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Commit ea212bd0 authored by Don Gagne's avatar Don Gagne
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Update to unit test

parent 63998bda
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Showing with 190 additions and 110 deletions
src/MissionManager/MissionManager.cc
View file @ ea212bd0
......@@ -27,6 +27,7 @@ MissionManager::MissionManager(Vehicle* vehicle)
, _readTransactionInProgress(false)
, _writeTransactionInProgress(false)
, _resumeMission(false)
, _lastMissionRequest(-1)
, _currentMissionIndex(-1)
, _lastCurrentIndex(-1)
{
......@@ -46,6 +47,8 @@ MissionManager::~MissionManager()
void MissionManager::_writeMissionItemsWorker(void)
{
_lastMissionRequest = -1;
emit newMissionItemsAvailable(_missionItems.count() == 0);
qCDebug(MissionManagerLog) << "writeMissionItems count:" << _missionItems.count();
......@@ -511,7 +514,8 @@ void MissionManager::_handleMissionRequest(const mavlink_message_t& message, boo
}
mavlink_msg_mission_request_decode(&message, &missionRequest);
_lastMissionRequest = missionRequest.seq;
if (!_itemIndicesToWrite.contains(missionRequest.seq)) {
if (missionRequest.seq > _missionItems.count()) {
_sendError(RequestRangeError, QString("Vehicle requested item outside range, count:request %1:%2. Send to Vehicle failed.").arg(_missionItems.count()).arg(missionRequest.seq));
......@@ -637,7 +641,7 @@ void MissionManager::_handleMissionAck(const mavlink_message_t& message)
qCDebug(MissionManagerLog) << "_handleMissionAck guided mode item accepted";
_finishTransaction(true);
} else {
_sendError(VehicleError, QString("Vehicle returned error: %1. Vehicle did not accept guided item.").arg(_missionResultToString((MAV_MISSION_RESULT)missionAck.type)));
_sendError(VehicleError, QString("Vehicle returned error: %1. %2Vehicle did not accept guided item.").arg(_missionResultToString((MAV_MISSION_RESULT)missionAck.type)));
_finishTransaction(false);
}
break;
......@@ -708,58 +712,97 @@ QString MissionManager::_ackTypeToString(AckType_t ackType)
}
}
QString MissionManager::_lastMissionReqestString(MAV_MISSION_RESULT result)
{
if (_lastMissionRequest != -1 && _lastMissionRequest >= 0 && _lastMissionRequest < _missionItems.count()) {
MissionItem* item = _missionItems[_lastMissionRequest];
switch (result) {
case MAV_MISSION_UNSUPPORTED_FRAME:
return QString(". Frame: %1").arg(item->frame());
case MAV_MISSION_UNSUPPORTED:
return QString(". Command: %1").arg(item->command());
case MAV_MISSION_INVALID_PARAM1:
return QString(". Param1: %1").arg(item->param1());
case MAV_MISSION_INVALID_PARAM2:
return QString(". Param2: %1").arg(item->param2());
case MAV_MISSION_INVALID_PARAM3:
return QString(". Param3: %1").arg(item->param3());
case MAV_MISSION_INVALID_PARAM4:
return QString(". Param4: %1").arg(item->param4());
case MAV_MISSION_INVALID_PARAM5_X:
return QString(". Param5: %1").arg(item->param5());
case MAV_MISSION_INVALID_PARAM6_Y:
return QString(". Param6: %1").arg(item->param6());
case MAV_MISSION_INVALID_PARAM7:
return QString(". Param7: %1").arg(item->param7());
case MAV_MISSION_INVALID_SEQUENCE:
return QString(". Sequence: %1").arg(item->sequenceNumber());
default:
break;
}
}
return QString();
}
QString MissionManager::_missionResultToString(MAV_MISSION_RESULT result)
{
QString resultString;
QString lastRequestString = _lastMissionReqestString(result);
switch (result) {
case MAV_MISSION_ACCEPTED:
return QString("Mission accepted (MAV_MISSION_ACCEPTED)");
resultString = QString("Mission accepted (MAV_MISSION_ACCEPTED)");
break;
case MAV_MISSION_ERROR:
return QString("Unspecified error (MAV_MISSION_ERROR)");
resultString = QString("Unspecified error (MAV_MISSION_ERROR)");
break;
case MAV_MISSION_UNSUPPORTED_FRAME:
return QString("Coordinate frame is not supported (MAV_MISSION_UNSUPPORTED_FRAME)");
resultString = QString("Coordinate frame is not supported (MAV_MISSION_UNSUPPORTED_FRAME)");
break;
case MAV_MISSION_UNSUPPORTED:
return QString("Command is not supported (MAV_MISSION_UNSUPPORTED)");
resultString = QString("Command is not supported (MAV_MISSION_UNSUPPORTED)");
break;
case MAV_MISSION_NO_SPACE:
return QString("Mission item exceeds storage space (MAV_MISSION_NO_SPACE)");
resultString = QString("Mission item exceeds storage space (MAV_MISSION_NO_SPACE)");
break;
case MAV_MISSION_INVALID:
return QString("One of the parameters has an invalid value (MAV_MISSION_INVALID)");
resultString = QString("One of the parameters has an invalid value (MAV_MISSION_INVALID)");
break;
case MAV_MISSION_INVALID_PARAM1:
return QString("Param1 has an invalid value (MAV_MISSION_INVALID_PARAM1)");
resultString = QString("Param1 has an invalid value (MAV_MISSION_INVALID_PARAM1)");
break;
case MAV_MISSION_INVALID_PARAM2:
return QString("Param2 has an invalid value (MAV_MISSION_INVALID_PARAM2)");
resultString = QString("Param2 has an invalid value (MAV_MISSION_INVALID_PARAM2)");
break;
case MAV_MISSION_INVALID_PARAM3:
return QString("param3 has an invalid value (MAV_MISSION_INVALID_PARAM3)");
resultString = QString("Param3 has an invalid value (MAV_MISSION_INVALID_PARAM3)");
break;
case MAV_MISSION_INVALID_PARAM4:
return QString("Param4 has an invalid value (MAV_MISSION_INVALID_PARAM4)");
resultString = QString("Param4 has an invalid value (MAV_MISSION_INVALID_PARAM4)");
break;
case MAV_MISSION_INVALID_PARAM5_X:
return QString("X/Param5 has an invalid value (MAV_MISSION_INVALID_PARAM5_X)");
resultString = QString("X/Param5 has an invalid value (MAV_MISSION_INVALID_PARAM5_X)");
break;
case MAV_MISSION_INVALID_PARAM6_Y:
return QString("Y/Param6 has an invalid value (MAV_MISSION_INVALID_PARAM6_Y)");
resultString = QString("Y/Param6 has an invalid value (MAV_MISSION_INVALID_PARAM6_Y)");
break;
case MAV_MISSION_INVALID_PARAM7:
return QString("Param7 has an invalid value (MAV_MISSION_INVALID_PARAM7)");
resultString = QString("Param7 has an invalid value (MAV_MISSION_INVALID_PARAM7)");
break;
case MAV_MISSION_INVALID_SEQUENCE:
return QString("Received mission item out of sequence (MAV_MISSION_INVALID_SEQUENCE)");
resultString = QString("Received mission item out of sequence (MAV_MISSION_INVALID_SEQUENCE)");
break;
case MAV_MISSION_DENIED:
return QString("Not accepting any mission commands (MAV_MISSION_DENIED)");
resultString = QString("Not accepting any mission commands (MAV_MISSION_DENIED)");
break;
default:
qWarning(MissionManagerLog) << "Fell off end of switch statement";
return QString("QGC Internal Error");
resultString = QString("QGC Internal Error");
}
return resultString + lastRequestString;
}
void MissionManager::_finishTransaction(bool success)
......
src/MissionManager/MissionManager.h
View file @ ea212bd0
......@@ -116,6 +116,7 @@ private:
void _writeMissionCount(void);
void _writeMissionItemsWorker(void);
void _clearAndDeleteMissionItems(void);
QString _lastMissionReqestString(MAV_MISSION_RESULT result);
private:
Vehicle* _vehicle;
......@@ -130,6 +131,7 @@ private:
bool _resumeMission;
QList<int> _itemIndicesToWrite; ///< List of mission items which still need to be written to vehicle
QList<int> _itemIndicesToRead; ///< List of mission items which still need to be requested from vehicle
int _lastMissionRequest; ///< Index of item last requested by MISSION_REQUEST
QMutex _dataMutex;
......
src/MissionManager/SurveyMissionItem.cc
View file @ ea212bd0
......@@ -118,7 +118,9 @@ SurveyMissionItem::SurveyMissionItem(Vehicle* vehicle, QObject* parent)
connect(&_hoverAndCaptureFact, &Fact::valueChanged, this, &SurveyMissionItem::_generateGrid);
connect(this, &SurveyMissionItem::refly90DegreesChanged, this, &SurveyMissionItem::_generateGrid);
connect(&_gridAltitudeFact, &Fact::valueChanged, this, &SurveyMissionItem::_updateCoordinateAltitude);
connect(&_gridAltitudeFact, &Fact::valueChanged, this, &SurveyMissionItem::_updateCoordinateAltitude);
connect(&_gridAltitudeRelativeFact, &Fact::valueChanged, this, &SurveyMissionItem::_setDirty);
// Signal to Qml when camera value changes so it can recalc
connect(&_groundResolutionFact, &Fact::valueChanged, this, &SurveyMissionItem::_cameraValueChanged);
......@@ -562,6 +564,7 @@ void SurveyMissionItem::_updateCoordinateAltitude(void)
_exitCoordinate.setAltitude(_gridAltitudeFact.rawValue().toDouble());
emit coordinateChanged(_coordinate);
emit exitCoordinateChanged(_exitCoordinate);
setDirty(true);
}
QPointF SurveyMissionItem::_rotatePoint(const QPointF& point, const QPointF& origin, double angle)
......
src/MissionManager/SurveyMissionItem.h
View file @ ea212bd0
......@@ -58,13 +58,6 @@ public:
Q_PROPERTY(QGCMapPolygon* mapPolygon READ mapPolygon CONSTANT)
#if 0
// The polygon vertices are also exposed as a list mode since MapItemView will only work with a QAbstractItemModel as
// opposed to polygonPath which is a QVariantList.
Q_PROPERTY(QmlObjectListModel* polygonModel READ polygonModel CONSTANT)
Q_PROPERTY(QVariantList polygonPath READ polygonPath NOTIFY polygonPathChanged)
#endif
QVariantList gridPoints (void) { return _simpleGridPoints; }
Fact* manualGrid (void) { return &_manualGridFact; }
......@@ -160,7 +153,6 @@ public:
static const char* cameraName;
signals:
void polygonPathChanged (void);
void gridPointsChanged (void);
void cameraShotsChanged (int cameraShots);
void coveredAreaChanged (double coveredArea);
......
src/MissionManager/SurveyMissionItemTest.cc
View file @ ea212bd0
This diff is collapsed.
src/MissionManager/SurveyMissionItemTest.h
View file @ ea212bd0
......@@ -18,7 +18,7 @@
#include <QGeoCoordinate>
/// Unit test for SimpleMissionItem
/// Unit test for SurveyMissionItem
class SurveyMissionItemTest : public UnitTest
{
Q_OBJECT
......@@ -32,68 +32,43 @@ protected:
private slots:
void _testDirty(void);
void _testCameraValueChanged(void);
#if 0
void _testAddPolygonCoordinate(void);
void _testClearPolygon(void);
void _testCameraTrigger(void);
#endif
private:
enum {
polygonPathChangedIndex = 0,
lastSequenceNumberChangedIndex,
altitudeChangedIndex,
gridAngleChangedIndex,
gridPointsChangedIndex,
cameraTriggerChangedIndex,
altDifferenceChangedIndex,
altPercentChangedIndex,
azimuthChangedIndex,
commandDescriptionChangedIndex,
commandNameChangedIndex,
abbreviationChangedIndex,
coordinateChangedIndex,
exitCoordinateChangedIndex,
gridPointsChangedIndex = 0,
cameraShotsChangedIndex,
coveredAreaChangedIndex,
cameraValueChangedIndex,
gridTypeChangedIndex,
timeBetweenShotsChangedIndex,
cameraOrientationFixedChangedIndex,
refly90DegreesChangedIndex,
dirtyChangedIndex,
distanceChangedIndex,
isCurrentItemChangedIndex,
sequenceNumberChangedIndex,
isSimpleItemChangedIndex,
specifiesCoordinateChangedIndex,
isStandaloneCoordinateChangedIndex,
coordinateHasRelativeAltitudeChangedIndex,
exitCoordinateHasRelativeAltitudeChangedIndex,
exitCoordinateSameAsEntryChangedIndex,
maxSignalIndex
};
enum {
polygonPathChangedMask = 1 << polygonPathChangedIndex,
lastSequenceNumberChangedMask = 1 << lastSequenceNumberChangedIndex,
altitudeChangedMask = 1 << altitudeChangedIndex,
gridAngleChangedMask = 1 << gridAngleChangedIndex,
gridPointsChangedMask = 1 << gridPointsChangedIndex,
cameraTriggerChangedMask = 1 << cameraTriggerChangedIndex,
altDifferenceChangedMask = 1 << altDifferenceChangedIndex,
altPercentChangedMask = 1 << altPercentChangedIndex,
azimuthChangedMask = 1 << azimuthChangedIndex,
commandDescriptionChangedMask = 1 << commandDescriptionChangedIndex,
commandNameChangedMask = 1 << commandNameChangedIndex,
coordinateChangedMask = 1 << coordinateChangedIndex,
exitCoordinateChangedMask = 1 << exitCoordinateChangedIndex,
dirtyChangedMask = 1 << dirtyChangedIndex,
distanceChangedMask = 1 << distanceChangedIndex,
isCurrentItemChangedMask = 1 << isCurrentItemChangedIndex,
sequenceNumberChangedMask = 1 << sequenceNumberChangedIndex,
isSimpleItemChangedMask = 1 << isSimpleItemChangedIndex,
specifiesCoordinateChangedMask = 1 << specifiesCoordinateChangedIndex,
isStandaloneCoordinateChangedMask = 1 << isStandaloneCoordinateChangedIndex,
coordinateHasRelativeAltitudeChangedMask = 1 << coordinateHasRelativeAltitudeChangedIndex,
exitCoordinateHasRelativeAltitudeChangedMask = 1 << exitCoordinateHasRelativeAltitudeChangedIndex,
exitCoordinateSameAsEntryChangedMask = 1 << exitCoordinateSameAsEntryChangedIndex,
gridPointsChangedMask = 1 << gridPointsChangedIndex,
cameraShotsChangedMask = 1 << cameraShotsChangedIndex,
coveredAreaChangedMask = 1 << coveredAreaChangedIndex,
cameraValueChangedMask = 1 << cameraValueChangedIndex,
gridTypeChangedMask = 1 << gridTypeChangedIndex,
timeBetweenShotsChangedMask = 1 << timeBetweenShotsChangedIndex,
cameraOrientationFixedChangedMask = 1 << cameraOrientationFixedChangedIndex,
refly90DegreesChangedMask = 1 << refly90DegreesChangedIndex,
dirtyChangedMask = 1 << dirtyChangedIndex
};
static const size_t _cComplexMissionItemSignals = maxSignalIndex;
const char* _rgComplexMissionItemSignals[_cComplexMissionItemSignals];
static const size_t _cSurveySignals = maxSignalIndex;
const char* _rgSurveySignals[_cSurveySignals];
Vehicle* _offlineVehicle;
MultiSignalSpy* _multiSpy;
SurveyMissionItem* _surveyItem;
QGCMapPolygon* _mapPolygon;
......
src/qgcunittest/UnitTestList.cc
View file @ ea212bd0
......@@ -50,6 +50,7 @@ UT_REGISTER_TEST(ParameterManagerTest)
UT_REGISTER_TEST(MissionCommandTreeTest)
UT_REGISTER_TEST(LogDownloadTest)
UT_REGISTER_TEST(SendMavCommandTest)
UT_REGISTER_TEST(SurveyMissionItemTest)
// List of unit test which are currently disabled.
// If disabling a new test, include reason in comment.
......@@ -61,5 +62,4 @@ UT_REGISTER_TEST(SendMavCommandTest)
//UT_REGISTER_TEST(FileManagerTest)
// Needs to be update for latest changes
//UT_REGISTER_TEST(SurveyMissionItemTest)
//UT_REGISTER_TEST(MavlinkLogTest)
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