Unit test fixes

src/MissionManager/MissionCommandUIInfo.cc

@@ -358,9 +358,9 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ
             paramInfo->_nanUnchanged =  paramObject.value(_nanUnchangedJsonKey).toBool(false);
 
             if (paramObject.contains(_defaultJsonKey)) {
-                paramInfo->_defaultValue =  paramObject.value(_defaultJsonKey).toDouble(0.0);
+                paramInfo->_defaultValue = paramObject.value(_defaultJsonKey).toDouble(0.0);
             } else {
-                paramInfo->_defaultValue = _nanUnchangedJsonKey ? std::numeric_limits<double>::quiet_NaN() : 0;
+                paramInfo->_defaultValue = paramInfo->_nanUnchanged ? std::numeric_limits<double>::quiet_NaN() : 0;
             }
 
             QStringList enumValues = paramObject.value(_enumValuesJsonKey).toString().split(",", QString::SkipEmptyParts);

src/MissionManager/MissionCommandUIInfo.h

@@ -31,7 +31,7 @@ class MissionCommandTreeTest;
 /// Key             Type    Default     Description
 /// label           string  required    Label for text field
 /// units           string              Units for value, should use FactMetaData units strings in order to get automatic translation
-/// default         double  0.0/NaN     Default value for param. If no default value specified and nanUnchanged == true, then defaultVlue is NaN.
+/// default         double  0.0/NaN     Default value for param. If no default value specified and nanUnchanged == true, then defaultValue is NaN.
 /// decimalPlaces   int     7           Number of decimal places to show for value
 /// enumStrings     string              Strings to show in combo box for selection
 /// enumValues      string              Values assocaited with each enum string

src/MissionManager/MissionControllerManagerTest.cc

@@ -35,7 +35,7 @@ void MissionControllerManagerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareTy
     _missionManager = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->missionManager();
     QVERIFY(_missionManager);
     
-    _rgMissionManagerSignals[newMissionItemsAvailableSignalIndex] =   SIGNAL(newMissionItemsAvailable(void));
+    _rgMissionManagerSignals[newMissionItemsAvailableSignalIndex] =   SIGNAL(newMissionItemsAvailable(bool));
     _rgMissionManagerSignals[inProgressChangedSignalIndex] =          SIGNAL(inProgressChanged(bool));
     _rgMissionManagerSignals[errorSignalIndex] =                      SIGNAL(error(int, const QString&));
 

src/MissionManager/MissionControllerTest.cc

@@ -12,6 +12,7 @@
 #include "LinkManager.h"
 #include "MultiVehicleManager.h"
 #include "SimpleMissionItem.h"
+#include "MissionSettingsItem.h"
 
 MissionControllerTest::MissionControllerTest(void)
     : _multiSpyMissionController(NULL)
@@ -41,13 +42,8 @@ void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType)
 
     MissionControllerManagerTest::_initForFirmwareType(firmwareType);
 
-    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&));
+    // VisualMissionItem signals
+    _rgVisualItemSignals[coordinateChangedSignalIndex] = SIGNAL(coordinateChanged(const QGeoCoordinate&));
 
     // MissionController signals
     _rgMissionControllerSignals[visualItemsChangedSignalIndex] =    SIGNAL(visualItemsChanged());
@@ -64,7 +60,7 @@ void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType)
     QCOMPARE(_multiSpyMissionController->init(_missionController, _rgMissionControllerSignals, _cMissionControllerSignals), true);
 
     if (startController) {
-        _missionController->start(false /* editMode */);
+        _missionController->start(true /* editMode */);
     }
 
     // All signals should some through on start
@@ -77,13 +73,15 @@ void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType)
     // Empty vehicle only has home position
     QCOMPARE(visualItems->count(), 1);
 
-    // Home position should be in first slot, but not yet valid
-    SimpleMissionItem* homeItem = qobject_cast<SimpleMissionItem*>(visualItems->get(0));
-    QVERIFY(homeItem);
-    QCOMPARE(homeItem->homePosition(), true);
+    // Mission Settings should be in first slot
+    MissionSettingsItem* settingsItem = visualItems->value<MissionSettingsItem*>(0);
+    QVERIFY(settingsItem);
+
+    // Offline vehicle, so no home position
+    QCOMPARE(settingsItem->coordinate().isValid(), false);
 
-    // Home should have no children
-    QCOMPARE(homeItem->childItems()->count(), 0);
+    // Empty mission, so no child items possible
+    QCOMPARE(settingsItem->childItems()->count(), 0);
 
     // No waypoint lines
     QmlObjectListModel* waypointLines = _missionController->waypointLines();
@@ -100,10 +98,10 @@ void MissionControllerTest::_testEmptyVehicleWorker(MAV_AUTOPILOT firmwareType)
 
     QmlObjectListModel* visualItems = _missionController->visualItems();
     QVERIFY(visualItems);
-    SimpleMissionItem* homeItem = qobject_cast<SimpleMissionItem*>(visualItems->get(0));
-    QVERIFY(homeItem);
+    VisualMissionItem* visualItem = visualItems->value<VisualMissionItem*>(0);
+    QVERIFY(visualItem);
 
-    _setupMissionItemSignals(homeItem);
+    _setupVisualItemSignals(visualItem);
 }
 
 void MissionControllerTest::_testEmptyVehiclePX4(void)
@@ -131,23 +129,26 @@ void MissionControllerTest::_testAddWaypointWorker(MAV_AUTOPILOT firmwareType)
 
     QCOMPARE(visualItems->count(), 2);
 
-    SimpleMissionItem* homeItem = qobject_cast<SimpleMissionItem*>(visualItems->get(0));
-    SimpleMissionItem* item = qobject_cast<SimpleMissionItem*>(visualItems->get(1));
-    QVERIFY(homeItem);
-    QVERIFY(item);
+    MissionSettingsItem* settingsItem = visualItems->value<MissionSettingsItem*>(0);
+    SimpleMissionItem* simpleItem = visualItems->value<SimpleMissionItem*>(1);
+    QVERIFY(settingsItem);
+    QVERIFY(simpleItem);
 
-    QCOMPARE(item->command(), MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF);
-    QCOMPARE(homeItem->childItems()->count(), firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA ? 1 : 0);
-    QCOMPARE(item->childItems()->count(), 0);
+    QCOMPARE(simpleItem->command(), MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF);
+    QCOMPARE(simpleItem->childItems()->count(), 0);
 
-#if 0
-    // This needs re-work
-    int expectedLineCount = firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA ? 0 : 1;
+    // If the first item added specifies a coordinate, then planned home position will be set
+    bool plannedHomePositionValue = firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA ? false : true;
+    QCOMPARE(settingsItem->coordinate().isValid(), plannedHomePositionValue);
 
+    // ArduPilot takeoff command has no coordinate, so should be child item
+    QCOMPARE(settingsItem->childItems()->count(), firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA ? 1 : 0);
+
+    // Check waypoint line from home to takeoff
+    int expectedLineCount = firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA ? 0 : 1;
     QmlObjectListModel* waypointLines = _missionController->waypointLines();
     QVERIFY(waypointLines);
     QCOMPARE(waypointLines->count(), expectedLineCount);
-#endif
 }
 
 void MissionControllerTest::_testAddWayppointAPM(void)
@@ -191,11 +192,11 @@ void MissionControllerTest::_testOfflineToOnlinePX4(void)
     _testOfflineToOnlineWorker(MAV_AUTOPILOT_PX4);
 }
 
-void MissionControllerTest::_setupMissionItemSignals(SimpleMissionItem* item)
+void MissionControllerTest::_setupVisualItemSignals(VisualMissionItem* visualItem)
 {
     delete _multiSpyMissionItem;
 
     _multiSpyMissionItem = new MultiSignalSpy();
     Q_CHECK_PTR(_multiSpyMissionItem);
-    QCOMPARE(_multiSpyMissionItem->init(item, _rgMissionItemSignals, _cMissionItemSignals), true);
+    QCOMPARE(_multiSpyMissionItem->init(visualItem, _rgVisualItemSignals, _cVisualItemSignals), true);
 }

src/MissionManager/MissionControllerTest.h

@@ -43,18 +43,18 @@ private:
     void _testEmptyVehicleWorker(MAV_AUTOPILOT firmwareType);
     void _testAddWaypointWorker(MAV_AUTOPILOT firmwareType);
     void _testOfflineToOnlineWorker(MAV_AUTOPILOT firmwareType);
-    void _setupMissionItemSignals(SimpleMissionItem* item);
+    void _setupVisualItemSignals(VisualMissionItem* visualItem);
 
     // MissiomItems signals
 
     enum {
         coordinateChangedSignalIndex = 0,
-        missionItemMaxSignalIndex
+        visualItemMaxSignalIndex
     };
 
     enum {
-        coordinateChangedSignalMask =           1 << coordinateChangedSignalIndex,
-        missionItemMaxSignalMask =              1 << missionItemMaxSignalIndex,
+        coordinateChangedSignalMask =   1 << coordinateChangedSignalIndex,
+        visualItemMaxSignalMask =       1 << visualItemMaxSignalIndex,
     };
 
     // MissionController signals
@@ -75,8 +75,8 @@ private:
     const char*         _rgMissionControllerSignals[_cMissionControllerSignals];
 
     MultiSignalSpy*     _multiSpyMissionItem;
-    static const size_t _cMissionItemSignals = missionItemMaxSignalIndex;
-    const char*         _rgMissionItemSignals[_cMissionItemSignals];
+    static const size_t _cVisualItemSignals = visualItemMaxSignalIndex;
+    const char*         _rgVisualItemSignals[_cVisualItemSignals];
 
     MissionController*  _missionController;
 };

src/MissionManager/MissionItemTest.cc

@@ -13,6 +13,7 @@
 #include "MultiVehicleManager.h"
 #include "MissionItem.h"
 #include "SimpleMissionItem.h"
+#include "QGCApplication.h"
 
 #if 0
 const MissionItemTest::TestCase_t MissionItemTest::_rgTestCases[] = {
@@ -27,8 +28,24 @@ const size_t MissionItemTest::_cTestCases = sizeof(_rgTestCases)/sizeof(_rgTestC
 #endif
 
 MissionItemTest::MissionItemTest(void)
+    : _offlineVehicle(NULL)
 {
-    
+}
+
+void MissionItemTest::init(void)
+{
+    UnitTest::init();
+    _offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4,
+                                  MAV_TYPE_QUADROTOR,
+                                  qgcApp()->toolbox()->firmwarePluginManager(),
+                                  this);
+
+}
+
+void MissionItemTest::cleanup(void)
+{
+    delete _offlineVehicle;
+    UnitTest::cleanup();
 }
 
 // Test property get/set
@@ -255,7 +272,7 @@ void MissionItemTest::_testSimpleLoadFromStream(void)
 {
     // We specifically test SimpleMissionItem loading as well since it has additional
     // signalling which can affect values.
-    SimpleMissionItem simpleMissionItem(NULL);
+    SimpleMissionItem simpleMissionItem(_offlineVehicle);
 
     QString testString("10\t0\t3\t80\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n");
     QTextStream testStream(&testString, QIODevice::ReadOnly);
@@ -395,7 +412,7 @@ void MissionItemTest::_testSimpleLoadFromJson(void)
     // We specifically test SimpleMissionItem loading as well since it has additional
     // signalling which can affect values.
 
-    SimpleMissionItem simpleMissionItem(NULL);
+    SimpleMissionItem simpleMissionItem(_offlineVehicle);
     QString     errorString;
     QJsonArray  coordinateArray;
     QJsonObject jsonObject;

src/MissionManager/MissionItemTest.h

@@ -14,6 +14,7 @@
 #include "UnitTest.h"
 #include "MultiSignalSpy.h"
 #include "MissionItem.h"
+#include "Vehicle.h"
 
 /// Unit test for the MissionItem Object
 class MissionItemTest : public UnitTest
@@ -23,6 +24,9 @@ class MissionItemTest : public UnitTest
 public:
     MissionItemTest(void);
     
+    void init(void) override;
+    void cleanup(void) override;
+
 private slots:
     void _testSetGet(void);
     void _testSignals(void);
@@ -37,7 +41,8 @@ private slots:
 private:
     void _checkExpectedMissionItem(const MissionItem& missionItem);
 
-    int _seq = 10;
+    int         _seq = 10;
+    Vehicle*    _offlineVehicle;
 };
 
 #endif

src/MissionManager/SimpleMissionItemTest.cc

@@ -26,43 +26,43 @@ const SimpleMissionItemTest::ItemInfo_t SimpleMissionItemTest::_rgItemInfo[] = {
 };
 
 const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesWaypoint[] = {
-    { "Altitude:",      70.1234567 },
-    { "Hold:",          10.1234567 },
+    { "Altitude",   70.1234567 },
+    { "Hold",       10.1234567 },
 };
 
 const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesLoiterUnlim[] = {
-    { "Altitude:",  70.1234567 },
-    { "Radius:",    30.1234567 },
+    { "Altitude",   70.1234567 },
+    { "Radius",     30.1234567 },
 };
 
 const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesLoiterTurns[] = {
-    { "Altitude:",  70.1234567 },
-    { "Radius:",    30.1234567 },
-    { "Turns:",     10.1234567 },
+    { "Altitude",   70.1234567 },
+    { "Radius",     30.1234567 },
+    { "Turns",      10.1234567 },
 };
 
 const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesLoiterTime[] = {
-    { "Altitude:",  70.1234567 },
-    { "Radius:",    30.1234567 },
-    { "Hold:",      10.1234567 },
+    { "Altitude",   70.1234567 },
+    { "Radius",     30.1234567 },
+    { "Hold",       10.1234567 },
 };
 
 const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesLand[] = {
-    { "Altitude:",  70.1234567 },
+    { "Altitude",   70.1234567 },
 };
 
 const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesTakeoff[] = {
-    { "Pitch:",     10.1234567 },
-    { "Altitude:",  70.1234567 },
+    { "Pitch",      10.1234567 },
+    { "Altitude",   70.1234567 },
 };
 
 const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesConditionDelay[] = {
-    { "Hold:", 10.1234567 },
+    { "Hold",       10.1234567 },
 };
 
 const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesDoJump[] = {
-    { "Item #:",    10.1234567 },
-    { "Repeat:",    20.1234567 },
+    { "Item #",     10.1234567 },
+    { "Repeat",     20.1234567 },
 };
 
 const SimpleMissionItemTest::ItemExpected_t SimpleMissionItemTest::_rgItemExpected[] = {
@@ -77,10 +77,27 @@ const SimpleMissionItemTest::ItemExpected_t SimpleMissionItemTest::_rgItemExpect
 };
 
 SimpleMissionItemTest::SimpleMissionItemTest(void)
+    : _offlineVehicle(NULL)
 {
     
 }
 
+void SimpleMissionItemTest::init(void)
+{
+    UnitTest::init();
+    _offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4,
+                                  MAV_TYPE_QUADROTOR,
+                                  qgcApp()->toolbox()->firmwarePluginManager(),
+                                  this);
+
+}
+
+void SimpleMissionItemTest::cleanup(void)
+{
+    delete _offlineVehicle;
+    UnitTest::cleanup();
+}
+
 void SimpleMissionItemTest::_testEditorFacts(void)
 {
     Vehicle* vehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_FIXED_WING, qgcApp()->toolbox()->firmwarePluginManager());
@@ -89,7 +106,7 @@ void SimpleMissionItemTest::_testEditorFacts(void)
         const ItemInfo_t* info = &_rgItemInfo[i];
         const ItemExpected_t* expected = &_rgItemExpected[i];
         
-        qDebug() << "Command:" << info->command;
+        qDebug() << "Command" << info->command;
         
         MissionItem missionItem(1,              // sequence number
                                 info->command,
@@ -137,7 +154,7 @@ void SimpleMissionItemTest::_testEditorFacts(void)
 
 void SimpleMissionItemTest::_testDefaultValues(void)
 {
-    SimpleMissionItem item(NULL /* Vehicle */);
+    SimpleMissionItem item(_offlineVehicle);
 
     item.missionItem().setCommand(MAV_CMD_NAV_WAYPOINT);
     item.missionItem().setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
@@ -148,27 +165,25 @@ void SimpleMissionItemTest::_testSignals(void)
 {
     enum {
         commandChangedIndex = 0,
-        coordinateChangedIndex,
-        exitCoordinateChangedIndex,
-        dirtyChangedIndex,
         frameChangedIndex,
         friendlyEditAllowedChangedIndex,
         headingDegreesChangedIndex,
         rawEditChangedIndex,
-        uiModelChangedIndex,
+        coordinateChangedIndex,
+        exitCoordinateChangedIndex,
+        dirtyChangedIndex,
         maxSignalIndex
     };
 
     enum {
         commandChangedMask =                1 << commandChangedIndex,
-        coordinateChangedMask =             1 << coordinateChangedIndex,
-        exitCoordinateChangedMask =         1 << exitCoordinateChangedIndex,
-        dirtyChangedMask =                  1 << dirtyChangedIndex,
         frameChangedMask =                  1 << frameChangedIndex,
         friendlyEditAllowedChangedMask =    1 << friendlyEditAllowedChangedIndex,
         headingDegreesChangedMask =         1 << headingDegreesChangedIndex,
         rawEditChangedMask =                1 << rawEditChangedIndex,
-        uiModelChangedMask =                1 << uiModelChangedIndex,
+        coordinateChangedMask =             1 << coordinateChangedIndex,
+        exitCoordinateChangedMask =         1 << exitCoordinateChangedIndex,
+        dirtyChangedMask =                  1 << dirtyChangedIndex,
     };
 
     static const size_t cSimpleMissionItemSignals = maxSignalIndex;
@@ -182,7 +197,6 @@ void SimpleMissionItemTest::_testSignals(void)
     rgSimpleMissionItemSignals[friendlyEditAllowedChangedIndex] =   SIGNAL(friendlyEditAllowedChanged(bool));
     rgSimpleMissionItemSignals[headingDegreesChangedIndex] =        SIGNAL(headingDegreesChanged(double));
     rgSimpleMissionItemSignals[rawEditChangedIndex] =               SIGNAL(rawEditChanged(bool));
-    rgSimpleMissionItemSignals[uiModelChangedIndex] =               SIGNAL(uiModelChanged());
 
     MissionItem missionItem(1,              // sequence number
                             MAV_CMD_NAV_WAYPOINT,
@@ -196,7 +210,7 @@ void SimpleMissionItemTest::_testSignals(void)
                             70.1234567,
                             true,           // autoContinue
                             false);         // isCurrentItem
-    SimpleMissionItem simpleMissionItem(NULL /* Vehicle */, missionItem);
+    SimpleMissionItem simpleMissionItem(_offlineVehicle, missionItem);
 
     // It's important top check that the right signals are emitted at the right time since that drives ui change.
     // It's also important to check that things are not being over-signalled when they should not be, since that can lead
@@ -209,13 +223,12 @@ void SimpleMissionItemTest::_testSignals(void)
     // Check commandChanged signalling. Call setCommand should trigger:
     //      commandChanged
     //      dirtyChanged
-    //      uiModelChanged
     //      coordinateChanged - since altitude will be set back to default
 
     simpleMissionItem.setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
     QVERIFY(multiSpy->checkNoSignals());
     simpleMissionItem.setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_LOITER_TIME);
-    QVERIFY(multiSpy->checkSignalsByMask(commandChangedMask | dirtyChangedMask | uiModelChangedMask | coordinateChangedMask));
+    QVERIFY(multiSpy->checkSignalsByMask(commandChangedMask | dirtyChangedMask | coordinateChangedMask));
     multiSpy->clearAllSignals();
 
     // Check coordinateChanged signalling. Calling setCoordinate should trigger:

src/MissionManager/SimpleMissionItemTest.h

@@ -24,7 +24,10 @@ class SimpleMissionItemTest : public UnitTest
     
 public:
     SimpleMissionItemTest(void);
-    
+
+    void init(void) override;
+    void cleanup(void) override;
+
 private slots:
     void _testSignals(void);
     void _testEditorFacts(void);
@@ -48,6 +51,8 @@ private:
         bool                relativeAltCheckbox;
     } ItemExpected_t;
 
+    Vehicle*    _offlineVehicle;
+
     static const ItemInfo_t     _rgItemInfo[];
     static const ItemExpected_t _rgItemExpected[];
     static const FactValue_t    _rgFactValuesWaypoint[];