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Commit f34a7c6e authored by Don Gagne's avatar Don Gagne
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Fix unit tests

parent 0adf8caa
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Showing with 31 additions and 41 deletions
src/MissionItem.cc
View file @ f34a7c6e
......@@ -561,13 +561,13 @@ QString MissionItem::commandDescription(void)
description = "Travel to a position and Loiter around the specified radius for an amount of time.";
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
description = "Send the vehicle back to the home position set when armed.";
description = "Send the vehicle back to the home position.";
break;
case MAV_CMD_NAV_LAND:
description = "Land vehicle at the current location.";
description = "Land vehicle at the specified location.";
break;
case MAV_CMD_NAV_TAKEOFF:
description = "Lift off from the ground and travel to the specified position.";
description = "Take off from the ground and travel towards the specified position.";
break;
case MAV_CMD_CONDITION_DELAY:
description = "Delay";
......
src/MissionItem.h
View file @ f34a7c6e
......@@ -101,6 +101,9 @@ public:
double headingDegrees(void) const;
void setHeadingDegrees(double headingDegrees);
// This is public for unit testing
double _yawRadians(void) const;
QStringList commandNames(void);
QString commandName(void);
QString commandDescription(void);
......@@ -251,7 +254,6 @@ private slots:
private:
QString _oneDecimalString(double value);
void _connectSignals(void);
double _yawRadians(void) const;
void _setYawRadians(double yawRadians);
private:
......
src/MissionItemTest.cc
View file @ f34a7c6e
......@@ -27,63 +27,46 @@
UT_REGISTER_TEST(MissionItemTest)
const MissionItemTest::ItemInfo_t MissionItemTest::_rgItemInfo[] = {
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_WAYPOINT, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_UNLIM, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TURNS, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TIME, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LAND, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_TAKEOFF, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_CONDITION_DELAY, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION },
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_DO_JUMP, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION },
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_WAYPOINT, 10.0, 20.0, 30.0, 1.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_UNLIM, 10.0, 20.0, 30.0, 1.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TURNS, 10.0, 20.0, 30.0, 1.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TIME, 10.0, 20.0, 30.0, 1.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LAND, 10.0, 20.0, 30.0, 1.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_TAKEOFF, 10.0, 20.0, 30.0, 1.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_CONDITION_DELAY, 10.0, 20.0, 30.0, 1.0, true, false, MAV_FRAME_MISSION },
{ 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_DO_JUMP, 10.0, 20.0, 30.0, 1.0, true, false, MAV_FRAME_MISSION },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesWaypoint[] = {
{ "Latitude:", -10.0 },
{ "Longitude:", -20.0 },
{ "Altitude:", -30.0 },
{ "Heading:", 40.0 },
{ "Radius:", 20.0 },
{ "Hold:", 10.0 },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLoiterUnlim[] = {
{ "Latitude:", -10.0 },
{ "Longitude:", -20.0 },
{ "Altitude:", -30.0 },
{ "Heading:", 40.0 },
{ "Radius:", 30.0 },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLoiterTurns[] = {
{ "Latitude:", -10.0 },
{ "Longitude:", -20.0 },
{ "Altitude:", -30.0 },
{ "Heading:", 40.0 },
{ "Radius:", 30.0 },
{ "Turns:", 10.0 },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLoiterTime[] = {
{ "Latitude:", -10.0 },
{ "Longitude:", -20.0 },
{ "Altitude:", -30.0 },
{ "Heading:", 40.0 },
{ "Radius:", 30.0 },
{ "Seconds:", 10.0 },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLand[] = {
{ "Latitude:", -10.0 },
{ "Longitude:", -20.0 },
{ "Altitude:", -30.0 },
{ "Heading:", 40.0 },
{ "Heading:", 1.0 },
};
const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesTakeoff[] = {
{ "Latitude:", -10.0 },
{ "Longitude:", -20.0 },
{ "Altitude:", -30.0 },
{ "Heading:", 40.0 },
{ "Heading:", 1.0 },
{ "Pitch:", 10.0 },
};
......@@ -97,14 +80,14 @@ const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesDoJump[] = {
};
const MissionItemTest::ItemExpected_t MissionItemTest::_rgItemExpected[] = {
{ "1\t0\t3\t16\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesWaypoint)/sizeof(MissionItemTest::_rgFactValuesWaypoint[0]), MissionItemTest::_rgFactValuesWaypoint },
{ "1\t0\t3\t17\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesLoiterUnlim)/sizeof(MissionItemTest::_rgFactValuesLoiterUnlim[0]), MissionItemTest::_rgFactValuesLoiterUnlim },
{ "1\t0\t3\t18\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesLoiterTurns)/sizeof(MissionItemTest::_rgFactValuesLoiterTurns[0]), MissionItemTest::_rgFactValuesLoiterTurns },
{ "1\t0\t3\t19\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesLoiterTime)/sizeof(MissionItemTest::_rgFactValuesLoiterTime[0]), MissionItemTest::_rgFactValuesLoiterTime },
{ "1\t0\t3\t21\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesLand)/sizeof(MissionItemTest::_rgFactValuesLand[0]), MissionItemTest::_rgFactValuesLand },
{ "1\t0\t3\t22\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesTakeoff)/sizeof(MissionItemTest::_rgFactValuesTakeoff[0]), MissionItemTest::_rgFactValuesTakeoff },
{ "1\t0\t2\t112\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesConditionDelay)/sizeof(MissionItemTest::_rgFactValuesConditionDelay[0]), MissionItemTest::_rgFactValuesConditionDelay },
{ "1\t0\t2\t177\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesDoJump)/sizeof(MissionItemTest::_rgFactValuesDoJump[0]), MissionItemTest::_rgFactValuesDoJump },
{ "1\t0\t3\t16\t10\t20\t30\t1\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesWaypoint)/sizeof(MissionItemTest::_rgFactValuesWaypoint[0]), MissionItemTest::_rgFactValuesWaypoint },
{ "1\t0\t3\t17\t10\t20\t30\t1\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesLoiterUnlim)/sizeof(MissionItemTest::_rgFactValuesLoiterUnlim[0]), MissionItemTest::_rgFactValuesLoiterUnlim },
{ "1\t0\t3\t18\t10\t20\t30\t1\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesLoiterTurns)/sizeof(MissionItemTest::_rgFactValuesLoiterTurns[0]), MissionItemTest::_rgFactValuesLoiterTurns },
{ "1\t0\t3\t19\t10\t20\t30\t1\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesLoiterTime)/sizeof(MissionItemTest::_rgFactValuesLoiterTime[0]), MissionItemTest::_rgFactValuesLoiterTime },
{ "1\t0\t3\t21\t10\t20\t30\t1\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesLand)/sizeof(MissionItemTest::_rgFactValuesLand[0]), MissionItemTest::_rgFactValuesLand },
{ "1\t0\t3\t22\t10\t20\t30\t1\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesTakeoff)/sizeof(MissionItemTest::_rgFactValuesTakeoff[0]), MissionItemTest::_rgFactValuesTakeoff },
{ "1\t0\t2\t112\t10\t20\t30\t1\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesConditionDelay)/sizeof(MissionItemTest::_rgFactValuesConditionDelay[0]), MissionItemTest::_rgFactValuesConditionDelay },
{ "1\t0\t2\t177\t10\t20\t30\t1\t-10\t-20\t-30\t1\r\n", sizeof(MissionItemTest::_rgFactValuesDoJump)/sizeof(MissionItemTest::_rgFactValuesDoJump[0]), MissionItemTest::_rgFactValuesDoJump },
};
MissionItemTest::MissionItemTest(void)
......@@ -149,7 +132,11 @@ void MissionItemTest::_test(void)
if (factValue->name == fact->name()) {
qDebug() << factValue->name;
QCOMPARE(fact->value().toDouble(), factValue->value);
if (strcmp(factValue->name, "Heading:") == 0) {
QCOMPARE(fact->value().toDouble() * (M_PI / 180.0), item->_yawRadians());
} else {
QCOMPARE(fact->value().toDouble(), factValue->value);
}
factCount ++;
found = true;
break;
......@@ -158,6 +145,7 @@ void MissionItemTest::_test(void)
QVERIFY(found);
}
qDebug() << info->command;
QCOMPARE(factCount, expected->cFactValues);
// Validate that loading is working correctly
......
src/ui/MainWindow.qml
View file @ f34a7c6e
......@@ -72,7 +72,7 @@ FlightDisplayView {
onShowSetupFirmware: setupViewLoader.item.showFirmwarePanel()
onShowSetupParameters: setupViewLoader.item.showParametersPanel()
onShowSetupSummary: setupViewLoader.item.showSummaryPanel()
onShowSetupVehicleComponent: setupViewLoader.item.showVehicleComponentPanel(vechicleComponent)
onShowSetupVehicleComponent: setupViewLoader.item.showVehicleComponentPanel(vehicleComponent)
}
MainToolBar {
......
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