Merge pull request #2120 from DonLakeFlyer/HomeUT

Home Position unit testing for MissionController

src/MissionManager/MissionControllerManagerTest.cc

@@ -92,8 +92,5 @@ void MissionControllerManagerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareTy
 void MissionControllerManagerTest::_checkInProgressValues(bool inProgress)
 {
     QCOMPARE(_missionManager->inProgress(), inProgress);
-    QSignalSpy* spy = _multiSpyMissionManager->getSpyByIndex(inProgressChangedSignalIndex);
-    QList<QVariant> signalArgs = spy->takeFirst();
-    QCOMPARE(signalArgs.count(), 1);
-    QCOMPARE(signalArgs[0].toBool(), inProgress);
+    QCOMPARE(_multiSpyMissionManager->pullBoolFromSignalIndex(inProgressChangedSignalIndex), inProgress);
 }

src/MissionManager/MissionControllerTest.cc

@@ -28,7 +28,9 @@
 UT_REGISTER_TEST(MissionControllerTest)
 
 MissionControllerTest::MissionControllerTest(void)
-    : _missionController(NULL)
+    : _multiSpyMissionController(NULL)
+    , _multiSpyMissionItem(NULL)
+    , _missionController(NULL)
 {
     
 }
@@ -38,6 +40,12 @@ void MissionControllerTest::cleanup(void)
     delete _missionController;
     _missionController = NULL;
 
+    delete _multiSpyMissionController;
+    _multiSpyMissionController = NULL;
+
+    delete _multiSpyMissionItem;
+    _multiSpyMissionItem = NULL;
+
     MissionControllerManagerTest::cleanup();
 }
 
@@ -47,10 +55,20 @@ void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType)
 
     MissionControllerManagerTest::_initForFirmwareType(firmwareType);
 
-    _rgSignals[missionItemsChangedSignalIndex] =                SIGNAL(missionItemsChanged());
-    _rgSignals[waypointLinesChangedSignalIndex] =               SIGNAL(waypointLinesChanged());
-    _rgSignals[liveHomePositionAvailableChangedSignalIndex] =   SIGNAL(liveHomePositionAvailableChanged(bool));
-    _rgSignals[liveHomePositionChangedSignalIndex] =            SIGNAL(liveHomePositionChanged(const QGeoCoordinate&));
+    void coordinateChanged(const QGeoCoordinate& coordinate);
+    void headingDegreesChanged(double heading);
+    void dirtyChanged(bool dirty);
+    void homePositionValidChanged(bool homePostionValid);
+
+    // MissionItem signals
+    _rgMissionItemSignals[coordinateChangedSignalIndex] =           SIGNAL(coordinateChanged(const QGeoCoordinate&));
+    _rgMissionItemSignals[homePositionValidChangedSignalIndex] =    SIGNAL(homePositionValidChanged(bool));
+
+    // MissionController signals
+    _rgMissionControllerSignals[missionItemsChangedSignalIndex] =               SIGNAL(missionItemsChanged());
+    _rgMissionControllerSignals[waypointLinesChangedSignalIndex] =              SIGNAL(waypointLinesChanged());
+    _rgMissionControllerSignals[liveHomePositionAvailableChangedSignalIndex] =  SIGNAL(liveHomePositionAvailableChanged(bool));
+    _rgMissionControllerSignals[liveHomePositionChangedSignalIndex] =           SIGNAL(liveHomePositionChanged(const QGeoCoordinate&));
 
     if (!_missionController) {
         startController = true;
@@ -58,17 +76,17 @@ void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType)
         Q_CHECK_PTR(_missionController);
     }
 
-    _multiSpy = new MultiSignalSpy();
-    Q_CHECK_PTR(_multiSpy);
-    QCOMPARE(_multiSpy->init(_missionController, _rgSignals, _cSignals), true);
+    _multiSpyMissionController = new MultiSignalSpy();
+    Q_CHECK_PTR(_multiSpyMissionController);
+    QCOMPARE(_multiSpyMissionController->init(_missionController, _rgMissionControllerSignals, _cMissionControllerSignals), true);
 
     if (startController) {
         _missionController->start(false /* editMode */);
     }
 
     // All signals should some through on start
-    QCOMPARE(_multiSpy->checkOnlySignalsByMask(missionItemsChangedSignalMask | waypointLinesChangedSignalMask | liveHomePositionAvailableChangedSignalMask | liveHomePositionChangedSignalMask), true);
-    _multiSpy->clearAllSignals();
+    QCOMPARE(_multiSpyMissionController->checkOnlySignalsByMask(missionItemsChangedSignalMask | waypointLinesChangedSignalMask | liveHomePositionAvailableChangedSignalMask | liveHomePositionChangedSignalMask), true);
+    _multiSpyMissionController->clearAllSignals();
 
     QmlObjectListModel* missionItems = _missionController->missionItems();
     QVERIFY(missionItems);
@@ -76,10 +94,11 @@ void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType)
     // Empty vehicle only has home position
     QCOMPARE(missionItems->count(), 1);
 
-    // Home position should be in first slot
+    // Home position should be in first slot, but not yet valid
     MissionItem* homeItem = qobject_cast<MissionItem*>(missionItems->get(0));
     QVERIFY(homeItem);
     QCOMPARE(homeItem->homePosition(), true);
+    QCOMPARE(homeItem->homePositionValid(), false);
 
     // Home should have no children
     QCOMPARE(homeItem->childItems()->count(), 0);
@@ -111,23 +130,31 @@ void MissionControllerTest::_testEmptyVehicleWorker(MAV_AUTOPILOT firmwareType)
     MissionItem* homeItem = qobject_cast<MissionItem*>(missionItems->get(0));
     QVERIFY(homeItem);
 
+    _setupMissionItemSignals(homeItem);
+
     if (expectedHomePositionValid) {
         // Wait for the home position to show up
 
         if (!_missionController->liveHomePositionAvailable()) {
-            QVERIFY(_multiSpy->waitForSignalByIndex(liveHomePositionChangedSignalIndex, 2000));
+            QVERIFY(_multiSpyMissionController->waitForSignalByIndex(liveHomePositionAvailableChangedSignalIndex, 2000));
+            QCOMPARE(_multiSpyMissionController->pullBoolFromSignalIndex(liveHomePositionAvailableChangedSignalIndex), true);
+        }
 
-            // Once the home position shows up we get a number of addititional signals
-            QCOMPARE(_multiSpy->checkOnlySignalsByMask(liveHomePositionChangedSignalMask | liveHomePositionAvailableChangedSignalMask | waypointLinesChangedSignalMask), true);
+        if (!homeItem->homePositionValid()) {
+            QVERIFY(_multiSpyMissionItem->waitForSignalByIndex(homePositionValidChangedSignalIndex, 2000));
+            QCOMPARE(_multiSpyMissionItem->pullBoolFromSignalIndex(homePositionValidChangedSignalIndex), true);
+        }
 
-            // These should be signalled once
-            QCOMPARE(_multiSpy->checkSignalByMask(liveHomePositionChangedSignalMask | liveHomePositionAvailableChangedSignalMask), true);
+        // Once the home position shows up we get a number of addititional signals
 
-            // Waypoint lines get spit out multiple tiems
-            QCOMPARE(_multiSpy->checkSignalByMask(waypointLinesChangedSignalMask), false);
+        QCOMPARE(_multiSpyMissionController->checkOnlySignalsByMask(liveHomePositionChangedSignalMask | liveHomePositionAvailableChangedSignalMask | waypointLinesChangedSignalMask), true);
+        QCOMPARE(_multiSpyMissionController->checkSignalByMask(liveHomePositionChangedSignalMask | liveHomePositionAvailableChangedSignalMask), true);
+        QCOMPARE(_multiSpyMissionController->checkSignalByMask(waypointLinesChangedSignalMask), false);
 
-            _multiSpy->clearAllSignals();
-        }
+        QCOMPARE(_multiSpyMissionItem->checkSignalByMask(homePositionValidChangedSignalMask), true);
+
+        _multiSpyMissionController->clearAllSignals();
+        _multiSpyMissionItem->clearAllSignals();
     }
 
     QCOMPARE(homeItem->homePositionValid(), expectedHomePositionValid);
@@ -153,7 +180,7 @@ void MissionControllerTest::_testAddWaypointWorker(MAV_AUTOPILOT firmwareType)
 
     _missionController->addMissionItem(coordinate);
 
-    QCOMPARE(_multiSpy->checkOnlySignalsByMask(waypointLinesChangedSignalMask), true);
+    QCOMPARE(_multiSpyMissionController->checkOnlySignalsByMask(waypointLinesChangedSignalMask), true);
 
     QmlObjectListModel* missionItems = _missionController->missionItems();
     QVERIFY(missionItems);
@@ -216,3 +243,12 @@ void MissionControllerTest::_testOfflineToOnlinePX4(void)
 {
     _testOfflineToOnlineWorker(MAV_AUTOPILOT_PX4);
 }
+
+void MissionControllerTest::_setupMissionItemSignals(MissionItem* item)
+{
+    delete _multiSpyMissionItem;
+
+    _multiSpyMissionItem = new MultiSignalSpy();
+    Q_CHECK_PTR(_multiSpyMissionItem);
+    QCOMPARE(_multiSpyMissionItem->init(item, _rgMissionItemSignals, _cMissionItemSignals), true);
+}

src/MissionManager/MissionControllerTest.h

@@ -43,6 +43,10 @@ public:
 private slots:
     void cleanup(void);
 
+    void _testEmptyVehicleAPM(void);
+    void _testEmptyVehiclePX4(void);
+    void _testAddWayppointAPM(void);
+    void _testAddWayppointPX4(void);
     void _testOfflineToOnlineAPM(void);
     void _testOfflineToOnlinePX4(void);
 
@@ -51,30 +55,46 @@ private:
     void _testEmptyVehicleWorker(MAV_AUTOPILOT firmwareType);
     void _testAddWaypointWorker(MAV_AUTOPILOT firmwareType);
     void _testOfflineToOnlineWorker(MAV_AUTOPILOT firmwareType);
+    void _setupMissionItemSignals(MissionItem* item);
 
-    void _testEmptyVehicleAPM(void);
-    void _testEmptyVehiclePX4(void);
-    void _testAddWayppointAPM(void);
-    void _testAddWayppointPX4(void);
+    // MissiomItems signals
+
+    enum {
+        coordinateChangedSignalIndex = 0,
+        homePositionValidChangedSignalIndex,
+        missionItemMaxSignalIndex
+    };
+
+    enum {
+        coordinateChangedSignalMask =           1 << coordinateChangedSignalIndex,
+        homePositionValidChangedSignalMask =    1 << homePositionValidChangedSignalIndex,
+        missionItemMaxSignalMask =              1 << missionItemMaxSignalIndex,
+    };
+
+    // MissionController signals
 
     enum {
         missionItemsChangedSignalIndex = 0,
         waypointLinesChangedSignalIndex,
         liveHomePositionAvailableChangedSignalIndex,
         liveHomePositionChangedSignalIndex,
-        maxSignalIndex
+        missionControllerMaxSignalIndex
     };
 
     enum {
         missionItemsChangedSignalMask =                 1 << missionItemsChangedSignalIndex,
-        waypointLinesChangedSignalMask =                1 <<  waypointLinesChangedSignalIndex,
+        waypointLinesChangedSignalMask =                1 << waypointLinesChangedSignalIndex,
         liveHomePositionAvailableChangedSignalMask =    1 << liveHomePositionAvailableChangedSignalIndex,
         liveHomePositionChangedSignalMask =             1 << liveHomePositionChangedSignalIndex,
     };
 
-    MultiSignalSpy*     _multiSpy;
-    static const size_t _cSignals = maxSignalIndex;
-    const char*         _rgSignals[_cSignals];
+    MultiSignalSpy*     _multiSpyMissionController;
+    static const size_t _cMissionControllerSignals = missionControllerMaxSignalIndex;
+    const char*         _rgMissionControllerSignals[_cMissionControllerSignals];
+
+    MultiSignalSpy*     _multiSpyMissionItem;
+    static const size_t _cMissionItemSignals = missionItemMaxSignalIndex;
+    const char*         _rgMissionItemSignals[_cMissionItemSignals];
 
     MissionController*  _missionController;
 };

src/qgcunittest/MultiSignalSpy.cc

@@ -257,3 +257,9 @@ void MultiSignalSpy::_printSignalState(void)
         qDebug() << "Signal index:" << i << "count:" << spy->count();
     }
 }
+
+bool MultiSignalSpy::pullBoolFromSignalIndex(quint16 index)
+{
+    QSignalSpy* spy = getSpyByIndex(index);
+    return spy->value(0).value(0).toBool();
+}

src/qgcunittest/MultiSignalSpy.h

@@ -71,6 +71,9 @@ public:
     bool waitForSignalByIndex(quint16 index, int msec);
     
     QSignalSpy* getSpyByIndex(quint16 index);
+
+    /// Returns the boolean value for a signal which has a single bool param
+    bool pullBoolFromSignalIndex(quint16 index);
     
 private:
     // QObject overrides