292 lines
12 KiB
C++
292 lines
12 KiB
C++
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/****************************************************************************
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*
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* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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*
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* QGroundControl is licensed according to the terms in the file
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* COPYING.md in the root of the source code directory.
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*
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****************************************************************************/
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#include "SpeedSectionTest.h"
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SpeedSectionTest::SpeedSectionTest(void)
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: _spySpeed(nullptr)
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, _spySection(nullptr)
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, _speedSection(nullptr)
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{
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}
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void SpeedSectionTest::init(void)
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{
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SectionTest::init();
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rgSpeedSignals[specifyFlightSpeedChangedIndex] = SIGNAL(specifyFlightSpeedChanged(bool));
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_speedSection = _simpleItem->speedSection();
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_createSpy(_speedSection, &_spySpeed);
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QVERIFY(_spySpeed);
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SectionTest::_createSpy(_speedSection, &_spySection);
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QVERIFY(_spySection);
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}
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void SpeedSectionTest::cleanup(void)
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{
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delete _spySpeed;
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delete _spySection;
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SectionTest::cleanup();
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}
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void SpeedSectionTest::_createSpy(SpeedSection* speedSection, MultiSignalSpy** speedSpy)
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{
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*speedSpy = nullptr;
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MultiSignalSpy* spy = new MultiSignalSpy();
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QCOMPARE(spy->init(speedSection, rgSpeedSignals, cSpeedSignals), true);
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*speedSpy = spy;
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}
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void SpeedSectionTest::_testDirty(void)
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{
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// Check for dirty not signalled if same value
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_speedSection->setSpecifyFlightSpeed(_speedSection->specifyFlightSpeed());
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QVERIFY(_spySection->checkNoSignals());
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QCOMPARE(_speedSection->dirty(), false);
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_speedSection->flightSpeed()->setRawValue(_speedSection->flightSpeed()->rawValue());
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QVERIFY(_spySection->checkNoSignals());
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QCOMPARE(_speedSection->dirty(), false);
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// Check for no duplicate dirty signalling on change
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_speedSection->setSpecifyFlightSpeed(!_speedSection->specifyFlightSpeed());
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QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
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QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), true);
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QCOMPARE(_speedSection->dirty(), true);
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_spySection->clearAllSignals();
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_speedSection->setSpecifyFlightSpeed(!_speedSection->specifyFlightSpeed());
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QVERIFY(_spySection->checkNoSignalByMask(dirtyChangedMask));
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QCOMPARE(_speedSection->dirty(), true);
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_spySection->clearAllSignals();
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// Check that the dirty bit can be cleared
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_speedSection->setDirty(false);
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QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
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QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), false);
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QCOMPARE(_speedSection->dirty(), false);
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_spySection->clearAllSignals();
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// Flight speed change should only signal if specifyFlightSpeed is set
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_speedSection->setSpecifyFlightSpeed(false);
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_speedSection->setDirty(false);
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_spySection->clearAllSignals();
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_speedSection->flightSpeed()->setRawValue(_speedSection->flightSpeed()->rawValue().toDouble() + 1);
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QVERIFY(_spySection->checkNoSignalByMask(dirtyChangedMask));
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QCOMPARE(_speedSection->dirty(), false);
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_speedSection->setSpecifyFlightSpeed(true);
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_speedSection->setDirty(false);
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_spySection->clearAllSignals();
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_speedSection->flightSpeed()->setRawValue(_speedSection->flightSpeed()->rawValue().toDouble() + 1);
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QVERIFY(_spySection->checkSignalByMask(dirtyChangedMask));
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QCOMPARE(_spySection->pullBoolFromSignalIndex(dirtyChangedIndex), true);
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QCOMPARE(_speedSection->dirty(), true);
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}
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void SpeedSectionTest::_testSettingsAvailable(void)
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{
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// No settings specified to start
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QCOMPARE(_speedSection->specifyFlightSpeed(), false);
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QCOMPARE(_speedSection->settingsSpecified(), false);
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// Check correct reaction to specifyFlightSpeed on/off
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_speedSection->setSpecifyFlightSpeed(true);
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QCOMPARE(_speedSection->specifyFlightSpeed(), true);
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QCOMPARE(_speedSection->settingsSpecified(), true);
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QVERIFY(_spySpeed->checkSignalByMask(specifyFlightSpeedChangedMask));
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QCOMPARE(_spySpeed->pullBoolFromSignalIndex(specifyFlightSpeedChangedIndex), true);
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QVERIFY(_spySection->checkSignalByMask(settingsSpecifiedChangedMask));
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QCOMPARE(_spySection->pullBoolFromSignalIndex(settingsSpecifiedChangedIndex), true);
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_spySection->clearAllSignals();
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_spySpeed->clearAllSignals();
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_speedSection->setSpecifyFlightSpeed(false);
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QCOMPARE(_speedSection->specifyFlightSpeed(), false);
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QCOMPARE(_speedSection->settingsSpecified(), false);
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QVERIFY(_spySpeed->checkSignalByMask(specifyFlightSpeedChangedMask));
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QCOMPARE(_spySpeed->pullBoolFromSignalIndex(specifyFlightSpeedChangedIndex), false);
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QVERIFY(_spySection->checkSignalByMask(settingsSpecifiedChangedMask));
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QCOMPARE(_spySection->pullBoolFromSignalIndex(settingsSpecifiedChangedIndex), false);
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_spySection->clearAllSignals();
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_spySpeed->clearAllSignals();
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}
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void SpeedSectionTest::_checkAvailable(void)
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{
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MissionItem missionItem(1, // sequence number
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MAV_CMD_NAV_TAKEOFF,
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MAV_FRAME_GLOBAL_RELATIVE_ALT,
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10.1234567, // param 1-7
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20.1234567,
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30.1234567,
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40.1234567,
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50.1234567,
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60.1234567,
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70.1234567,
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true, // autoContinue
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false); // isCurrentItem
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SimpleMissionItem* item = new SimpleMissionItem(_offlineVehicle, false /* flyView */, missionItem, this);
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QVERIFY(item->speedSection());
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QCOMPARE(item->speedSection()->available(), false);
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}
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void SpeedSectionTest::_testItemCount(void)
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{
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// No settings specified to start
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QCOMPARE(_speedSection->itemCount(), 0);
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_speedSection->setSpecifyFlightSpeed(true);
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QCOMPARE(_speedSection->itemCount(), 1);
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QVERIFY(_spySection->checkSignalByMask(itemCountChangedMask));
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QCOMPARE(_spySection->pullIntFromSignalIndex(itemCountChangedIndex), 1);
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_spySection->clearAllSignals();
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_spySpeed->clearAllSignals();
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_speedSection->setSpecifyFlightSpeed(false);
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QCOMPARE(_speedSection->itemCount(), 0);
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QVERIFY(_spySection->checkSignalByMask(itemCountChangedMask));
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QCOMPARE(_spySection->pullIntFromSignalIndex(itemCountChangedIndex), 0);
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_spySection->clearAllSignals();
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_spySpeed->clearAllSignals();
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}
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void SpeedSectionTest::_testAppendSectionItems(void)
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{
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int seqNum = 0;
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QList<MissionItem*> rgMissionItems;
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// No settings specified to start
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QCOMPARE(_speedSection->itemCount(), 0);
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_speedSection->appendSectionItems(rgMissionItems, this, seqNum);
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QCOMPARE(rgMissionItems.count(), 0);
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QCOMPARE(seqNum, 0);
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rgMissionItems.clear();
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_speedSection->setSpecifyFlightSpeed(true);
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_speedSection->appendSectionItems(rgMissionItems, this, seqNum);
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QCOMPARE(rgMissionItems.count(), 1);
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QCOMPARE(seqNum, 1);
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MissionItem expectedSpeedItem(0, MAV_CMD_DO_CHANGE_SPEED, MAV_FRAME_MISSION, _offlineVehicle->multiRotor() ? 1 : 0, _speedSection->flightSpeed()->rawValue().toDouble(), -1, 0, 0, 0, 0, true, false);
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_missionItemsEqual(*rgMissionItems[0], expectedSpeedItem);
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}
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void SpeedSectionTest::_testScanForSection(void)
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{
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QCOMPARE(_speedSection->available(), true);
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int scanIndex = 0;
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QmlObjectListModel visualItems;
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_commonScanTest(_speedSection);
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// Check for a scan success
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double flightSpeed = 10.123456;
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MissionItem validSpeedItem(0, MAV_CMD_DO_CHANGE_SPEED, MAV_FRAME_MISSION, _offlineVehicle->multiRotor() ? 1 : 0, flightSpeed, -1, 0, 0, 0, 0, true, false);
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SimpleMissionItem simpleItem(_offlineVehicle, false /* flyView */, validSpeedItem, nullptr);
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MissionItem& simpleMissionItem = simpleItem.missionItem();
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visualItems.append(&simpleItem);
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scanIndex = 0;
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QCOMPARE(_speedSection->scanForSection(&visualItems, scanIndex), true);
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QCOMPARE(visualItems.count(), 0);
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QCOMPARE(_speedSection->settingsSpecified(), true);
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QCOMPARE(_speedSection->specifyFlightSpeed(), true);
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QCOMPARE(_speedSection->flightSpeed()->rawValue().toDouble(), flightSpeed);
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_speedSection->setSpecifyFlightSpeed(false);
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visualItems.clear();
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scanIndex = 0;
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// Flight speed command but incorrect settings
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simpleMissionItem = validSpeedItem;
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simpleMissionItem.setParam1(_offlineVehicle->multiRotor() ? 0 : 1);
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visualItems.append(&simpleItem);
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QCOMPARE(_speedSection->scanForSection(&visualItems, scanIndex), false);
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QCOMPARE(visualItems.count(), 1);
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QCOMPARE(_speedSection->settingsSpecified(), false);
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visualItems.clear();
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scanIndex = 0;
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simpleMissionItem = validSpeedItem;
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simpleMissionItem.setParam3(50);
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visualItems.append(&simpleItem);
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QCOMPARE(_speedSection->scanForSection(&visualItems, scanIndex), false);
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QCOMPARE(visualItems.count(), 1);
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QCOMPARE(_speedSection->settingsSpecified(), false);
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visualItems.clear();
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scanIndex = 0;
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simpleMissionItem = validSpeedItem;
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simpleMissionItem.setParam4(1);
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visualItems.append(&simpleItem);
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QCOMPARE(_speedSection->scanForSection(&visualItems, scanIndex), false);
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QCOMPARE(visualItems.count(), 1);
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QCOMPARE(_speedSection->settingsSpecified(), false);
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visualItems.clear();
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scanIndex = 0;
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simpleMissionItem = validSpeedItem;
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simpleMissionItem.setParam5(1);
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visualItems.append(&simpleItem);
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QCOMPARE(_speedSection->scanForSection(&visualItems, scanIndex), false);
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QCOMPARE(visualItems.count(), 1);
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QCOMPARE(_speedSection->settingsSpecified(), false);
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visualItems.clear();
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scanIndex = 0;
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simpleMissionItem = validSpeedItem;
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simpleMissionItem.setParam6(1);
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visualItems.append(&simpleItem);
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QCOMPARE(_speedSection->scanForSection(&visualItems, scanIndex), false);
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QCOMPARE(visualItems.count(), 1);
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QCOMPARE(_speedSection->settingsSpecified(), false);
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visualItems.clear();
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scanIndex = 0;
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simpleMissionItem = validSpeedItem;
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simpleMissionItem.setParam7(1);
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visualItems.append(&simpleItem);
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QCOMPARE(_speedSection->scanForSection(&visualItems, scanIndex), false);
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QCOMPARE(visualItems.count(), 1);
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QCOMPARE(_speedSection->settingsSpecified(), false);
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visualItems.clear();
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scanIndex = 0;
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// Valid item in wrong position
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MissionItem waypointMissionItem(0, MAV_CMD_NAV_WAYPOINT, MAV_FRAME_GLOBAL_RELATIVE_ALT, 0, 0, 0, 0, 0, 0, 0, true, false);
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SimpleMissionItem simpleWaypointItem(_offlineVehicle, false /* flyView */, waypointMissionItem, nullptr);
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simpleMissionItem = validSpeedItem;
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visualItems.append(&simpleWaypointItem);
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visualItems.append(&simpleMissionItem);
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QCOMPARE(_speedSection->scanForSection(&visualItems, scanIndex), false);
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QCOMPARE(visualItems.count(), 2);
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QCOMPARE(_speedSection->settingsSpecified(), false);
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visualItems.clear();
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scanIndex = 0;
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}
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void SpeedSectionTest::_testSpecifiedFlightSpeedChanged(void)
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{
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// specifiedFlightSpeedChanged SHOULD NOT signal if flight speed is changed when specifyFlightSpeed IS NOT set
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_speedSection->setSpecifyFlightSpeed(false);
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_spySpeed->clearAllSignals();
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_speedSection->flightSpeed()->setRawValue(_speedSection->flightSpeed()->rawValue().toDouble() + 1);
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QVERIFY(_spySpeed->checkNoSignalByMask(specifiedFlightSpeedChangedMask));
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// specifiedFlightSpeedChanged SHOULD signal if flight speed is changed when specifyFlightSpeed IS set
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_speedSection->setSpecifyFlightSpeed(true);
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_spySpeed->clearAllSignals();
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_speedSection->flightSpeed()->setRawValue(_speedSection->flightSpeed()->rawValue().toDouble() + 1);
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QVERIFY(_spySpeed->checkSignalByMask(specifiedFlightSpeedChangedMask));
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}
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