Unit test for FlightModeConfig

Good example for usage of new mock uas interfaces and implementations.

qgroundcontrol.pro

@@ -751,13 +751,15 @@ CONFIG(debug, debug|release) {
         src/qgcunittest/UASUnitTest.h \
         src/qgcunittest/MockUASManager.h \
         src/qgcunittest/MockUAS.h \
-        src/qgcunittest/MockQGCUASParamManager.h
+        src/qgcunittest/MockQGCUASParamManager.h \
+        src/qgcunittest/FlightModeConfigTest.h
 
     SOURCES += \
         src/qgcunittest/UASUnitTest.cc \
         src/qgcunittest/MockUASManager.cc \
         src/qgcunittest/MockUAS.cc \
-        src/qgcunittest/MockQGCUASParamManager.cc 
+        src/qgcunittest/MockQGCUASParamManager.cc \
+        src/qgcunittest/FlightModeConfigTest.cc
 }
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler

src/qgcunittest/FlightModeConfigTest.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 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/>.
+ 
+ ======================================================================*/
+
+#include "FlightModeConfigTest.h"
+#include "FlightModeConfig.h"
+#include "UASManager.h"
+#include "MockQGCUASParamManager.h"
+
+/// @file
+///     @brief FlightModeConfig unit test
+///
+///     @author Don Gagne <don@thegagnes.com>
+
+FlightModeConfigUnitTest::FlightModeConfigUnitTest(void) :
+    _mockUASManager(NULL)
+{
+    
+}
+
+void FlightModeConfigUnitTest::init(void)
+{
+    _mockUASManager = new MockUASManager();
+    Q_ASSERT(_mockUASManager);
+    
+    UASManager::setMockUASManager(_mockUASManager);
+    
+    _mockUAS = new MockUAS();
+    Q_ASSERT(_mockUAS);
+}
+
+void FlightModeConfigUnitTest::cleanup(void)
+{
+    Q_ASSERT(_mockUAS);
+    delete _mockUAS;
+    
+    UASManager::setMockUASManager(NULL);
+
+    Q_ASSERT(_mockUASManager);
+    delete _mockUASManager;
+}
+
+void FlightModeConfigUnitTest::_nullUAS_test(void)
+{
+    // When there is no UAS the widget should be disabled
+    FlightModeConfig* fmc = new FlightModeConfig();
+    QCOMPARE(fmc->isEnabled(), false);
+}
+
+void FlightModeConfigUnitTest::_validUAS_test(void)
+{
+    // With an active UAS widget should be enabled
+    _mockUASManager->setMockActiveUAS(_mockUAS);
+    FlightModeConfig* fmc = new FlightModeConfig();
+    QCOMPARE(fmc->isEnabled(), true);
+}
+
+void FlightModeConfigUnitTest::_nullToValidUAS_test(void)
+{
+    // start with no UAS
+    FlightModeConfig* fmc = new FlightModeConfig();
+    
+    // clear it out and validate widget gets disabled
+    _mockUASManager->setMockActiveUAS(NULL);
+    QCOMPARE(fmc->isEnabled(), false);
+}
+
+void FlightModeConfigUnitTest::_simpleModeFixedWing_test(void)
+{
+    // Fixed wing does not have simple mode, all checkboxes should be disabled
+    _mockUAS->setMockSystemType(MAV_TYPE_FIXED_WING);
+    _mockUASManager->setMockActiveUAS(_mockUAS);
+    FlightModeConfig* fmc = new FlightModeConfig();
+    _findControls(fmc);
+
+    for (size_t i=0; i<_cCombo; i++) {
+        QCOMPARE(_rgSimpleModeCheckBox[i]->isEnabled(), false);
+    }
+}
+
+void FlightModeConfigUnitTest::_simpleModeRover_test(void)
+{
+    // Rover does not have simple mode, all checkboxes should be disabled
+    _mockUAS->setMockSystemType(MAV_TYPE_GROUND_ROVER);
+    _mockUASManager->setMockActiveUAS(_mockUAS);
+    FlightModeConfig* fmc = new FlightModeConfig();
+    _findControls(fmc);
+    
+    for (size_t i=0; i<_cCombo; i++) {
+        QCOMPARE(_rgSimpleModeCheckBox[i]->isEnabled(), false);
+    }
+}
+
+void FlightModeConfigUnitTest::_simpleModeRotor_test(void)
+{
+    // Rotor has simple mode, all checkboxes should be enabled
+    _mockUAS->setMockSystemType(MAV_TYPE_QUADROTOR);
+    _mockUASManager->setMockActiveUAS(_mockUAS);
+    FlightModeConfig* fmc = new FlightModeConfig();
+    _findControls(fmc);
+    
+    for (size_t i=0; i<_cCombo; i++) {
+        QCOMPARE(_rgSimpleModeCheckBox[i]->isEnabled(), true);
+    }
+}
+
+void FlightModeConfigUnitTest::_modeSwitchParam_test(void)
+{
+    _mockUAS->setMockSystemType(MAV_TYPE_QUADROTOR);
+    _mockUASManager->setMockActiveUAS(_mockUAS);
+    FlightModeConfig* fmc = new FlightModeConfig();
+    _findControls(fmc);
+    
+    const char* rgModeSwitchParam[_cCombo] = { "FLTMODE1", "FLTMODE2", "FLTMODE3", "FLTMODE4", "FLTMODE5", "FLTMODE6" };
+    const int rgModeSwitchValue[_cCombo] = { 0, 2, 4, 6, 8, 10 };
+    
+    MockQGCUASParamManager::ParamMap_t mapParams;
+    for (size_t i=0; i<_cCombo; i++) {
+        mapParams[rgModeSwitchParam[i]] = QVariant(QChar(rgModeSwitchValue[i]));
+    }
+    
+    int simpleModeBitMask = 21;
+    mapParams["SIMPLE"] = QVariant(QChar(simpleModeBitMask));
+    _mockUAS->setMockParametersAndSignal(mapParams);
+    
+    // Check that the UI is showing the correct information
+    for (size_t i=0; i<_cCombo; i++) {
+        QComboBox* combo = _rgCombo[i];
+        
+        // Check for the correct selection in the combo boxes. Combo boxes store the mode
+        // in the item data, so use that to compare
+        QCOMPARE(combo->itemData(combo->currentIndex()), mapParams[rgModeSwitchParam[i]]);
+        
+        // Make sure the text for the current selection doesn't contain the text Unknown
+        // which means that it received an unsupported mode
+        QCOMPARE(combo->currentText().contains("unknown", Qt::CaseInsensitive), QBool(false));
+
+        // Check that the right simple mode check boxes are checked
+        QCOMPARE(_rgSimpleModeCheckBox[i]->isChecked(), !!((1 << i) & simpleModeBitMask));
+    }
+    
+    
+    // Click Save button and make sure we get the same values back through setParameter calls
+    QTest::mouseClick(_saveButton, Qt::LeftButton);
+    MockQGCUASParamManager* paramMgr = _mockUAS->getMockQGCUASParamManager();
+    MockQGCUASParamManager::ParamMap_t mapParamsSet = paramMgr->getMockSetParameters();
+    QMapIterator<QString, QVariant> i(mapParams);
+    while (i.hasNext()) {
+        i.next();
+        QCOMPARE(mapParamsSet.contains(i.key()), true);
+        int receivedValue = mapParamsSet[i.key()].toInt();
+        int expectedValue = i.value().toInt();
+        QCOMPARE(receivedValue, expectedValue);
+    }
+}
+
+void FlightModeConfigUnitTest::_pwmTestWorker(int systemType, int modeSwitchChannel, const char* modeSwitchParam)
+{
+    _mockUAS->setMockSystemType(systemType);
+    _mockUASManager->setMockActiveUAS(_mockUAS);
+    FlightModeConfig* fmc = new FlightModeConfig();
+    _findControls(fmc);
+    
+    MockQGCUASParamManager::ParamMap_t mapParams;
+    if (modeSwitchParam != NULL) {
+        // Param is 1-based, code in here is all 0-base
+        mapParams[modeSwitchParam] = QVariant(QChar(modeSwitchChannel+1));
+        _mockUAS->setMockParametersAndSignal(mapParams);
+    }
+    
+    const int pwmBoundary[] = { 1230, 1360, 1490, 1620, 1749, 1900 };
+    
+    int lowerPWM = 0;
+    for (size_t i=0; i<_cCombo; i++) {
+        // emit a PWM value at the mid point of the switch position
+        int pwmMidPoint = ((pwmBoundary[i] - lowerPWM) / 2) + lowerPWM;
+        _mockUAS->emitRemoteControlChannelRawChanged(modeSwitchChannel, pwmMidPoint);
+        
+        // Make sure that only the correct pwm label has a style set on it for highlight
+        for (size_t j=0; j<_cCombo; j++) {
+            if (j == i) {
+                QVERIFY(_rgPWMLabel[j]->styleSheet().length() > 0);
+            } else {
+                QCOMPARE(_rgPWMLabel[j]->styleSheet().length(), 0);
+            }
+        }
+        
+        lowerPWM = pwmBoundary[i];
+    }
+}
+
+void FlightModeConfigUnitTest::_pwmFixedWing_test(void)
+{
+    // FixedWing has mode switch channel on FLTMODE_CH param
+    _pwmTestWorker(MAV_TYPE_FIXED_WING, 7, "FLTMODE_CH");
+}
+
+void FlightModeConfigUnitTest::_pwmRotor_test(void)
+{
+    // Rotor is hardwired to 0-based rc channel 4 for mode wsitch
+    _pwmTestWorker(MAV_TYPE_QUADROTOR, 4, NULL);
+}
+
+void FlightModeConfigUnitTest::_pwmRover_test(void)
+{
+    // Rover has mode switch channel on MODE_CH param
+    _pwmTestWorker(MAV_TYPE_GROUND_ROVER, 7, "MODE_CH");
+}
+
+void FlightModeConfigUnitTest::_pwmInvalidChannel_test(void)
+{
+    // Rover has mode switch channel on MODE_CH param
+    _mockUAS->setMockSystemType(MAV_TYPE_GROUND_ROVER);
+    _mockUASManager->setMockActiveUAS(_mockUAS);
+    FlightModeConfig* fmc = new FlightModeConfig();
+    _findControls(fmc);
+    
+    int modeSwitchChannel = 7;
+    MockQGCUASParamManager::ParamMap_t mapParams;
+    mapParams["MODE_CH"] = QVariant(QChar(modeSwitchChannel+1));    // 1-based
+    _mockUAS->setMockParametersAndSignal(mapParams);
+    
+    const int pwmBoundary[] = { 1230, 1360, 1490, 1620, 1749, 1900 };
+    
+    int lowerPWM = 0;
+    for (size_t i=0; i<_cCombo; i++) {
+        // emit a PWM value at the mid point of the switch position
+        int pwmMidPoint = ((pwmBoundary[i] - lowerPWM) / 2) + lowerPWM;
+        // emit rc values on wrong channel
+        _mockUAS->emitRemoteControlChannelRawChanged(modeSwitchChannel-1, pwmMidPoint);
+        
+        // Make sure no label have a style set on it for highlight
+        for (size_t j=0; j<_cCombo; j++) {
+            QCOMPARE(_rgPWMLabel[j]->styleSheet().length(), 0);
+        }
+        
+        lowerPWM = pwmBoundary[i];
+    }
+}
+
+void FlightModeConfigUnitTest::_unknownSystemType_test(void)
+{
+    // Set the system type to something we can't handle, make sure we are disabled
+    _mockUAS->setMockSystemType(MAV_TYPE_ENUM_END);
+    _mockUASManager->setMockActiveUAS(_mockUAS);
+    FlightModeConfig* fmc = new FlightModeConfig();
+    QCOMPARE(fmc->isEnabled(), false);
+}
+
+void FlightModeConfigUnitTest::_unknownMode_test(void)
+{
+    _mockUAS->setMockSystemType(MAV_TYPE_QUADROTOR);
+    _mockUASManager->setMockActiveUAS(_mockUAS);
+    FlightModeConfig* fmc = new FlightModeConfig();
+    _findControls(fmc);
+    
+    // Set an unknown mode
+    MockQGCUASParamManager::ParamMap_t mapParams;
+    mapParams["FLTMODE1"] = QVariant(QChar(100));
+    _mockUAS->setMockParametersAndSignal(mapParams);
+    
+    // Check for the correct selection in the combo boxes. Combo boxes store the mode
+    // in the item data, so use that to compare
+    QCOMPARE(_rgCombo[0]->itemData(_rgCombo[0]->currentIndex()), mapParams["FLTMODE1"]);
+    
+    // Make sure the text for the current selection contains the text Unknown
+    QCOMPARE(_rgCombo[0]->currentText().contains("unknown", Qt::CaseInsensitive), QBool(true));
+}
+
+void FlightModeConfigUnitTest::_findControls(QObject* fmc)
+{
+   // Find all the controls
+   for (size_t i=0; i<_cCombo; i++) {
+       _rgLabel[i] = fmc->findChild<QLabel*>(QString("mode%1Label").arg(i));
+       _rgCombo[i] = fmc->findChild<QComboBox*>(QString("mode%1ComboBox").arg(i));
+       _rgSimpleModeCheckBox[i] = fmc->findChild<QCheckBox*>(QString("mode%1SimpleCheckBox").arg(i));
+       _rgPWMLabel[i] = fmc->findChild<QLabel*>(QString("mode%1PWMLabel").arg(i));
+       Q_ASSERT(_rgLabel[i]);
+       Q_ASSERT(_rgCombo[i]);
+       Q_ASSERT(_rgSimpleModeCheckBox[i]);
+       Q_ASSERT(_rgPWMLabel[i]);
+   }
+    
+    _saveButton = fmc->findChild<QPushButton*>("savePushButton");
+    Q_ASSERT(_saveButton);
+}
+

src/qgcunittest/FlightModeConfigTest.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 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/>.
+ 
+ ======================================================================*/
+
+#ifndef FLIGHTMODECONFIGTEST_H
+#define FLIGHTMODECONFIGTEST_H
+
+#include "AutoTest.h"
+#include "MockUASManager.h"
+#include "MockUAS.h"
+#include <QLabel>
+#include <QComboBox>
+#include <QCheckBox>
+#include <QLabel>
+#include <QPushButton>
+
+class FlightModeConfig;
+
+/// @file
+///     @brief FlightModeConfig unit test
+///
+///     @author Don Gagne <don@thegagnes.com>
+
+class FlightModeConfigUnitTest : public QObject
+{
+    Q_OBJECT
+    
+public:
+    FlightModeConfigUnitTest(void);
+    
+private slots:
+    void init(void);
+    void cleanup(void);
+    
+    void _nullUAS_test(void);
+    void _validUAS_test(void);
+    void _nullToValidUAS_test(void);
+    void _simpleModeFixedWing_test(void);
+    void _simpleModeRover_test(void);
+    void _simpleModeRotor_test(void);
+    void _modeSwitchParam_test(void);
+    void _pwmFixedWing_test(void);
+    void _pwmRotor_test(void);
+    void _pwmRover_test(void);
+    void _pwmInvalidChannel_test(void);
+    void _unknownSystemType_test(void);
+    void _unknownMode_test(void);
+    
+private:
+    void _findControls(QObject* fmc);
+    void _pwmTestWorker(int systemType, int modeSwitchChannel, const char* modeSwitchParam);
+    
+private:
+    MockUASManager* _mockUASManager;
+    MockUAS*        _mockUAS;
+    
+    // FlightModeConfig ui elements
+    static const size_t     _cCombo = 6;
+    QLabel*                 _rgLabel[_cCombo];
+    QComboBox*              _rgCombo[_cCombo];
+    QCheckBox*              _rgSimpleModeCheckBox[_cCombo];
+    QLabel*                 _rgPWMLabel[_cCombo];
+    QPushButton*            _saveButton;
+};
+
+DECLARE_TEST(FlightModeConfigUnitTest)
+
+#endif