 
@@ -27,6 +28,8 @@ public:
     void cleanup(void) override;
 
 protected:
+    void _createSpy(SimpleMissionItem* simpleItem, MultiSignalSpy** visualSpy);
+
     enum {
         altDifferenceChangedIndex = 0,
         altPercentChangedIndex,