Skip to content

Q
qgroundcontrol
Commit 842ba9eb authored by DoinLakeFlyer's avatar DoinLakeFlyer
Browse files
Options 

Survey And Corridor now share same transect generation code. Better unit tests for both with more coverage.
parent 127271cd
Expand all Hide whitespace changes
Inline Side-by-side
Showing with 516 additions and 495 deletions
qgroundcontrol.pro
View file @ 842ba9eb
......@@ -491,6 +491,7 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory { APMFirmwarePlugin {
src/MissionManager/StructureScanComplexItemTest.h \
src/MissionManager/SurveyComplexItemTest.h \
src/MissionManager/TransectStyleComplexItemTest.h \
src/MissionManager/TransectStyleComplexItemTestBase.h \
src/MissionManager/VisualMissionItemTest.h \
src/qgcunittest/GeoTest.h \
src/qgcunittest/LinkManagerTest.h \
......@@ -533,6 +534,7 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory { APMFirmwarePlugin {
src/MissionManager/StructureScanComplexItemTest.cc \
src/MissionManager/SurveyComplexItemTest.cc \
src/MissionManager/TransectStyleComplexItemTest.cc \
src/MissionManager/TransectStyleComplexItemTestBase.cc \
src/MissionManager/VisualMissionItemTest.cc \
src/qgcunittest/GeoTest.cc \
src/qgcunittest/LinkManagerTest.cc \
......
src/MissionManager/CorridorScanComplexItem.cc
View file @ 842ba9eb
......@@ -143,140 +143,10 @@ bool CorridorScanComplexItem::specifiesCoordinate(void) const
return _corridorPolyline.count() > 1;
}
int CorridorScanComplexItem::_transectCount(void) const
int CorridorScanComplexItem::_calcTransectCount(void) const
{
double fullWidth = _corridorWidthFact.rawValue().toDouble();
return fullWidth > 0.0 ? qCeil(fullWidth / _transectSpacing()) : 1;
}
void CorridorScanComplexItem::_appendLoadedMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
{
qCDebug(CorridorScanComplexItemLog) << "_appendLoadedMissionItems";
int seqNum = _sequenceNumber;
for (const MissionItem* loadedMissionItem: _loadedMissionItems) {
MissionItem* item = new MissionItem(*loadedMissionItem, missionItemParent);
item->setSequenceNumber(seqNum++);
items.append(item);
}
}
void CorridorScanComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
{
qCDebug(CorridorScanComplexItemLog) << "_buildAndAppendMissionItems";
// Now build the mission items from the transect points
MissionItem* item;
int seqNum = _sequenceNumber;
bool imagesEverywhere = _cameraTriggerInTurnAroundFact.rawValue().toBool();
bool addTriggerAtBeginning = imagesEverywhere;
bool firstOverallPoint = true;
MAV_FRAME mavFrame = followTerrain() || !_cameraCalc.distanceToSurfaceRelative() ? MAV_FRAME_GLOBAL : MAV_FRAME_GLOBAL_RELATIVE_ALT;
//qDebug() << "_buildAndAppendMissionItems";
for (const QList<TransectStyleComplexItem::CoordInfo_t>& transect: _transects) {
bool transectEntry = true;
//qDebug() << "start transect";
for (const CoordInfo_t& transectCoordInfo: transect) {
//qDebug() << transectCoordInfo.coordType;
item = new MissionItem(seqNum++,
MAV_CMD_NAV_WAYPOINT,
mavFrame,
0, // No hold time
0.0, // No acceptance radius specified
0.0, // Pass through waypoint
std::numeric_limits<double>::quiet_NaN(), // Yaw unchanged
transectCoordInfo.coord.latitude(),
transectCoordInfo.coord.longitude(),
transectCoordInfo.coord.altitude(),
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
if (triggerCamera() && firstOverallPoint && addTriggerAtBeginning) {
// Start triggering
addTriggerAtBeginning = false;
item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_FRAME_MISSION,
_cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble(), // trigger distance
0, // shutter integration (ignore)
1, // trigger immediately when starting
0, 0, 0, 0, // param 4-7 unused
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
}
firstOverallPoint = false;
// Possibly add trigger start/stop to survey area entrance/exit
if (triggerCamera() && (transectCoordInfo.coordType == TransectStyleComplexItem::CoordTypeSurveyEntry || transectCoordInfo.coordType == TransectStyleComplexItem::CoordTypeSurveyExit)) {
if (transectEntry) {
// Start of transect, always start triggering. We do this even if we are taking images everywhere.
// This allows a restart of the mission in mid-air without losing images from the entire mission.
// At most you may lose part of a transect.
item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_FRAME_MISSION,
_cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble(), // trigger distance
0, // shutter integration (ignore)
1, // trigger immediately when starting
0, 0, 0, 0, // param 4-7 unused
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
transectEntry = false;
} else if (!imagesEverywhere && !transectEntry){
// End of transect, stop triggering
item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_FRAME_MISSION,
0, // stop triggering
0, // shutter integration (ignore)
0, // trigger immediately when starting
0, 0, 0, 0, // param 4-7 unused
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
}
}
}
}
if (imagesEverywhere) {
// Stop triggering
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_FRAME_MISSION,
0, // stop triggering
0, // shutter integration (ignore)
0, // trigger immediately when starting
0, 0, 0, 0, // param 4-7 unused
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
}
}
void CorridorScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
{
if (_loadedMissionItems.count()) {
// We have mission items from the loaded plan, use those
_appendLoadedMissionItems(items, missionItemParent);
} else {
// Build the mission items on the fly
_buildAndAppendMissionItems(items, missionItemParent);
}
return fullWidth > 0.0 ? qCeil(fullWidth / _calcTransectSpacing()) : 1;
}
void CorridorScanComplexItem::applyNewAltitude(double newAltitude)
......@@ -343,10 +213,10 @@ void CorridorScanComplexItem::_rebuildTransectsPhase1(void)
_transects.clear();
_transectsPathHeightInfo.clear();
double transectSpacing = _transectSpacing();
double transectSpacing = _calcTransectSpacing();
double fullWidth = _corridorWidthFact.rawValue().toDouble();
double halfWidth = fullWidth / 2.0;
int transectCount = _transectCount();
int transectCount = _calcTransectCount();
double normalizedTransectPosition = transectSpacing / 2.0;
if (_corridorPolyline.count() >= 2) {
......@@ -486,7 +356,7 @@ void CorridorScanComplexItem::_recalcCameraShots(void)
_cameraShots = qCeil(_complexDistance / triggerDistance);
} else {
int singleTransectImageCount = qCeil(_corridorPolyline.length() / triggerDistance);
_cameraShots = singleTransectImageCount * _transectCount();
_cameraShots = singleTransectImageCount * _calcTransectCount();
}
}
emit cameraShotsChanged();
......@@ -502,7 +372,7 @@ double CorridorScanComplexItem::timeBetweenShots(void)
return _cruiseSpeed == 0 ? 0 : _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / _cruiseSpeed;
}
double CorridorScanComplexItem::_transectSpacing(void) const
double CorridorScanComplexItem::_calcTransectSpacing(void) const
{
double transectSpacing = _cameraCalc.adjustedFootprintSide()->rawValue().toDouble();
if (transectSpacing < 0.5) {
......
src/MissionManager/CorridorScanComplexItem.h
View file @ 842ba9eb
......@@ -38,7 +38,6 @@ public:
// 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;
......@@ -68,10 +67,8 @@ private slots:
void _recalcCameraShots (void) final;
private:
double _transectSpacing (void) const;
int _transectCount (void) const;
void _buildAndAppendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent);
void _appendLoadedMissionItems (QList<MissionItem*>& items, QObject* missionItemParent);
double _calcTransectSpacing (void) const;
int _calcTransectCount (void) const;
QGCMapPolyline _corridorPolyline;
QList<QList<QGeoCoordinate>> _transectSegments; ///< Internal transect segments including grid exit, turnaround and internal camera points
......
src/MissionManager/CorridorScanComplexItemTest.cc
View file @ 842ba9eb
......@@ -12,25 +12,31 @@
CorridorScanComplexItemTest::CorridorScanComplexItemTest(void)
{
_linePoints << QGeoCoordinate(47.633550640000003, -122.08982199)
<< QGeoCoordinate(47.634129020000003, -122.08887249)
<< QGeoCoordinate(47.633619320000001, -122.08811074);
_polyLineVertices.append(QGeoCoordinate(47.633550640000003, -122.08982199));
_polyLineVertices.append(_polyLineVertices[0].atDistanceAndAzimuth(_corridorLineSegmentDistance, 0));
_polyLineVertices.append(_polyLineVertices[1].atDistanceAndAzimuth(_corridorLineSegmentDistance, 20));
}
void CorridorScanComplexItemTest::init(void)
{
UnitTest::init();
TransectStyleComplexItemTestBase::init();
_masterController = new PlanMasterController(this);
_controllerVehicle = _masterController->controllerVehicle();
_corridorItem = new CorridorScanComplexItem(_masterController, false /* flyView */, QString() /* kmlFile */, this /* parent */);
_corridorItem->corridorPolyline()->appendVertices(_polyLineVertices);
// Setup for expected transect count
_corridorItem->corridorWidth()->setRawValue(_corridorWidth);
_corridorItem->cameraCalc()->adjustedFootprintSide()->setRawValue((_corridorWidth * 0.5) + 1.0);
_corridorItem->cameraCalc()->adjustedFootprintFrontal()->setRawValue(_corridorLineSegmentDistance * 0.25);
int expectedTransectCount = _expectedTransectCount;
QCOMPARE(_corridorItem->_transectCount(), expectedTransectCount);
// vehicleSpeed need for terrain calcs
MissionController::MissionFlightStatus_t missionFlightStatus;
missionFlightStatus.vehicleSpeed = 5;
_corridorItem->setMissionFlightStatus(missionFlightStatus);
_setPolyline();
_corridorItem->setDirty(false);
_rgCorridorPolygonSignals[corridorPolygonPathChangedIndex] = SIGNAL(pathChanged());
......@@ -42,6 +48,7 @@ void CorridorScanComplexItemTest::init(void)
void CorridorScanComplexItemTest::cleanup(void)
{
delete _corridorItem;
TransectStyleComplexItemTestBase::cleanup();
}
void CorridorScanComplexItemTest::_testDirty(void)
......@@ -98,14 +105,6 @@ void CorridorScanComplexItemTest::_testCameraTrigger(void)
#endif
}
void CorridorScanComplexItemTest::_setPolyline(void)
{
for (int i=0; i<_linePoints.count(); i++) {
QGeoCoordinate& vertex = _linePoints[i];
_corridorItem->corridorPolyline()->appendVertex(vertex);
}
}
#if 0
void CorridorScanComplexItemTest::_testEntryLocation(void)
{
......@@ -148,71 +147,111 @@ void CorridorScanComplexItemTest::_waitForReadyForSave(void)
void CorridorScanComplexItemTest::_testItemCount(void)
{
typedef struct {
bool triggerInTurnAround;
bool hasTurnaround;
} TestCase_t;
static const TestCase_t rgTestCases[] = {
{ false, false },
{ false, false },
{ false, true },
{ false, true },
};
QList<MissionItem*> items;
for (const TestCase_t& testCase : rgTestCases) {
qDebug() << "triggerInTurnAround:hasTurnaround" << testCase.triggerInTurnAround << testCase.hasTurnaround;
_corridorItem->cameraTriggerInTurnAround()->setRawValue(testCase.triggerInTurnAround);
_corridorItem->turnAroundDistance()->setRawValue(testCase.hasTurnaround ? 50 : 0);
_corridorItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
items.clear();
}
}
_corridorItem->turnAroundDistance()->setRawValue(0);
_corridorItem->cameraTriggerInTurnAround()->setRawValue(true);
_corridorItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
items.clear();
void CorridorScanComplexItemTest::_testPathChanges(void)
{
QGeoCoordinate vertex = _corridorItem->corridorPolyline()->vertexCoordinate(1);
vertex.setLatitude(vertex.latitude() + 0.01);
_corridorItem->corridorPolyline()->adjustVertex(1, vertex);
_corridorItem->turnAroundDistance()->setRawValue(0);
_corridorItem->cameraTriggerInTurnAround()->setRawValue(false);
_corridorItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
items.clear();
QVERIFY(_multiSpyCorridorPolygon->checkSignalsByMask(corridorPolygonPathChangedMask));
}
_corridorItem->turnAroundDistance()->setRawValue(20);
_corridorItem->cameraTriggerInTurnAround()->setRawValue(true);
_corridorItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
items.clear();
QList<MAV_CMD> CorridorScanComplexItemTest::_createExpectedCommands(bool hasTurnaround, bool useConditionGate)
{
static const QList<MAV_CMD> singleFullTransect = {
MAV_CMD_NAV_WAYPOINT, // Turnaround
MAV_CMD_CONDITION_GATE, // Survey area entry edge
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_CMD_NAV_WAYPOINT, // Polyline turn
MAV_CMD_CONDITION_GATE, // Survey area exit edge
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_CMD_NAV_WAYPOINT, // Turnaround
};
QList<MAV_CMD> singleTransect = singleFullTransect;
QList<MAV_CMD> expectedCommands;
if (!useConditionGate) {
for (MAV_CMD& cmd : singleTransect) {
cmd = cmd == MAV_CMD_CONDITION_GATE ? MAV_CMD_NAV_WAYPOINT : cmd;
}
}
_corridorItem->turnAroundDistance()->setRawValue(20);
_corridorItem->cameraTriggerInTurnAround()->setRawValue(false);
_corridorItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
items.clear();
if (!hasTurnaround) {
singleTransect.takeFirst();
singleTransect.takeLast();
}
#if 0
// Terrain queries seem to take random amount of time so these don't work 100%
_corridorItem->setFollowTerrain(true);
for (int i=0; i<_expectedTransectCount; i++) {
expectedCommands.append(singleTransect);
}
_corridorItem->turnAroundDistance()->setRawValue(0);
_corridorItem->cameraTriggerInTurnAround()->setRawValue(true);
_waitForReadyForSave();
_corridorItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
items.clear();
return expectedCommands;
}
_corridorItem->turnAroundDistance()->setRawValue(0);
_corridorItem->cameraTriggerInTurnAround()->setRawValue(false);
_waitForReadyForSave();
_corridorItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
items.clear();
_corridorItem->turnAroundDistance()->setRawValue(20);
_corridorItem->cameraTriggerInTurnAround()->setRawValue(true);
_waitForReadyForSave();
_corridorItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
items.clear();
_corridorItem->turnAroundDistance()->setRawValue(20);
_corridorItem->cameraTriggerInTurnAround()->setRawValue(false);
_waitForReadyForSave();
void CorridorScanComplexItemTest::_testItemGenerationWorker(bool imagesInTurnaround, bool hasTurnaround, bool useConditionGate, const QList<MAV_CMD>& expectedCommands)
{
qDebug() << QStringLiteral("_testItemGenerationWorker imagesInTuraround:%1 turnaround:%2 gate:%3").arg(imagesInTurnaround).arg(hasTurnaround).arg(useConditionGate);
_corridorItem->turnAroundDistance()->setRawValue(hasTurnaround ? 50 : 0);
_corridorItem->cameraTriggerInTurnAround()->setRawValue(imagesInTurnaround);
_planViewSettings->useConditionGate()->setRawValue(useConditionGate);
QList<MissionItem*> items;
_corridorItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
items.clear();
#endif
//_printItemCommands(items);
QCOMPARE(items.count(), expectedCommands.count());
for (int i=0; i<expectedCommands.count(); i++) {
int actualCommand = items[i]->command();
int expectedCommand = expectedCommands[i];
//qDebug() << "Index" << i;
QCOMPARE(actualCommand, expectedCommand);
}
}
void CorridorScanComplexItemTest::_testPathChanges(void)
void CorridorScanComplexItemTest::_testItemGeneration(void)
{
QGeoCoordinate vertex = _corridorItem->corridorPolyline()->vertexCoordinate(1);
vertex.setLatitude(vertex.latitude() + 0.01);
_corridorItem->corridorPolyline()->adjustVertex(1, vertex);
QVERIFY(_multiSpyCorridorPolygon->checkSignalsByMask(corridorPolygonPathChangedMask));
// Test all the combinations of: cameraTriggerInTurnAround: false, hasTurnAround: *, useConditionGate: *
typedef struct {
bool hasTurnaround;
bool useConditionGate;
} TestCase_t;
static const TestCase_t rgTestCases[] = {
{ false, false },
{ false, true },
{ true, false },
{ true, true },
};
for (const TestCase_t& testCase : rgTestCases) {
_testItemGenerationWorker(false /* imagesInTurnaround */, testCase.hasTurnaround, testCase.useConditionGate, _createExpectedCommands(testCase.hasTurnaround, testCase.useConditionGate));
}
}
src/MissionManager/CorridorScanComplexItemTest.h
View file @ 842ba9eb
......@@ -9,7 +9,7 @@
#pragma once
#include "UnitTest.h"
#include "TransectStyleComplexItemTestBase.h"
#include "TCPLink.h"
#include "MultiSignalSpy.h"
#include "CorridorScanComplexItem.h"
......@@ -17,7 +17,7 @@
#include <QGeoCoordinate>
class CorridorScanComplexItemTest : public UnitTest
class CorridorScanComplexItemTest : public TransectStyleComplexItemTestBase
{
Q_OBJECT
......@@ -25,19 +25,31 @@ public:
CorridorScanComplexItemTest(void);
protected:
void init(void) final;
void init (void) final;
void cleanup(void) final;
#if 1
private slots:
void _testDirty(void);
void _testCameraTrigger(void);
// void _testEntryLocation(void);
void _testItemCount(void);
void _testPathChanges(void);
void _testDirty (void);
void _testCameraTrigger (void);
void _testPathChanges (void);
void _testItemGeneration(void);
void _testItemCount (void);
#else
// Used to debug a single test
private slots:
void _testItemGeneration(void);
private:
void _testDirty (void);
void _testCameraTrigger (void);
void _testPathChanges (void);
void _testItemCount (void);
#endif
private:
void _setPolyline(void);
void _waitForReadyForSave(void);
void _waitForReadyForSave(void);
QList<MAV_CMD> _createExpectedCommands(bool hasTurnaround, bool useConditionGate);
void _testItemGenerationWorker(bool imagesInTurnaround, bool hasTurnaround, bool useConditionGate, const QList<MAV_CMD>& expectedCommands);
enum {
corridorPolygonPathChangedIndex = 0,
......@@ -51,9 +63,11 @@ private:
static const size_t _cCorridorPolygonSignals = maxCorridorPolygonSignalIndex;
const char* _rgCorridorPolygonSignals[_cCorridorPolygonSignals];
PlanMasterController* _masterController = nullptr;
Vehicle* _controllerVehicle = nullptr;
MultiSignalSpy* _multiSpyCorridorPolygon = nullptr;
CorridorScanComplexItem* _corridorItem = nullptr;
QList<QGeoCoordinate> _linePoints;
QList<QGeoCoordinate> _polyLineVertices;
static constexpr int _expectedTransectCount = 2;
static constexpr double _corridorLineSegmentDistance = 200.0;
static constexpr double _corridorWidth = 50.0;
};
src/MissionManager/SurveyComplexItem.cc
View file @ 842ba9eb
This diff is collapsed.
src/MissionManager/SurveyComplexItem.h
View file @ 842ba9eb
......@@ -47,7 +47,6 @@ public:
// Overrides from TransectStyleComplexItem
void save (QJsonArray& planItems) final;
bool specifiesCoordinate (void) const final { return true; }
void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) final;
void applyNewAltitude (double newAltitude) final;
double timeBetweenShots (void) final;
......@@ -109,8 +108,6 @@ private:
void _adjustTransectsToEntryPointLocation(QList<QList<QGeoCoordinate>>& transects);
bool _gridAngleIsNorthSouthTransects();
double _clampGridAngle90(double gridAngle);
void _buildAndAppendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent);
void _appendLoadedMissionItems (QList<MissionItem*>& items, QObject* missionItemParent);
bool _imagesEverywhere(void) const;
bool _triggerCamera(void) const;
bool _hasTurnaround(void) const;
......@@ -129,11 +126,6 @@ private:
// return true if vertex a can see vertex b
bool _VertexCanSeeOther(const QPolygonF& polygon, const QPointF* vertexA, const QPointF* vertexB);
bool _VertexIsReflex(const QPolygonF& polygon, const QPointF* vertex);
void _appendWaypoint(QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum, MAV_FRAME mavFrame, float holdTime, const QGeoCoordinate& coordinate);
void _appendSinglePhotoCapture(QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum);
void _appendConditionGate(QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum, MAV_FRAME mavFrame, const QGeoCoordinate& coordinate);
void _appendCameraTriggerDistance(QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum, float triggerDistance);
void _appendCameraTriggerDistanceUpdatePoint(QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum, MAV_FRAME mavFrame, const QGeoCoordinate& coordinate, bool useConditionGate, float triggerDistance);
QMap<QString, FactMetaData*> _metaDataMap;
......@@ -172,7 +164,4 @@ private:
static const char* _jsonV3CameraOrientationLandscapeKey;
static const char* _jsonV3FixedValueIsAltitudeKey;
static const char* _jsonV3Refly90DegreesKey;
static const int _hoverAndCaptureDelaySeconds = 4;
};
src/MissionManager/SurveyComplexItemTest.cc
View file @ 842ba9eb
......@@ -23,7 +23,7 @@ SurveyComplexItemTest::SurveyComplexItemTest(void)
void SurveyComplexItemTest::init(void)
{
UnitTest::init();
TransectStyleComplexItemTestBase::init();
_rgSurveySignals[surveyVisualTransectPointsChangedIndex] = SIGNAL(visualTransectPointsChanged());
_rgSurveySignals[surveyCameraShotsChangedIndex] = SIGNAL(cameraShotsChanged());
......@@ -32,9 +32,6 @@ void SurveyComplexItemTest::init(void)
_rgSurveySignals[surveyRefly90DegreesChangedIndex] = SIGNAL(refly90DegreesChanged(bool));
_rgSurveySignals[surveyDirtyChangedIndex] = SIGNAL(dirtyChanged(bool));
_planViewSettings = qgcApp()->toolbox()->settingsManager()->planViewSettings();
_masterController = new PlanMasterController(this);
_controllerVehicle = _masterController->controllerVehicle();
_surveyItem = new SurveyComplexItem(_masterController, false /* flyView */, QString() /* kmlFile */, this /* parent */);
_mapPolygon = _surveyItem->surveyAreaPolygon();
_mapPolygon->appendVertices(_polyVertices);
......@@ -66,6 +63,8 @@ void SurveyComplexItemTest::cleanup(void)
{
delete _surveyItem;
delete _multiSpy;
TransectStyleComplexItemTestBase::cleanup();
}
void SurveyComplexItemTest::_testDirty(void)
......@@ -124,15 +123,8 @@ double SurveyComplexItemTest::_clampGridAngle180(double gridAngle)
return gridAngle;
}
void SurveyComplexItemTest::_setPolygon(void)
{
_mapPolygon->appendVertices(_polyVertices);
}
void SurveyComplexItemTest::_testGridAngle(void)
{
_setPolygon();
for (double gridAngle=-360.0; gridAngle<=360.0; gridAngle++) {
_surveyItem->gridAngle()->setRawValue(gridAngle);
......@@ -141,14 +133,14 @@ void SurveyComplexItemTest::_testGridAngle(void)
QGeoCoordinate firstTransectExit = gridPoints[1].value<QGeoCoordinate>();
double azimuth = firstTransectEntry.azimuthTo(firstTransectExit);
//qDebug() << gridAngle << azimuth << _clampGridAngle180(gridAngle) << _clampGridAngle180(azimuth);
QCOMPARE((int)_clampGridAngle180(gridAngle), (int)_clampGridAngle180(azimuth));
int clampGridAngle = qRound(_clampGridAngle180(gridAngle));
int clampAzimuth = qRound(_clampGridAngle180(azimuth));
QCOMPARE(clampGridAngle, clampAzimuth);
}
}
void SurveyComplexItemTest::_testEntryLocation(void)
{
_setPolygon();
for (double gridAngle=-360.0; gridAngle<=360.0; gridAngle++) {
_surveyItem->gridAngle()->setRawValue(gridAngle);
......@@ -165,40 +157,43 @@ void SurveyComplexItemTest::_testEntryLocation(void)
}
}
void SurveyComplexItemTest::_testItemCount(void)
{
QList<MissionItem*> items;
_setPolygon();
_surveyItem->hoverAndCapture()->setRawValue(false);
_surveyItem->cameraTriggerInTurnAround()->setRawValue(false);
_surveyItem->refly90Degrees()->setRawValue(false);
_surveyItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _surveyItem->lastSequenceNumber());
items.clear();
_surveyItem->hoverAndCapture()->setRawValue(false);
_surveyItem->cameraTriggerInTurnAround()->setRawValue(true);
_surveyItem->refly90Degrees()->setRawValue(false);
_surveyItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _surveyItem->lastSequenceNumber());
items.clear();
typedef struct {
bool hoverAndCapture;
bool triggerInTurnAround;
bool refly90;
bool hasTurnaround;
} TestCase_t;
_surveyItem->hoverAndCapture()->setRawValue(true);
_surveyItem->cameraTriggerInTurnAround()->setRawValue(false);
_surveyItem->refly90Degrees()->setRawValue(false);
_surveyItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _surveyItem->lastSequenceNumber());
items.clear();
QList<TestCase_t> rgTestCases;
for (int i=0; i<2; i++) {
for (int j=0; i<2; i++) {
for (int k=0; i<2; i++) {
for (int l=0; i<2; i++) {
TestCase_t testCase;
testCase.hoverAndCapture = i;
testCase.triggerInTurnAround = j;
testCase.refly90 = k;
testCase.hasTurnaround = l;
rgTestCases.append(testCase);
}
}
}
}
_surveyItem->hoverAndCapture()->setRawValue(true);
_surveyItem->cameraTriggerInTurnAround()->setRawValue(false);
_surveyItem->refly90Degrees()->setRawValue(true);
_surveyItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _surveyItem->lastSequenceNumber());
items.clear();
QList<MissionItem*> items;
for (const TestCase_t& testCase : rgTestCases) {
qDebug() << "hoverAndCapture:triggerInTurnAround:refly90:hasTuraround" << testCase.hoverAndCapture << testCase.triggerInTurnAround << testCase.refly90 << testCase.hasTurnaround;
_surveyItem->hoverAndCapture()->setRawValue(testCase.hoverAndCapture);
_surveyItem->cameraTriggerInTurnAround()->setRawValue(testCase.triggerInTurnAround);
_surveyItem->refly90Degrees()->setRawValue(testCase.refly90);
_surveyItem->turnAroundDistance()->setRawValue(testCase.hasTurnaround ? 50 : 0);
_surveyItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _surveyItem->lastSequenceNumber());
items.clear();
}
}
QList<MAV_CMD> SurveyComplexItemTest::_createExpectedCommands(bool hasTurnaround, bool useConditionGate)
......@@ -245,9 +240,7 @@ void SurveyComplexItemTest::_testItemGenerationWorker(bool imagesInTurnaround, b
_surveyItem->appendMissionItems(items, this);
#if 0
// Handy for debugging failures
for (const MissionItem* item : items) {
qDebug() << "Cmd" << item->command();
}
_printItemCommands(items);
#endif
QCOMPARE(items.count(), expectedCommands.count());
for (int i=0; i<expectedCommands.count(); i++) {
......@@ -283,7 +276,7 @@ void SurveyComplexItemTest::_testItemGeneration(void)