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Commit aece8fa6 authored by DonLakeFlyer's avatar DonLakeFlyer
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parent c2bfd944
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Showing with 146 additions and 76 deletions
src/MissionManager/SimpleMissionItemTest.cc
View file @ aece8fa6
......@@ -7,14 +7,13 @@
*
****************************************************************************/
#include "SimpleMissionItemTest.h"
#include "QGCApplication.h"
#include "QGroundControlQmlGlobal.h"
#include "SettingsManager.h"
#include "PlanMasterController.h"
const SimpleMissionItemTest::ItemInfo_t SimpleMissionItemTest::_rgItemInfo[] = {
static const ItemInfo_t _rgItemInfo[] = {
{ MAV_CMD_NAV_WAYPOINT, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ MAV_CMD_NAV_LOITER_UNLIM, MAV_FRAME_GLOBAL },
{ MAV_CMD_NAV_LOITER_TURNS, MAV_FRAME_GLOBAL_RELATIVE_ALT },
......@@ -24,42 +23,48 @@ const SimpleMissionItemTest::ItemInfo_t SimpleMissionItemTest::_rgItemInfo[] = {
{ MAV_CMD_DO_JUMP, MAV_FRAME_MISSION },
};
const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesWaypoint[] = {
{ "Hold", 10.1234567 },
static const FactValue_t _rgFactValuesWaypoint[] = {
{ "Hold", QGCMAVLink::VehicleClassMultiRotor, false, 1 },
{ "Yaw", QGCMAVLink::VehicleClassMultiRotor, true, 4 },
};
static const FactValue_t _rgFactValuesLoiterUnlim[] = {
{ "Radius", QGCMAVLink::VehicleClassFixedWing, false, 3 },
{ "Yaw", QGCMAVLink::VehicleClassMultiRotor, true, 4 },
};
const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesLoiterUnlim[] = {
{ "Radius", 30.1234567 },
static const FactValue_t _rgFactValuesLoiterTurns[] = {
{ "Turns", QGCMAVLink::VehicleClassFixedWing, false, 1 },
{ "Radius", QGCMAVLink::VehicleClassFixedWing, false, 3 },
};
const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesLoiterTurns[] = {
{ "Radius", 30.1234567 },
{ "Turns", 10.1234567 },
static const FactValue_t _rgFactValuesLoiterTime[] = {
{ "Loiter Time", QGCMAVLink::VehicleClassGeneric, false, 1 },
{ "Radius", QGCMAVLink::VehicleClassFixedWing, false, 3 },
};
const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesLoiterTime[] = {
{ "Radius", 30.1234567 },
{ "Loiter Time", 10.1234567 },
static const FactValue_t _rgFactValuesLand[] = {
{ "Yaw", QGCMAVLink::VehicleClassMultiRotor, true, 4 },
};
const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesTakeoff[] = {
{ "Pitch", 10.1234567 },
static const FactValue_t _rgFactValuesTakeoff[] = {
{ "Pitch", QGCMAVLink::VehicleClassFixedWing, false, 1 },
{ "Yaw", QGCMAVLink::VehicleClassMultiRotor, true, 4 },
};
const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesDoJump[] = {
{ "Item #", 10.1234567 },
{ "Repeat", 20.1234567 },
static const FactValue_t _rgFactValuesDoJump[] = {
{ "Item #", QGCMAVLink::VehicleClassGeneric, false, 1 },
{ "Repeat", QGCMAVLink::VehicleClassGeneric, false, 2 },
};
const SimpleMissionItemTest::ItemExpected_t SimpleMissionItemTest::_rgItemExpected[] = {
// Text field facts count Fact Values Altitude Altitude Mode
{ sizeof(SimpleMissionItemTest::_rgFactValuesWaypoint)/sizeof(SimpleMissionItemTest::_rgFactValuesWaypoint[0]), SimpleMissionItemTest::_rgFactValuesWaypoint, 70.1234567, QGroundControlQmlGlobal::AltitudeModeRelative },
{ sizeof(SimpleMissionItemTest::_rgFactValuesLoiterUnlim)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterUnlim[0]), SimpleMissionItemTest::_rgFactValuesLoiterUnlim, 70.1234567, QGroundControlQmlGlobal::AltitudeModeAbsolute },
{ sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTurns)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTurns[0]), SimpleMissionItemTest::_rgFactValuesLoiterTurns, 70.1234567, QGroundControlQmlGlobal::AltitudeModeRelative },
{ sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTime)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTime[0]), SimpleMissionItemTest::_rgFactValuesLoiterTime, 70.1234567, QGroundControlQmlGlobal::AltitudeModeAbsolute },
{ 0, nullptr, 70.1234567, QGroundControlQmlGlobal::AltitudeModeRelative },
{ sizeof(SimpleMissionItemTest::_rgFactValuesTakeoff)/sizeof(SimpleMissionItemTest::_rgFactValuesTakeoff[0]), SimpleMissionItemTest::_rgFactValuesTakeoff, 70.1234567, QGroundControlQmlGlobal::AltitudeModeAbsolute },
{ sizeof(SimpleMissionItemTest::_rgFactValuesDoJump)/sizeof(SimpleMissionItemTest::_rgFactValuesDoJump[0]), SimpleMissionItemTest::_rgFactValuesDoJump, qQNaN(), QGroundControlQmlGlobal::AltitudeModeRelative },
const ItemExpected_t _rgItemExpected[] = {
{ sizeof(_rgFactValuesWaypoint)/sizeof(_rgFactValuesWaypoint[0]), _rgFactValuesWaypoint, 70.1234567, QGroundControlQmlGlobal::AltitudeModeRelative },
{ sizeof(_rgFactValuesLoiterUnlim)/sizeof(_rgFactValuesLoiterUnlim[0]), _rgFactValuesLoiterUnlim, 70.1234567, QGroundControlQmlGlobal::AltitudeModeAbsolute },
{ sizeof(_rgFactValuesLoiterTurns)/sizeof(_rgFactValuesLoiterTurns[0]), _rgFactValuesLoiterTurns, 70.1234567, QGroundControlQmlGlobal::AltitudeModeRelative },
{ sizeof(_rgFactValuesLoiterTime)/sizeof(_rgFactValuesLoiterTime[0]), _rgFactValuesLoiterTime, 70.1234567, QGroundControlQmlGlobal::AltitudeModeAbsolute },
{ sizeof(_rgFactValuesLand)/sizeof(_rgFactValuesLand[0]), _rgFactValuesLand, 70.1234567, QGroundControlQmlGlobal::AltitudeModeRelative },
{ sizeof(_rgFactValuesTakeoff)/sizeof(_rgFactValuesTakeoff[0]), _rgFactValuesTakeoff, 70.1234567, QGroundControlQmlGlobal::AltitudeModeAbsolute },
{ sizeof(_rgFactValuesDoJump)/sizeof(_rgFactValuesDoJump[0]), _rgFactValuesDoJump, qQNaN(), QGroundControlQmlGlobal::AltitudeModeRelative },
};
SimpleMissionItemTest::SimpleMissionItemTest(void)
......@@ -109,16 +114,42 @@ void SimpleMissionItemTest::cleanup(void)
VisualMissionItemTest::cleanup();
}
void SimpleMissionItemTest::_testEditorFacts(void)
bool SimpleMissionItemTest::_classMatch(QGCMAVLink::VehicleClass_t vehicleClass, QGCMAVLink::VehicleClass_t testClass)
{
PlanMasterController fwMasterController(MAV_AUTOPILOT_PX4, MAV_TYPE_FIXED_WING);
return vehicleClass == QGCMAVLink::VehicleClassGeneric || vehicleClass == testClass;
}
void SimpleMissionItemTest::_testEditorFactsWorker(QGCMAVLink::VehicleClass_t vehicleClass, QGCMAVLink::VehicleClass_t vtolMode, const ItemExpected_t* rgExpected)
{
qDebug() << "vehicleClass:vtolMode" << QGCMAVLink::vehicleClassToString(vehicleClass) << QGCMAVLink::vehicleClassToString(vtolMode);
PlanMasterController planController(MAV_AUTOPILOT_PX4, QGCMAVLink::vehicleClassToMavType(vehicleClass));
QGCMAVLink::VehicleClass_t commandVehicleClass = vtolMode == QGCMAVLink::VehicleClassGeneric ? vehicleClass : vtolMode;
for (size_t i=0; i<sizeof(_rgItemInfo)/sizeof(_rgItemInfo[0]); i++) {
const ItemInfo_t* info = &_rgItemInfo[i];
const ItemExpected_t* expected = &_rgItemExpected[i];
const ItemInfo_t* info = &_rgItemInfo[i];
const ItemExpected_t* expected = &rgExpected[i];
qDebug() << "Command" << info->command;
// Determine how many fact values we should get back
int cExpectedTextFieldFacts = 0;
int cExpectedNaNFieldFacts = 0;
for (size_t j=0; j<expected->cFactValues; j++) {
const FactValue_t* factValue = &expected->rgFactValues[j];
if (!_classMatch(factValue->vehicleClass, commandVehicleClass)) {
continue;
}
if (factValue->nanValue) {
cExpectedNaNFieldFacts++;
} else {
cExpectedTextFieldFacts++;
}
}
MissionItem missionItem(1, // sequence number
info->command,
info->frame,
......@@ -131,30 +162,66 @@ void SimpleMissionItemTest::_testEditorFacts(void)
70.1234567,
true, // autoContinue
false); // isCurrentItem
SimpleMissionItem simpleMissionItem(&fwMasterController, false /* flyView */, missionItem, nullptr);
SimpleMissionItem simpleMissionItem(&planController, false /* flyView */, missionItem, nullptr);
MissionController::MissionFlightStatus_t missionFlightStatus;
missionFlightStatus.vtolMode = vtolMode;
missionFlightStatus.vehicleSpeed = 10;
missionFlightStatus.gimbalYaw = qQNaN();
missionFlightStatus.gimbalPitch = qQNaN();
simpleMissionItem.setMissionFlightStatus(missionFlightStatus);
// Validate that the fact values are correctly returned
size_t factCount = 0;
int foundTextFieldCount = 0;
for (int i=0; i<simpleMissionItem.textFieldFacts()->count(); i++) {
Fact* fact = qobject_cast<Fact*>(simpleMissionItem.textFieldFacts()->get(i));
bool found = false;
for (size_t j=0; j<expected->cFactValues; j++) {
const FactValue_t* factValue = &expected->rgFactValues[j];
if (!_classMatch(factValue->vehicleClass, commandVehicleClass)) {
continue;
}
if (factValue->name == fact->name()) {
QCOMPARE(fact->rawValue().toDouble(), factValue->value);
factCount ++;
QCOMPARE(fact->rawValue().toDouble(), (factValue->paramIndex * 10.0) + 0.1234567);
foundTextFieldCount ++;
found = true;
break;
}
}
qDebug() << "textFieldFact" << fact->name();
QVERIFY(found);
}
QCOMPARE(factCount, expected->cFactValues);
QCOMPARE(foundTextFieldCount, cExpectedTextFieldFacts);
int foundNaNFieldCount = 0;
for (int i=0; i<simpleMissionItem.nanFacts()->count(); i++) {
Fact* fact = qobject_cast<Fact*>(simpleMissionItem.nanFacts()->get(i));
bool found = false;
for (size_t j=0; j<expected->cFactValues; j++) {
const FactValue_t* factValue = &expected->rgFactValues[j];
if (!_classMatch(factValue->vehicleClass, commandVehicleClass)) {
continue;
}
if (factValue->name == fact->name()) {
QCOMPARE(fact->rawValue().toDouble(), (factValue->paramIndex * 10.0) + 0.1234567);
foundNaNFieldCount ++;
found = true;
break;
}
}
qDebug() << "nanFieldFact" << fact->name();
QVERIFY(found);
}
QCOMPARE(foundNaNFieldCount, cExpectedNaNFieldFacts);
if (!qIsNaN(expected->altValue)) {
QCOMPARE(simpleMissionItem.altitudeMode(), expected->altMode);
......@@ -163,6 +230,14 @@ void SimpleMissionItemTest::_testEditorFacts(void)
}
}
void SimpleMissionItemTest::_testEditorFacts(void)
{
_testEditorFactsWorker(QGCMAVLink::VehicleClassMultiRotor, QGCMAVLink::VehicleClassGeneric, _rgItemExpected);
_testEditorFactsWorker(QGCMAVLink::VehicleClassFixedWing, QGCMAVLink::VehicleClassGeneric, _rgItemExpected);
_testEditorFactsWorker(QGCMAVLink::VehicleClassVTOL, QGCMAVLink::VehicleClassMultiRotor, _rgItemExpected);
_testEditorFactsWorker(QGCMAVLink::VehicleClassVTOL, QGCMAVLink::VehicleClassFixedWing, _rgItemExpected);
}
void SimpleMissionItemTest::_testDefaultValues(void)
{
SimpleMissionItem item(_masterController, false /* flyView */, false /* forLoad */, nullptr);
......
src/MissionManager/SimpleMissionItemTest.h
View file @ aece8fa6
......@@ -13,6 +13,26 @@
#include "SimpleMissionItem.h"
/// Unit test for SimpleMissionItem
typedef struct {
MAV_CMD command;
MAV_FRAME frame;
} ItemInfo_t;
typedef struct {
const char* name;
QGCMAVLink::VehicleClass_t vehicleClass;
bool nanValue;
int paramIndex;
} FactValue_t;
typedef struct {
size_t cFactValues;
const FactValue_t* rgFactValues;
double altValue;
QGroundControlQmlGlobal::AltitudeMode altMode;
} ItemExpected_t;
class SimpleMissionItemTest : public VisualMissionItemTest
{
Q_OBJECT
......@@ -20,18 +40,18 @@ class SimpleMissionItemTest : public VisualMissionItemTest
public:
SimpleMissionItemTest(void);
void init(void) override;
void init (void) override;
void cleanup(void) override;
private slots:
void _testSignals(void);
void _testEditorFacts(void);
void _testDefaultValues(void);
void _testCameraSectionDirty(void);
void _testSpeedSectionDirty(void);
void _testCameraSection(void);
void _testSpeedSection(void);
void _testAltitudePropogation(void);
void _testSignals (void);
void _testEditorFacts (void);
void _testDefaultValues (void);
void _testCameraSectionDirty (void);
void _testSpeedSectionDirty (void);
void _testCameraSection (void);
void _testSpeedSection (void);
void _testAltitudePropogation (void);
private:
enum {
......@@ -58,35 +78,10 @@ private:
static const size_t cSimpleItemSignals = maxSignalIndex;
const char* rgSimpleItemSignals[cSimpleItemSignals];
typedef struct {
MAV_CMD command;
MAV_FRAME frame;
} ItemInfo_t;
typedef struct {
const char* name;
double value;
} FactValue_t;
typedef struct {
size_t cFactValues;
const FactValue_t* rgFactValues;
double altValue;
QGroundControlQmlGlobal::AltitudeMode altMode;
} ItemExpected_t;
void _testEditorFactsWorker (QGCMAVLink::VehicleClass_t vehicleClass, QGCMAVLink::VehicleClass_t vtolMode, const ItemExpected_t* rgExpected);
bool _classMatch (QGCMAVLink::VehicleClass_t vehicleClass, QGCMAVLink::VehicleClass_t testClass);
SimpleMissionItem* _simpleItem;
MultiSignalSpy* _spySimpleItem;
MultiSignalSpy* _spyVisualItem;
static const ItemInfo_t _rgItemInfo[];
static const ItemExpected_t _rgItemExpected[];
static const FactValue_t _rgFactValuesWaypoint[];
static const FactValue_t _rgFactValuesLoiterUnlim[];
static const FactValue_t _rgFactValuesLoiterTurns[];
static const FactValue_t _rgFactValuesLoiterTime[];
static const FactValue_t _rgFactValuesLand[];
static const FactValue_t _rgFactValuesTakeoff[];
static const FactValue_t _rgFactValuesConditionDelay[];
static const FactValue_t _rgFactValuesDoJump[];
};
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