/*===================================================================== QGroundControl Open Source Ground Control Station (c) 2009 - 2014 QGROUNDCONTROL PROJECT 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 . ======================================================================*/ #ifndef PX4RCCALIBRATIONTEST_H #define PX4RCCALIBRATIONTEST_H #include "AutoTest.h" #include "MockUASManager.h" #include "MockUAS.h" #include "px4_configuration/PX4RCCalibration.h" /// @file /// @brief PX4RCCalibration Widget unit test /// /// @author Don Gagne /// @brief PX4RCCalibration Widget unit test class PX4RCCalibrationTest : public QObject { Q_OBJECT public: PX4RCCalibrationTest(void); private slots: void initTestCase(void); void init(void); void cleanup(void); void _setUAS_test(void); void _minRCChannels_test(void); //void _liveRC_test(void); void _beginState_test(void); void _identifyState_test(void); void _minMaxState_test(void); void _centerThrottleState_test(void); void _detectInversionState_test(void); void _trimsState_test(void); void _fullCalibration_test(void); private: /// @brief Modes to run worker functions enum TestMode { testModeStandalone, ///< Perform standalone test of calibration state testModePrerequisite, ///< Setup prequisites for subsequent calibration state testModeFullSequence, ///< Run as full calibration sequence }; void _centerChannels(void); void _beginState_worker(enum TestMode mode); void _identifyState_worker(enum TestMode mode); void _minMaxState_worker(enum TestMode mode); void _centerThrottleState_worker(enum TestMode mode); void _detectInversionState_worker(enum TestMode mode); void _trimsState_worker(enum TestMode mode); enum { validateMinMaxMask = 1 << 0, validateTrimsMask = 1 << 1, validateReversedMask = 1 << 2, validateMappingMask = 1 << 3, validateAllMask = 0xFFFF }; struct ChannelSettings { int rcMin; int rcMax; int rcTrim; int reversed; bool isMinMaxShown; bool isMinValid; bool isMaxValid; }; void _validateParameters(int validateMask); void _validateWidgets(int validateMask, const struct ChannelSettings* rgChannelSettings); MockUASManager* _mockUASManager; MockUAS* _mockUAS; PX4RCCalibration* _calWidget; enum { nextButtonMask = 1 << 0, cancelButtonMask = 1 << 1, skipButtonMask = 1 << 2, tryAgainButtonMask = 1 << 3 }; QPushButton* _nextButton; QPushButton* _cancelButton; QPushButton* _skipButton; QPushButton* _tryAgainButton; QLabel* _statusLabel; RCChannelWidget* _rgRadioWidget[PX4RCCalibration::_chanMax]; // When settings values into min/max/trim we set them slightly different than the defaults so that // we can distinguish between the two values. static const int _testMinValue; static const int _testMaxValue; static const int _testTrimValue; static const int _testThrottleTrimValue; static const int _availableChannels = 8; ///< 8 channel RC Trasmitter static const int _requiredChannels = 5; ///< Required channels are 0-4 static const int _minMaxChannels = _requiredChannels + 1; ///< Send min/max to channels 0-5 static const int _attitudeChannels = 4; ///< Attitude channels are 0-3 static const struct ChannelSettings _rgChannelSettingsPreValidate[_availableChannels]; static const struct ChannelSettings _rgChannelSettingsPostValidate[PX4RCCalibration::_chanMax]; }; DECLARE_TEST(PX4RCCalibrationTest) #endif