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Commit 904518b6 authored by Don Gagne's avatar Don Gagne
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Merge pull request #2055 from DonLakeFlyer/LinesAndMore 

Lines and more
parents a39090fb 430667de
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Showing with 199 additions and 81 deletions
qgroundcontrol.qrc
View file @ 904518b6
......@@ -177,6 +177,7 @@
<file alias="QGroundControl/FlightMap/MissionItemIndicator.qml">src/FlightMap/MapItems/MissionItemIndicator.qml</file>
<file alias="QGroundControl/FlightMap/VehicleMapItem.qml">src/FlightMap/MapItems/VehicleMapItem.qml</file>
<file alias="QGroundControl/FlightMap/MissionItemView.qml">src/FlightMap/MapItems/MissionItemView.qml</file>
<file alias="QGroundControl/FlightMap/MissionLineView.qml">src/FlightMap/MapItems/MissionLineView.qml</file>
</qresource>
<qresource prefix="/res">
......
src/FlightDisplay/FlightDisplayView.qml
View file @ 904518b6
......@@ -52,7 +52,7 @@ Item {
readonly property alias zOrderWidgets: flightMap.zOrderWidgets
readonly property alias zOrderMapItems: flightMap.zOrderMapItems
property var __qgcPal: QGCPalette { colorGroupEnabled: enabled }
QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
property var _activeVehicle: multiVehicleManager.activeVehicle
......@@ -184,6 +184,12 @@ Item {
zOrderMapItems: flightMap.zOrderMapItems
}
// Add lines between waypoints
MissionLineView {
model: _missionController.waypointLines
zOrderMapItems: flightMap.zOrderMapItems
}
Loader {
id: flightMapDelayLoader
anchors.fill: parent
......
src/FlightMap/MapItems/MissionItemView.qml
View file @ 904518b6
......@@ -29,9 +29,7 @@ import QtPositioning 5.3
import QGroundControl 1.0
import QGroundControl.FlightMap 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controls 1.0
import QGroundControl.Palette 1.0
/// The MissionItemView control is used to add Mission Item Indicators to a FlightMap.
MapItemView {
......@@ -42,11 +40,11 @@ MapItemView {
delegate: MissionItemIndicator {
id: itemIndicator
label: object.sequenceNumber == 0 ? "H" : object.sequenceNumber
label: object.homePosition ? "H" : object.sequenceNumber
isCurrentItem: object.isCurrentItem
coordinate: object.coordinate
z: zOrderMapItems
visible: object.specifiesCoordinate
visible: object.specifiesCoordinate && (!object.homePosition || object.homePositionValid)
onClicked: setCurrentItem(object.sequenceNumber)
......
src/FlightMap/MapItems/MissionLineView.qml 0 → 100644
View file @ 904518b6
/*=====================================================================
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/>.
======================================================================*/
import QtQuick 2.4
import QtLocation 5.3
import QtPositioning 5.3
import QGroundControl 1.0
import QGroundControl.Palette 1.0
/// The MissionLineView control is used to add lines between mission items
MapItemView {
property real zOrderMapItems ///< Z order for indicator
delegate: MapPolyline {
line.width: 3
line.color: "#be781c" // Hack, can't get palette to work in here
z: zOrderMapItems - 1 // Under item indicators
path: [
{ latitude: object.coordinate1.latitude, longitude: object.coordinate1.longitude },
{ latitude: object.coordinate2.latitude, longitude: object.coordinate2.longitude },
]
}
}
src/FlightMap/qmldir
View file @ 904518b6
......@@ -21,3 +21,4 @@ QGCSpeedWidget 1.0 QGCSpeedWidget.qml
VehicleMapItem 1.0 VehicleMapItem.qml
MissionItemIndicator 1.0 MissionItemIndicator.qml
MissionItemView 1.0 MissionItemView.qml
MissionLineView 1.0 MissionLineView.qml
src/MissionEditor/MissionEditor.qml
View file @ 904518b6
......@@ -69,9 +69,13 @@ QGCView {
MissionEditorController {
id: controller
/*
FIXME: autoSync is temporarily disconnected since it's still buggy
autoSync: QGroundControl.flightMapSettings.loadMapSetting(editorMap.mapName, _autoSyncKey, true)
onAutoSyncChanged: QGroundControl.flightMapSettings.saveMapSetting(editorMap.mapName, _autoSyncKey, autoSync)
*/
onMissionItemsChanged: {
updateHomePosition()
......@@ -98,6 +102,7 @@ QGCView {
function updateHomePosition() {
homePosition = liveHomePositionAvailable ? liveHomePosition : offlineHomePosition
_missionItems.get(0).coordinate = homePosition
_missionItems.get(0).homePositionValid = true
}
Component.onCompleted: updateHomePosition()
......@@ -222,20 +227,9 @@ QGCView {
}
// Add lines between waypoints
MapItemView {
model: controller.waypointLines
delegate:
MapPolyline {
line.width: 3
line.color: qgcPal.mapButtonHighlight
z: editorMap.zOrderMapItems - 1 // Under item indicators
path: [
{ latitude: object.coordinate1.latitude, longitude: object.coordinate1.longitude },
{ latitude: object.coordinate2.latitude, longitude: object.coordinate2.longitude },
]
}
MissionLineView {
model: controller.waypointLines
zOrderMapItems: editorMap.zOrderMapItems
}
// Mission Item Editor
......@@ -880,7 +874,7 @@ QGCView {
}
Row {
visible: autoSyncCheckBox.enabled && autoSyncCheckBox.checked
visible: true //autoSyncCheckBox.enabled && autoSyncCheckBox.checked
spacing: ScreenTools.defaultFontPixelWidth
QGCButton {
......@@ -925,6 +919,8 @@ QGCView {
}
}
}
/*
FIXME: autoSync is temporarily disconnected since it's still buggy
QGCLabel {
id: autoSyncDisallowedLabel
......@@ -940,6 +936,7 @@ QGCView {
onClicked: controller.autoSync = checked
}
*/
}
}
} // QGCVIew
src/MissionEditor/MissionEditorController.cc
View file @ 904518b6
......@@ -288,10 +288,6 @@ void MissionEditorController::_recalcWaypointLines(void)
// This will update the sequence numbers to be sequential starting from 0
void MissionEditorController::_recalcSequence(void)
{
MissionItem* currentParentItem = qobject_cast<MissionItem*>(_missionItems->get(0));
currentParentItem->childItems()->clear();
for (int i=0; i<_missionItems->count(); i++) {
MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
......@@ -340,9 +336,7 @@ void MissionEditorController::_initAllMissionItems(void)
_initMissionItem(qobject_cast<MissionItem*>(_missionItems->get(i)));
}
_recalcSequence();
_recalcChildItems();
_recalcWaypointLines();
_recalcAll();
emit missionItemsChanged();
emit canEditChanged(_canEdit);
......
src/MissionItem.cc
View file @ 904518b6
......@@ -90,8 +90,9 @@ MissionItem::MissionItem(QObject* parent,
, _isCurrentItem(isCurrentItem)
, _reachedTime(0)
, _headingDegreesFact(NULL)
,_dirty(false)
, _dirty(false)
, _homePositionSpecialCase(false)
, _homePositionValid(false)
{
_latitudeFact = new Fact(0, "Latitude:", FactMetaData::valueTypeDouble, this);
_longitudeFact = new Fact(0, "Longitude:", FactMetaData::valueTypeDouble, this);
......@@ -198,6 +199,7 @@ const MissionItem& MissionItem::operator=(const MissionItem& other)
_altitudeRelativeToHomeFact = other._altitudeRelativeToHomeFact;
_dirty = other._dirty;
_homePositionSpecialCase = other._homePositionSpecialCase;
_homePositionValid = other._homePositionValid;
*_latitudeFact = *other._latitudeFact;
*_longitudeFact = *other._longitudeFact;
......@@ -915,3 +917,9 @@ void MissionItem::_headingDegreesFactChanged(QVariant value)
{
emit headingDegreesChanged(value.toDouble());
}
void MissionItem::setHomePositionValid(bool homePositionValid)
{
_homePositionValid = homePositionValid;
emit homePositionValidChanged(_homePositionValid);
}
src/MissionItem.h
View file @ 904518b6
......@@ -84,7 +84,13 @@ public:
Q_PROPERTY(QmlObjectListModel* checkboxFacts READ checkboxFacts NOTIFY commandChanged)
Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command WRITE setCommand NOTIFY commandChanged)
Q_PROPERTY(QmlObjectListModel* childItems READ childItems CONSTANT)
/// true: this item is being used as a home position indicator
Q_PROPERTY(bool homePosition MEMBER _homePositionSpecialCase CONSTANT)
/// true: home position should be shown
Q_PROPERTY(bool homePositionValid READ homePositionValid WRITE setHomePositionValid NOTIFY homePositionValidChanged)
// Property accesors
int sequenceNumber(void) const { return _sequenceNumber; }
......@@ -124,6 +130,9 @@ public:
void setDirty(bool dirty);
QmlObjectListModel* childItems(void) { return &_childItems; }
bool homePositionValid(void) { return _homePositionValid; }
void setHomePositionValid(bool homePositionValid);
// C++ only methods
......@@ -210,6 +219,7 @@ signals:
void coordinateChanged(const QGeoCoordinate& coordinate);
void headingDegreesChanged(double heading);
void dirtyChanged(bool dirty);
void homePositionValidChanged(bool homePostionValid);
/** @brief Announces a change to the waypoint data */
void changed(MissionItem* wp);
......@@ -290,6 +300,7 @@ private:
bool _dirty;
bool _homePositionSpecialCase; ///< true: this item is being used as a ui home position indicator
bool _homePositionValid; ///< true: home psition should be displayed
/// This is used to reference any subsequent mission items which do not specify a coordinate.
QmlObjectListModel _childItems;
......
src/MissionManager/MissionController.cc
View file @ 904518b6
......@@ -71,28 +71,32 @@ void MissionController::_newMissionItemsAvailable(void)
void MissionController::_recalcWaypointLines(void)
{
bool firstCoordinateItem = true;
MissionItem* lastCoordinateItem = qobject_cast<MissionItem*>(_missionItems->get(0));
int firstIndex = _homePositionValid ? 0 : 1;
_waypointLines.clear();
for (int i=1; i<_missionItems->count(); i++) {
MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
if (item->specifiesCoordinate()) {
if (firstCoordinateItem) {
if (item->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF) {
// The first coordinate we hit is a takeoff command so link back to home position
_waypointLines.append(new CoordinateVector(qobject_cast<MissionItem*>(_missionItems->get(0))->coordinate(), item->coordinate()));
if (firstIndex < _missionItems->count()) {
bool firstCoordinateItem = true;
MissionItem* lastCoordinateItem = qobject_cast<MissionItem*>(_missionItems->get(firstIndex));
for (int i=firstIndex; i<_missionItems->count(); i++) {
MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
if (item->specifiesCoordinate()) {
if (firstCoordinateItem) {
if (item->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF && _homePositionValid) {
// The first coordinate we hit is a takeoff command so link back to home position if we have one
_waypointLines.append(new CoordinateVector(qobject_cast<MissionItem*>(_missionItems->get(0))->coordinate(), item->coordinate()));
} else {
// First coordiante is not a takeoff command, it does not link backwards to anything
}
firstCoordinateItem = false;
} else {
// First coordiante is not a takeoff command, it does not link backwards to anything
// Subsequent coordinate items link to last coordinate item
_waypointLines.append(new CoordinateVector(lastCoordinateItem->coordinate(), item->coordinate()));
}
firstCoordinateItem = false;
} else {
// Subsequent coordinate items link to last coordinate item
_waypointLines.append(new CoordinateVector(lastCoordinateItem->coordinate(), item->coordinate()));
lastCoordinateItem = item;
}
lastCoordinateItem = item;
}
}
......@@ -102,25 +106,41 @@ void MissionController::_recalcWaypointLines(void)
// This will update the child item hierarchy
void MissionController::_recalcChildItems(void)
{
MissionItem* currentParentItem = qobject_cast<MissionItem*>(_missionItems->get(0));
currentParentItem->childItems()->clear();
for (int i=1; i<_missionItems->count(); i++) {
MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
// Set up non-coordinate item child hierarchy
if (item->specifiesCoordinate()) {
item->childItems()->clear();
currentParentItem = item;
} else {
currentParentItem->childItems()->append(item);
int firstIndex = _homePositionValid ? 0 : 1;
if (_missionItems->count() > firstIndex) {
MissionItem* currentParentItem = qobject_cast<MissionItem*>(_missionItems->get(firstIndex));
currentParentItem->childItems()->clear();
for (int i=firstIndex+1; i<_missionItems->count(); i++) {
MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
// Set up non-coordinate item child hierarchy
if (item->specifiesCoordinate()) {
item->childItems()->clear();
currentParentItem = item;
} else {
currentParentItem->childItems()->append(item);
}
}
}
}
// This will update the sequence numbers to be sequential starting from 0
void MissionController::_recalcSequence(void)
{
for (int i=0; i<_missionItems->count(); i++) {
MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
// Setup ascending sequence numbers
item->setSequenceNumber(i);
}
}
void MissionController::_recalcAll(void)
{
_recalcSequence();
_recalcChildItems();
_recalcWaypointLines();
}
......@@ -131,11 +151,13 @@ void MissionController::_initAllMissionItems(void)
// Add the home position item to the front
MissionItem* homeItem = new MissionItem(this);
homeItem->setHomePositionSpecialCase(true);
homeItem->setHomePositionValid(false);
homeItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
homeItem->setLatitude(47.3769);
homeItem->setLongitude(8.549444);
_missionItems->insert(0, homeItem);
_recalcChildItems();
_recalcWaypointLines();
_recalcAll();
emit missionItemsChanged();
}
......@@ -156,3 +178,11 @@ void MissionController::_activeVehicleChanged(Vehicle* activeVehicle)
_newMissionItemsAvailable();
}
}
void MissionController::setHomePositionValid(bool homePositionValid)
{
_homePositionValid = homePositionValid;
qobject_cast<MissionItem*>(_missionItems->get(0))->setHomePositionValid(homePositionValid);
emit homePositionValidChanged(_homePositionValid);
}
src/MissionManager/MissionController.h
View file @ 904518b6
......@@ -40,21 +40,29 @@ public:
Q_PROPERTY(QmlObjectListModel* missionItems READ missionItems NOTIFY missionItemsChanged)
Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged)
/// true: home position should be shown on map, false: home position not shown on map
Q_PROPERTY(bool homePositionValid READ homePositionValid WRITE setHomePositionValid NOTIFY homePositionValidChanged)
// Property accessors
QmlObjectListModel* missionItems(void) { return _missionItems; }
QmlObjectListModel* waypointLines(void) { return &_waypointLines; }
bool homePositionValid(void) { return _homePositionValid; }
void setHomePositionValid(bool homPositionValid);
signals:
void missionItemsChanged(void);
void waypointLinesChanged(void);
void homePositionValidChanged(bool homePositionValid);
private slots:
void _newMissionItemsAvailable();
void _activeVehicleChanged(Vehicle* activeVehicle);
private:
void _recalcSequence(void);
void _recalcWaypointLines(void);
void _recalcChildItems(void);
void _recalcAll(void);
......@@ -64,6 +72,7 @@ private:
QmlObjectListModel* _missionItems;
QmlObjectListModel _waypointLines;
Vehicle* _activeVehicle;
bool _homePositionValid;
};
#endif
src/MissionManager/MissionManager.cc
View file @ 904518b6
......@@ -57,21 +57,21 @@ void MissionManager::writeMissionItems(const QmlObjectListModel& missionItems, b
{
_retryCount = 0;
_missionItems.clear();
int firstIndex = skipFirstItem ? 1 : 0;
for (int i=skipFirstItem ? 1: 0; i<missionItems.count(); i++) {
for (int i=firstIndex; i<missionItems.count(); i++) {
_missionItems.append(new MissionItem(*qobject_cast<const MissionItem*>(missionItems[i])));
}
emit newMissionItemsAvailable();
if (skipFirstItem) {
for (int i=0; i<_missionItems.count(); i++) {
MissionItem* item = qobject_cast<MissionItem*>(_missionItems[i]);
if (item->command() == MavlinkQmlSingleton::MAV_CMD_CONDITION_DELAY) {
item->setParam1((int)item->param1() - 1);
}
MissionItem* item = qobject_cast<MissionItem*>(_missionItems.get(_missionItems.count() - 1));
// Editor uses 1-based sequence numbers, adjust them before going out
item->setSequenceNumber(item->sequenceNumber() - 1);
if (item->command() == MavlinkQmlSingleton::MAV_CMD_DO_JUMP) {
item->setParam1((int)item->param1() - 1);
}
}
emit newMissionItemsAvailable();
qCDebug(MissionManagerLog) << "writeMissionItems count:" << _missionItems.count();
......
src/MissionManager/MissionManagerTest.cc
View file @ 904518b6
......@@ -28,14 +28,14 @@
UT_REGISTER_TEST(MissionManagerTest)
const MissionManagerTest::TestCase_t MissionManagerTest::_rgTestCases[] = {
{ "1\t0\t3\t16\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_WAYPOINT, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
{ "0\t0\t3\t16\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 0, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_WAYPOINT, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
{ "1\t0\t3\t17\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_UNLIM, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
{ "1\t0\t3\t18\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TURNS, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
{ "1\t0\t3\t19\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TIME, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
{ "1\t0\t3\t21\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LAND, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
{ "1\t0\t3\t22\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_TAKEOFF, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
{ "1\t0\t2\t112\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_CONDITION_DELAY, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION } },
{ "1\t0\t2\t177\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_DO_JUMP, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION } },
{ "2\t0\t3\t18\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 2, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TURNS, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
{ "3\t0\t3\t19\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 3, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TIME, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
{ "4\t0\t3\t21\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 4, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LAND, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
{ "5\t0\t3\t22\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 5, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_TAKEOFF, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
{ "6\t0\t2\t112\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 6, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_CONDITION_DELAY, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION } },
{ "7\t0\t2\t177\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 7, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_DO_JUMP, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION } },
};
MissionManagerTest::MissionManagerTest(void)
......@@ -146,6 +146,16 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f
const size_t cTestCases = sizeof(_rgTestCases)/sizeof(_rgTestCases[0]);
QmlObjectListModel* list = new QmlObjectListModel();
// Editor has a home position item on the front, so we do the same
MissionItem* homeItem = new MissionItem(this);
homeItem->setHomePositionSpecialCase(true);
homeItem->setHomePositionValid(false);
homeItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
homeItem->setLatitude(47.3769);
homeItem->setLongitude(8.549444);
homeItem->setSequenceNumber(0);
list->insert(0, homeItem);
for (size_t i=0; i<cTestCases; i++) {
const TestCase_t* testCase = &_rgTestCases[i];
......@@ -153,12 +163,19 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f
QTextStream loadStream(testCase->itemStream, QIODevice::ReadOnly);
QVERIFY(item->load(loadStream));
// Mission Manager expects to get 1-base sequence numbers for write
item->setSequenceNumber(item->sequenceNumber() + 1);
if (item->command() == MavlinkQmlSingleton::MAV_CMD_DO_JUMP) {
item->setParam1((int)item->param1() + 1);
}
list->append(item);
}
// Send the items to the vehicle
_missionManager->writeMissionItems(*list, false /* skipFirstItem */);
_missionManager->writeMissionItems(*list, true /* skipFirstItem */);
// writeMissionItems should emit these signals before returning:
// inProgressChanged
......@@ -304,16 +321,17 @@ void MissionManagerTest::_roundTripItems(MockLinkMissionItemHandler::FailureMode
MissionItem* actual = qobject_cast<MissionItem*>(_missionManager->missionItems()->get(i));
qDebug() << "Test case" << i;
QCOMPARE(actual->sequenceNumber(), testCase->expectedItem.sequenceNumber);
QCOMPARE(actual->coordinate().latitude(), testCase->expectedItem.coordinate.latitude());
QCOMPARE(actual->coordinate().longitude(), testCase->expectedItem.coordinate.longitude());
QCOMPARE(actual->coordinate().altitude(), testCase->expectedItem.coordinate.altitude());
QCOMPARE((int)actual->command(), (int)testCase->expectedItem.command);
QCOMPARE(actual->param1(), testCase->expectedItem.param1);
QCOMPARE(actual->param2(), testCase->expectedItem.param2);
QCOMPARE(actual->param3(), testCase->expectedItem.param3);
QCOMPARE(actual->param4(), testCase->expectedItem.param4);
QCOMPARE(actual->autoContinue(), testCase->expectedItem.autocontinue);
QCOMPARE(actual->frame(), testCase->expectedItem.frame);
QCOMPARE(actual->param1(), testCase->expectedItem.param1);
}
}
......
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