Merge pull request #1228 from DonLakeFlyer/FixSetupView

Fix SetupView to work with latest mavlink headers

qgroundcontrol.pro

@@ -681,6 +681,7 @@ HEADERS += \
     src/FactSystem/FactSystemTestPX4.h \
     src/FactSystem/FactSystemTestGeneric.h \
     src/QmlControls/QmlTestWidget.h \
+    src/VehicleSetup/SetupViewTest.h \
 
 SOURCES += \
     src/qgcunittest/UnitTest.cc \
@@ -706,6 +707,7 @@ SOURCES += \
     src/FactSystem/FactSystemTestPX4.cc \
     src/FactSystem/FactSystemTestGeneric.cc \
     src/QmlControls/QmlTestWidget.cc \
+    src/VehicleSetup/SetupViewTest.cc \
 
 }
 

src/AutoPilotPlugins/PX4/AirframeComponent.cc

@@ -30,6 +30,9 @@
 /// @brief Parameters which signal a change in setupComplete state
 static const char* triggerParams[] = { "SYS_AUTOSTART", NULL };
 
+#if 0
+// Broken by latest mavlink module changes. Not used yet. Comment out for now.
+// Discussing mavlink fix.
 struct mavType {
     int         type;
     const char* description;
@@ -58,17 +61,28 @@ static const struct mavType mavTypeInfo[] = {
     { MAV_TYPE_ONBOARD_CONTROLLER,  "Onbard companion controller" },
     { MAV_TYPE_VTOL_DUOROTOR,       "Two-rotor VTOL" },
     { MAV_TYPE_VTOL_QUADROTOR,      "Quad-rotor VTOL" },
+    { MAV_TYPE_VTOL_RESERVED1,      "Reserved" },
+    { MAV_TYPE_VTOL_RESERVED2,      "Reserved" },
+    { MAV_TYPE_VTOL_RESERVED3,      "Reserved" },
+    { MAV_TYPE_VTOL_RESERVED4,      "Reserved" },
+    { MAV_TYPE_VTOL_RESERVED5,      "Reserved" },
+    { MAV_TYPE_GIMBAL,              "Gimbal" },
 };
 static size_t cMavTypes = sizeof(mavTypeInfo) / sizeof(mavTypeInfo[0]);
+#endif
 
 AirframeComponent::AirframeComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
     PX4Component(uas, autopilot, parent),
     _name(tr("Airframe"))
 {
+#if 0
+    // Broken by latest mavlink module changes. Not used yet. Comment out for now.
+    // Discussing mavlink fix.
     Q_UNUSED(mavTypeInfo);  // Keeping this around for later use
     
     // Validate that our mavTypeInfo array hasn't gotten out of sync
     
+    qDebug() << cMavTypes << MAV_TYPE_ENUM_END;
     Q_ASSERT(cMavTypes == MAV_TYPE_ENUM_END);
     
     static const int mavTypes[] = {
@@ -92,13 +106,20 @@ AirframeComponent::AirframeComponent(UASInterface* uas, AutoPilotPlugin* autopil
         MAV_TYPE_KITE,
         MAV_TYPE_ONBOARD_CONTROLLER,
         MAV_TYPE_VTOL_DUOROTOR,
-        MAV_TYPE_VTOL_QUADROTOR
+        MAV_TYPE_VTOL_QUADROTOR,
+        MAV_TYPE_VTOL_RESERVED1,
+        MAV_TYPE_VTOL_RESERVED2,
+        MAV_TYPE_VTOL_RESERVED3,
+        MAV_TYPE_VTOL_RESERVED4,
+        MAV_TYPE_VTOL_RESERVED5,
+        MAV_TYPE_GIMBAL,
     };
     Q_UNUSED(mavTypes); // Keeping this around for later use
     
     for (size_t i=0; i<cMavTypes; i++) {
         Q_ASSERT(mavTypeInfo[i].type == mavTypes[i]);
     }
+#endif
 }
 
 QString AirframeComponent::name(void) const

src/VehicleSetup/SetupViewTest.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/>.
+ 
+ ======================================================================*/
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+#include "SetupViewTest.h"
+#include "MockLink.h"
+#include "QGCMessageBox.h"
+
+UT_REGISTER_TEST(SetupViewTest)
+
+SetupViewTest::SetupViewTest(void)
+{
+    
+}
+
+void SetupViewTest::init(void)
+{
+    UnitTest::init();
+
+    _mainWindow = MainWindow::_create(NULL);
+    Q_CHECK_PTR(_mainWindow);
+}
+
+void SetupViewTest::cleanup(void)
+{
+    _mainWindow->close();
+    delete _mainWindow;
+    
+    UnitTest::cleanup();
+}
+
+void SetupViewTest::_clickThrough_test(void)
+{
+    LinkManager* linkMgr = LinkManager::instance();
+    Q_CHECK_PTR(linkMgr);
+    
+    MockLink* link = new MockLink();
+    Q_CHECK_PTR(link);
+    link->setAutopilotType(MAV_AUTOPILOT_PX4);
+    LinkManager::instance()->addLink(link);
+    linkMgr->connectLink(link);
+    QTest::qWait(5000); // Give enough time for UI to settle and heartbeats to go through
+    
+    // Find the Setup button and click it
+    
+    QGCToolBar* toolbar = _mainWindow->findChild<QGCToolBar*>();
+    Q_ASSERT(toolbar);
+    
+    QList<QToolButton*> buttons = toolbar->findChildren<QToolButton*>();
+    QToolButton* setupButton = NULL;
+    foreach(QToolButton* button, buttons) {
+        if (button->text() == "Setup") {
+            setupButton = button;
+            break;
+        }
+    }
+    
+    Q_ASSERT(setupButton);
+    QTest::mouseClick(setupButton, Qt::LeftButton);
+    QTest::qWait(1000);
+
+    // Click through all the setup buttons
+    // FIXME: NYI
+    
+    // On MainWindow close we should get a message box telling the user to disconnect first. Disconnect will then pop
+    // the log file save dialog.
+    
+    setExpectedMessageBox(QGCMessageBox::Yes);
+    setExpectedFileDialog(getSaveFileName, QStringList());
+    
+    _mainWindow->close();
+    QTest::qWait(1000); // Need to allow signals to move between threads
+    checkExpectedMessageBox();
+    checkExpectedFileDialog();
+}

src/VehicleSetup/SetupViewTest.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/>.
+ 
+ ======================================================================*/
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+#ifndef SetupViewTest_H
+#define SetupViewTest_H
+
+#include "UnitTest.h"
+#include "MainWindow.h"
+
+/// Click through test for Setup View buttons
+class SetupViewTest : public UnitTest
+{
+    Q_OBJECT
+    
+public:
+    SetupViewTest(void);
+    
+private slots:
+    void init(void);
+    void cleanup(void);
+    
+    void _clickThrough_test(void);
+    
+private:
+    MainWindow* _mainWindow;
+};
+
+#endif

src/qgcunittest/MainWindowTest.cc

@@ -54,21 +54,6 @@ void MainWindowTest::cleanup(void)
     UnitTest::cleanup();
 }
 
-void MainWindowTest::_clickThrough_test(void)
-{
-    QGCToolBar* toolbar = _mainWindow->findChild<QGCToolBar*>();
-    Q_ASSERT(toolbar);
-    
-    QList<QToolButton*> buttons = toolbar->findChildren<QToolButton*>();
-    foreach(QToolButton* button, buttons) {
-        if (!button->menu()) {
-            QTest::mouseClick(button, Qt::LeftButton);
-            QTest::qWait(1000);
-        }
-    }
-    
-}
-
 void MainWindowTest::_connectWindowClose_test(MAV_AUTOPILOT autopilot)
 {
     LinkManager* linkMgr = LinkManager::instance();
@@ -81,6 +66,18 @@ void MainWindowTest::_connectWindowClose_test(MAV_AUTOPILOT autopilot)
     linkMgr->connectLink(link);
     QTest::qWait(5000); // Give enough time for UI to settle and heartbeats to go through
     
+    // Click through all top level toolbar buttons
+    QGCToolBar* toolbar = _mainWindow->findChild<QGCToolBar*>();
+    Q_ASSERT(toolbar);
+    
+    QList<QToolButton*> buttons = toolbar->findChildren<QToolButton*>();
+    foreach(QToolButton* button, buttons) {
+        if (!button->menu()) {
+            QTest::mouseClick(button, Qt::LeftButton);
+            QTest::qWait(1000);
+        }
+    }
+    
     // On MainWindow close we should get a message box telling the user to disconnect first. Cancel should do nothing.
     setExpectedMessageBox(QGCMessageBox::Cancel);
     _mainWindow->close();

src/qgcunittest/MainWindowTest.h

@@ -43,7 +43,6 @@ private slots:
     void init(void);
     void cleanup(void);
     
-    void _clickThrough_test(void);
     void _connectWindowClosePX4_test(void);
     void _connectWindowCloseGeneric_test(void);
     

src/qgcunittest/MockLink.param

@@ -381,7 +381,7 @@
 1	50	RTL_RETURN_ALT	                      100	9
 1	50	SDLOG_EXT	-1	6
 1	50	SDLOG_RATE	-1	6
-1	50	SENS_ACC_XOFF	                        0	9
+1	50	SENS_ACC_XOFF	                        1	9
 1	50	SENS_ACC_XSCALE	                        1	9
 1	50	SENS_ACC_YOFF	                        0	9
 1	50	SENS_ACC_YSCALE	                        1	9
@@ -396,13 +396,13 @@
 1	50	SENS_DPRES_OFF	                        0	9
 1	50	SENS_EXT_MAG	0	6
 1	50	SENS_EXT_MAG_ROT	0	6
-1	50	SENS_GYRO_XOFF	                        0	9
+1	50	SENS_GYRO_XOFF	                        1	9
 1	50	SENS_GYRO_XSCALE	                        1	9
 1	50	SENS_GYRO_YOFF	                        0	9
 1	50	SENS_GYRO_YSCALE	                        1	9
 1	50	SENS_GYRO_ZOFF	                        0	9
 1	50	SENS_GYRO_ZSCALE	                        1	9
-1	50	SENS_MAG_XOFF	                        0	9
+1	50	SENS_MAG_XOFF	                        1	9
 1	50	SENS_MAG_XSCALE	                        1	9
 1	50	SENS_MAG_YOFF	                        0	9
 1	50	SENS_MAG_YSCALE	                        1	9