Merged, improved UI when MAVs time out

qgcunittest.pro

@@ -11,7 +11,7 @@ QT       += network \
 
 TEMPLATE = app
 
-TARGET = tst_uasunittest
+TARGET = qgcunittest
 
 BASEDIR = $$IN_PWD
 TESTDIR = $$BASEDIR/qgcunittest
@@ -97,8 +97,7 @@ INCLUDEPATH += . \
     $$BASEDIR/src/ui/ \
 
 
-SOURCES += $$TESTDIR/tst_uasunittest.cc \
-            src/uas/UAS.cc \
+SOURCES +=  src/uas/UAS.cc \
             src/comm/MAVLinkProtocol.cc \
             src/uas/UASWaypointManager.cc \
             src/Waypoint.cc \
@@ -111,6 +110,10 @@ SOURCES += $$TESTDIR/tst_uasunittest.cc \
             src/comm/LinkManager.cc \
             src/QGC.cc \
             src/comm/SerialLink.cc \
+            $$TESTDIR/SlugsMavUnitTest.cc \
+            $$TESTDIR/testSuite.cc \
+            $$TESTDIR/UASUnitTest.cc
+
 
 HEADERS += src/uas/UASInterface.h \
             src/uas/UAS.h \
@@ -129,6 +132,9 @@ HEADERS += src/uas/UASInterface.h \
             src/QGC.h \
             src/comm/SerialLinkInterface.h \
             src/comm/SerialLink.h \
+            $$TESTDIR//SlugsMavUnitTest.h \
+            $$TESTDIR/AutoTest.h \
+            $$TESTDIR/UASUnitTest.h
 
 
 

qgcunittest/AutoTest.h

+/**
+* @author Rob Caldecott
+* @note This was obtained from http://qtcreator.blogspot.com/2010/04/sample-multiple-unit-test-project.html
+*
+*/
+
+#ifndef AUTOTEST_H
+#define AUTOTEST_H
+
+#include <QTest>
+#include <QList>
+#include <QString>
+#include <QSharedPointer>
+
+namespace AutoTest
+{
+    typedef QList<QObject*> TestList;
+
+    inline TestList& testList()
+    {
+	static TestList list;
+	return list;
+    }
+
+    inline bool findObject(QObject* object)
+    {
+	TestList& list = testList();
+	if (list.contains(object))
+	{
+	    return true;
+	}
+	foreach (QObject* test, list)
+	{
+	    if (test->objectName() == object->objectName())
+	    {
+		return true;
+	    }
+	}
+	return false;
+    }
+
+    inline void addTest(QObject* object)
+    {
+	TestList& list = testList();
+	if (!findObject(object))
+	{
+	    list.append(object);
+	}
+    }
+
+    inline int run(int argc, char *argv[])
+    {
+	int ret = 0;
+
+	foreach (QObject* test, testList())
+	{
+	    ret += QTest::qExec(test, argc, argv);
+	}
+
+	return ret;
+    }
+}
+
+template <class T>
+class Test
+{
+public:
+    QSharedPointer<T> child;
+
+    Test(const QString& name) : child(new T)
+    {
+	child->setObjectName(name);
+	AutoTest::addTest(child.data());
+    }
+};
+
+#define DECLARE_TEST(className) static Test<className> t(#className);
+
+#define TEST_MAIN \
+    int main(int argc, char *argv[]) \
+    { \
+      return AutoTest::run(argc, argv); \
+  }
+
+#endif // AUTOTEST_H

qgcunittest/SlugsMavUnitTest.cc

+#include "SlugsMavUnitTest.h"
+
+SlugsMavUnitTest::SlugsMavUnitTest()
+{
+}
+
+void SlugsMavUnitTest::initTestCase()
+{
+
+}
+
+void SlugsMavUnitTest::cleanupTestCase()
+{
+
+}
+
+void SlugsMavUnitTest::first_test()
+{
+  QCOMPARE(1,2);
+}

qgcunittest/SlugsMavUnitTest.h

+#ifndef SLUGSMAVUNITTEST_H
+#define SLUGSMAVUNITTEST_H
+
+#include <QObject>
+#include <QtCore/QString>
+#include <QtTest/QtTest>
+#include "UAS.h"
+#include "MAVLinkProtocol.h"
+#include "UASInterface.h"
+#include "AutoTest.h"
+
+class SlugsMavUnitTest : public QObject
+{
+    Q_OBJECT
+public:
+  SlugsMavUnitTest();
+signals:
+
+private slots:
+  void initTestCase();
+  void cleanupTestCase();
+  void first_test();
+};
+
+DECLARE_TEST(SlugsMavUnitTest)
+
+#endif // SLUGSMAVUNITTEST_H

qgcunittest/UASUnitTest.cc

+#include "UASUnitTest.h"
+
+UASUnitTest::UASUnitTest()
+{
+}
+
+void UASUnitTest::initTestCase()
+{
+  mav= new MAVLinkProtocol();
+  uas=new UAS(mav,UASID);
+}
+
+void UASUnitTest::cleanupTestCase()
+{
+  delete uas;
+  delete mav;
+
+}
+
+void UASUnitTest::getUASID_test()
+{
+    // Test a default ID of zero is assigned
+    UAS* uas2 = new UAS(mav);
+    QCOMPARE(uas2->getUASID(), 0);
+    delete uas2;
+
+    // Test that the chosen ID was assigned at construction
+    QCOMPARE(uas->getUASID(), UASID);
+
+    // Make sure that no other ID was sert
+    QEXPECT_FAIL("", "When you set an ID it does not use the default ID of 0", Continue);
+    QCOMPARE(uas->getUASID(), 0);
+}
+
+void UASUnitTest::getUASName_test()
+{
+  // Test that the name is build as MAV + ID
+  QCOMPARE(uas->getUASName(), "MAV 0" + QString::number(UASID));
+
+}
+
+void UASUnitTest::getUpTime_test()
+{
+  UAS* uas2 = new UAS(mav);
+  // Test that the uptime starts at zero to a
+  // precision of seconds
+  QCOMPARE(floor(uas2->getUptime()/1000.0), 0.0);
+
+  // Sleep for three seconds
+  QTest::qSleep(3000);
+
+  // Test that the up time is computed correctly to a
+  // precision of seconds
+  QCOMPARE(floor(uas2->getUptime()/1000.0), 3.0);
+
+  delete uas2;
+}
+
+void UASUnitTest::getCommunicationStatus_test()
+{
+  // Verify that upon construction the Comm status is disconnected
+  QCOMPARE(uas->getCommunicationStatus(), static_cast<int>(UASInterface::COMM_DISCONNECTED));
+}
+
+void UASUnitTest::filterVoltage_test()
+{
+    float verificar=uas->filterVoltage(0.4f);
+  // Verify that upon construction the Comm status is disconnected
+  QCOMPARE(verificar, 8.52f);
+}
+void UASUnitTest:: getAutopilotType_test()
+{
+    int verificar=uas->getAutopilotType();
+  // Verify that upon construction the autopilot is set to -1
+  QCOMPARE(verificar, -1);
+}
+void UASUnitTest::setAutopilotType_test()
+{
+  uas->setAutopilotType(2);
+  // Verify that the autopilot is set
+  QCOMPARE(uas->getAutopilotType(), 2);
+}
+
+void UASUnitTest::getStatusForCode_test()
+{
+  QString state, desc;
+  state = "";
+  desc = "";
+
+  uas->getStatusForCode(MAV_STATE_UNINIT, state, desc);
+  QVERIFY(state == "UNINIT");
+
+  uas->getStatusForCode(MAV_STATE_UNINIT, state, desc);
+  QVERIFY(state == "UNINIT");
+
+  uas->getStatusForCode(MAV_STATE_BOOT, state, desc);
+  QVERIFY(state == "BOOT");
+
+  uas->getStatusForCode(MAV_STATE_CALIBRATING, state, desc);
+  QVERIFY(state == "CALIBRATING");
+
+  uas->getStatusForCode(MAV_STATE_ACTIVE, state, desc);
+  QVERIFY(state == "ACTIVE");
+
+  uas->getStatusForCode(MAV_STATE_STANDBY, state, desc);
+  QVERIFY(state == "STANDBY");
+
+  uas->getStatusForCode(MAV_STATE_CRITICAL, state, desc);
+  QVERIFY(state == "CRITICAL");
+
+  uas->getStatusForCode(MAV_STATE_EMERGENCY, state, desc);
+  QVERIFY(state == "EMERGENCY");
+
+  uas->getStatusForCode(MAV_STATE_POWEROFF, state, desc);
+  QVERIFY(state == "SHUTDOWN");
+
+  uas->getStatusForCode(5325, state, desc);
+  QVERIFY(state == "UNKNOWN");
+}
+
+
+void UASUnitTest::getLocalX_test()
+{
+  QCOMPARE(uas->getLocalX(), 0.0);
+}
+void UASUnitTest::getLocalY_test()
+{
+  QCOMPARE(uas->getLocalY(), 0.0);
+}
+void UASUnitTest::getLocalZ_test()
+{
+  QCOMPARE(uas->getLocalZ(), 0.0);
+}
+void UASUnitTest::getLatitude_test()
+{  QCOMPARE(uas->getLatitude(), 0.0);
+}
+void UASUnitTest::getLongitude_test()
+{
+  QCOMPARE(uas->getLongitude(), 0.0);
+}
+void UASUnitTest::getAltitude_test()
+{
+  QCOMPARE(uas->getAltitude(), 0.0);
+}
+void UASUnitTest::getRoll_test()
+{
+  QCOMPARE(uas->getRoll(), 0.0);
+}
+void UASUnitTest::getPitch_test()
+{
+  QCOMPARE(uas->getPitch(), 0.0);
+}
+void UASUnitTest::getYaw_test()
+{
+  QCOMPARE(uas->getYaw(), 0.0);
+}

qgcunittest/UASUnitTest.h

+#ifndef UASUNITTEST_H
+#define UASUNITTEST_H
+
+#include <QObject>
+#include <QtCore/QString>
+#include <QtTest/QtTest>
+#include "UAS.h"
+#include "MAVLinkProtocol.h"
+#include "UASInterface.h"
+#include "AutoTest.h"
+
+class UASUnitTest : public QObject
+{
+    Q_OBJECT
+public:
+  #define  UASID  50
+  MAVLinkProtocol* mav;
+  UAS* uas;
+  UASUnitTest();
+
+signals:
+
+private slots:
+  void initTestCase();
+  void cleanupTestCase();
+  void getUASID_test();
+  void getUASName_test();
+  void getUpTime_test();
+  void getCommunicationStatus_test();
+  void filterVoltage_test();
+  void getAutopilotType_test();
+  void setAutopilotType_test();
+  void getStatusForCode_test();
+  void getLocalX_test();
+  void getLocalY_test();
+  void getLocalZ_test();
+  void getLatitude_test();
+  void getLongitude_test();
+  void getAltitude_test();
+  void getRoll_test();
+  void getPitch_test();
+  void getYaw_test();
+
+protected:
+   UAS *prueba;
+
+};
+
+DECLARE_TEST(UASUnitTest)
+#endif // UASUNITTEST_H

qgcunittest/testSuite.cc

+/**
+* @author Rob Caldecott
+* @note This was obtained from http://qtcreator.blogspot.com/2010/04/sample-multiple-unit-test-project.html
+*
+*/
+
+#include "AutoTest.h"
+#include <QDebug>
+
+#if 1
+// This is all you need to run all the tests
+TEST_MAIN
+#else
+// Or supply your own main function
+int main(int argc, char *argv[])
+{
+    int failures = AutoTest::run(argc, argv);
+    if (failures == 0)
+    {
+	qDebug() << "ALL TESTS PASSED";
+    }
+    else
+    {
+	qDebug() << failures << " TESTS FAILED!";
+    }
+    return failures;
+}
+#endif

src/MG.h

@@ -41,7 +41,7 @@ This file is part of the PIXHAWK project
 
 namespace MG
 {
-    const static int MAX_FLIGHT_TIME = 60 * 60 * 24 * 365 * 2;
+    const static int MAX_FLIGHT_TIME = 60 * 60 * 24 * 21;
 
     class VERSION
     {

src/QGC.h

@@ -20,7 +20,7 @@ namespace QGC
     quint64 groundTimeUsecs();
     int applicationVersion();
 
-
+    const static int MAX_FLIGHT_TIME = 60 * 60 * 24 * 21;
 
     class SLEEP : public QThread
     {

src/uas/SlugsMAV.h

@@ -46,7 +46,6 @@ public slots:
     mavlink_pwm_commands_t* getPwmCommands();
 #endif
 
-
 signals:
 
     void slugsRawImu(int uasId, const mavlink_raw_imu_t& rawData);

src/uas/UAS.cc

@@ -84,8 +84,8 @@ paramsOnceRequested(false)
 {
     color = UASInterface::getNextColor();
     setBattery(LIPOLY, 3);
-    statusTimeout->setInterval(500);
     connect(statusTimeout, SIGNAL(timeout()), this, SLOT(updateState()));
+    statusTimeout->start(500);
 }
 
 UAS::~UAS()
@@ -101,6 +101,14 @@ int UAS::getUASID() const
 
 void UAS::updateState()
 {
+    // Check if heartbeat timed out
+    quint64 heartbeatInterval = QGC::groundTimeUsecs() - lastHeartbeat;
+    if (heartbeatInterval > timeoutIntervalHeartbeat)
+    {
+        emit heartbeatTimeout(heartbeatInterval);
+        emit heartbeatTimeout();
+    }
+
     // Position lock is set by the MAVLink message handler
     // if no position lock is available, indicate an error
     if (positionLock)
@@ -144,6 +152,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
         switch (message.msgid)
         {
         case MAVLINK_MSG_ID_HEARTBEAT:
+            lastHeartbeat = QGC::groundTimeUsecs();
             emit heartbeat(this);
             // Set new type if it has changed
             if (this->type != mavlink_msg_heartbeat_get_type(&message))
@@ -1317,6 +1326,12 @@ void UAS::setParameter(const int component, const QString& id, const float value
     }
 }
 
+void UAS::setUASName(const QString& name)
+{
+    this->name = name;
+    emit nameChanged(name);
+}
+
 /**
  * Sets an action
  *

src/uas/UAS.h

@@ -152,6 +152,7 @@ protected: //COMMENTS FOR TEST UNIT
     double roll;
     double pitch;
     double yaw;
+    quint64 lastHeartbeat;      ///< Time of the last heartbeat message
     QTimer* statusTimeout;      ///< Timer for various status timeouts
     QMap<int, QMap<QString, float>* > parameters; ///< All parameters
     bool paramsOnceRequested;   ///< If the parameter list has been read at least once
@@ -174,7 +175,10 @@ public:
     void setAutopilotType(int apType) { autopilot = apType;}
 
 public slots:
-    /** @brief Sets an action **/
+
+    /** @brief Set a new name **/
+    void setUASName(const QString& name);
+    /** @brief Executes an action **/
     void setAction(MAV_ACTION action);
 
     /** @brief Launches the system **/

src/uas/UASInterface.h

@@ -92,7 +92,8 @@ public:
         COMM_CONNECTED = 2,
         /** The connection is closed **/
         COMM_DISCONNECTING = 3,
-        COMM_FAIL = 4, ///< Communication link failed
+        COMM_FAIL = 4,
+        COMM_TIMEDOUT = 5///< Communication link failed
     };
 
 
@@ -162,6 +163,8 @@ public:
 
 public slots:
 
+    /** @brief Set a new name for the system */
+    virtual void setUASName(const QString& name) = 0;
     /** @brief Sets an action **/
     virtual void setAction(MAV_ACTION action) = 0;
 
@@ -409,9 +412,18 @@ signals:
      */
     void irUltraSoundLocalizationChanged(UASInterface* uas, int fix);
 
+    // ERROR AND STATUS SIGNALS
+    /** @brief Heartbeat timed out */
+    void heartbeatTimeout();
+    /** @brief Heartbeat timed out */
+    void heartbeatTimeout(unsigned int ms);
+    /** @brief Name of system changed */
+    void nameChanged(QString newName);
 
+protected:
 
-
+    // TIMEOUT CONSTANTS
+    static const unsigned int timeoutIntervalHeartbeat = 2000 * 1000; ///< Heartbeat timeout is 1.5 seconds
 
 };
 

src/uas/UASManager.cc

@@ -58,7 +58,7 @@ UASManager* UASManager::instance()
 UASManager::UASManager() :
         activeUAS(NULL)
 {
-    systems = QMap<int, UASInterface*>();
+    systems = QList<UASInterface*>();
     start(QThread::LowPriority);
 }
 
@@ -90,9 +90,9 @@ void UASManager::addUAS(UASInterface* uas)
     }
 
     // Only execute if there is no UAS at this index
-    if (!systems.contains(uas->getUASID()))
+    if (!systems.contains(uas))
     {
-        systems.insert(uas->getUASID(), uas);
+        systems.append(uas);
         emit UASCreated(uas);
     }
 
@@ -105,7 +105,7 @@ void UASManager::addUAS(UASInterface* uas)
 
 QList<UASInterface*> UASManager::getUASList()
 {
-    return systems.values();
+    return systems;
 }
 
 UASInterface* UASManager::getActiveUAS()
@@ -176,8 +176,18 @@ void UASManager::configureActiveUAS()
 
 UASInterface* UASManager::getUASForId(int id)
 {
-    // Return NULL pointer if UAS does not exist
-    return systems.value(id, NULL);
+    UASInterface* system = NULL;
+
+    foreach(UASInterface* sys, systems)
+    {
+        if (sys->getUASID() == id)
+        {
+            system = sys;
+        }
+    }
+
+    // Return NULL if not found
+    return system;
 }
 
 void UASManager::setActiveUAS(UASInterface* uas)
@@ -195,6 +205,7 @@ void UASManager::setActiveUAS(UASInterface* uas)
 
         emit activeUASSet(uas);
         emit activeUASSet(uas->getUASID());
+        emit activeUASSetListIndex(systems.indexOf(uas));
         emit activeUASStatusChanged(uas, true);
         emit activeUASStatusChanged(uas->getUASID(), true);
     }

src/uas/UASManager.h

@@ -162,7 +162,7 @@ public slots:
 
 protected:
     UASManager();
-    QMap<int, UASInterface*> systems;
+    QList<UASInterface*> systems;
     UASInterface* activeUAS;
     QMutex activeUASMutex;
 
@@ -173,6 +173,8 @@ signals:
     /** @brief The UAS currently under main operator control changed */
     void activeUASSet(int systemId);
     /** @brief The UAS currently under main operator control changed */
+    void activeUASSetListIndex(int listIndex);
+    /** @brief The UAS currently under main operator control changed */
     void activeUASStatusChanged(UASInterface* UAS, bool active);
     /** @brief The UAS currently under main operator control changed */
     void activeUASStatusChanged(int systemId, bool active);

src/ui/MainWindow.cc

@@ -436,10 +436,10 @@ void MainWindow::buildPxWidgets()
 
     if (!parametersDockWidget)
     {
-        parametersDockWidget = new QDockWidget(tr("Onboard Parameters"), this);
+        parametersDockWidget = new QDockWidget(tr("Calibration and Onboard Parameters"), this);
         parametersDockWidget->setWidget( new ParameterInterface(this) );
         parametersDockWidget->setObjectName("PARAMETER_INTERFACE_DOCKWIDGET");
-        addToToolsMenu (parametersDockWidget, tr("Onboard Parameters"), SLOT(showToolWidget()), MENU_PARAMETERS, Qt::RightDockWidgetArea);
+        addToToolsMenu (parametersDockWidget, tr("Calibration and Parameters"), SLOT(showToolWidget()), MENU_PARAMETERS, Qt::RightDockWidgetArea);
     }
 
     if (!watchdogControlDockWidget)
@@ -1099,7 +1099,7 @@ void MainWindow::showStatusMessage(const QString& status)
 
 void MainWindow::showCriticalMessage(const QString& title, const QString& message)