548 lines
20 KiB
C++
548 lines
20 KiB
C++
/****************************************************************************
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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 "MissionItemTest.h"
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#include "LinkManager.h"
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#include "MultiVehicleManager.h"
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#include "MissionItem.h"
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#include "SimpleMissionItem.h"
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#include "QGCApplication.h"
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#if 0
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const MissionItemTest::TestCase_t MissionItemTest::_rgTestCases[] = {
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{ "0\t0\t3\t16\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 0, 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 } },
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{ "1\t0\t3\t17\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 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 } },
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{ "2\t0\t3\t18\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 2, 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 } },
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{ "3\t0\t3\t19\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 3, 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 } },
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{ "4\t0\t3\t21\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 4, 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 } },
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{ "6\t0\t2\t112\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 5, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_CONDITION_DELAY, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION } },
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};
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const size_t MissionItemTest::_cTestCases = sizeof(_rgTestCases)/sizeof(_rgTestCases[0]);
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#endif
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MissionItemTest::MissionItemTest(void)
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: _offlineVehicle(nullptr)
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{
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}
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void MissionItemTest::init(void)
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{
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UnitTest::init();
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_offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4,
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MAV_TYPE_QUADROTOR,
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qgcApp()->toolbox()->firmwarePluginManager(),
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this);
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}
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void MissionItemTest::cleanup(void)
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{
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_offlineVehicle->deleteLater();
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UnitTest::cleanup();
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}
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// Test property get/set
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void MissionItemTest::_testSetGet(void)
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{
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MissionItem missionItem;
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missionItem.setSequenceNumber(1);
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QCOMPARE(missionItem.sequenceNumber(), 1);
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missionItem.setCommand(MAV_CMD_NAV_WAYPOINT);
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QCOMPARE(missionItem.command(), MAV_CMD_NAV_WAYPOINT);
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missionItem.setFrame(MAV_FRAME_LOCAL_NED);
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QCOMPARE(missionItem.frame(), MAV_FRAME_LOCAL_NED);
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QCOMPARE(missionItem.relativeAltitude(), false);
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missionItem.setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
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QCOMPARE(missionItem.relativeAltitude(), true);
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missionItem.setParam1(1.0);
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QCOMPARE(missionItem.param1(), 1.0);
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missionItem.setParam2(2.0);
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QCOMPARE(missionItem.param2(), 2.0);
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missionItem.setParam3(3.0);
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QCOMPARE(missionItem.param3(), 3.0);
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missionItem.setParam4(4.0);
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QCOMPARE(missionItem.param4(), 4.0);
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missionItem.setParam5(5.0);
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QCOMPARE(missionItem.param5(), 5.0);
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missionItem.setParam6(6.0);
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QCOMPARE(missionItem.param6(), 6.0);
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missionItem.setParam7(7.0);
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QCOMPARE(missionItem.param7(), 7.0);
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QCOMPARE(missionItem.coordinate(), QGeoCoordinate(5.0, 6.0, 7.0));
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missionItem.setAutoContinue(false);
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QCOMPARE(missionItem.autoContinue(), false);
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missionItem.setIsCurrentItem(true);
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QCOMPARE(missionItem.isCurrentItem(), true);
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}
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// Test basic signalling
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void MissionItemTest::_testSignals(void)
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{
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MissionItem missionItem(1, // sequenceNumber
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MAV_CMD_NAV_WAYPOINT, // command
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MAV_FRAME_GLOBAL_RELATIVE_ALT, // MAV_FRAME
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1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, // params
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true, // autoContinue
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true); // isCurrentItem
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enum {
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isCurrentItemChangedIndex = 0,
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sequenceNumberChangedIndex,
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maxSignalIndex
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};
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enum {
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isCurrentItemChangedMask = 1 << isCurrentItemChangedIndex,
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sequenceNumberChangedIndexMask = 1 << sequenceNumberChangedIndex
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};
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static const size_t cMissionItemSignals = maxSignalIndex;
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const char* rgMissionItemSignals[cMissionItemSignals];
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rgMissionItemSignals[isCurrentItemChangedIndex] = SIGNAL(isCurrentItemChanged(bool));
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rgMissionItemSignals[sequenceNumberChangedIndex] = SIGNAL(sequenceNumberChanged(int));
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MultiSignalSpy* multiSpyMissionItem = new MultiSignalSpy();
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Q_CHECK_PTR(multiSpyMissionItem);
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QCOMPARE(multiSpyMissionItem->init(&missionItem, rgMissionItemSignals, cMissionItemSignals), true);
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// Validate isCurrentItemChanged signalling
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missionItem.setIsCurrentItem(true);
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QVERIFY(multiSpyMissionItem->checkNoSignals());
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missionItem.setIsCurrentItem(false);
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QVERIFY(multiSpyMissionItem->checkOnlySignalByMask(isCurrentItemChangedMask));
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QSignalSpy* spy = multiSpyMissionItem->getSpyByIndex(isCurrentItemChangedIndex);
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QList<QVariant> signalArgs = spy->takeFirst();
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QCOMPARE(signalArgs.count(), 1);
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QCOMPARE(signalArgs[0].toBool(), false);
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multiSpyMissionItem->clearAllSignals();
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// Validate sequenceNumberChanged signalling
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missionItem.setSequenceNumber(1);
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QVERIFY(multiSpyMissionItem->checkNoSignals());
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missionItem.setSequenceNumber(2);
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QVERIFY(multiSpyMissionItem->checkOnlySignalByMask(sequenceNumberChangedIndexMask));
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spy = multiSpyMissionItem->getSpyByIndex(sequenceNumberChangedIndex);
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signalArgs = spy->takeFirst();
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QCOMPARE(signalArgs.count(), 1);
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QCOMPARE(signalArgs[0].toInt(), 2);
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}
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// Test signalling associated with contained facts
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void MissionItemTest::_testFactSignals(void)
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{
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MissionItem missionItem(1, // sequenceNumber
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MAV_CMD_NAV_WAYPOINT, // command
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MAV_FRAME_GLOBAL_RELATIVE_ALT, // MAV_FRAME
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1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, // params
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true, // autoContinue
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true); // isCurrentItem
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// command
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QSignalSpy commandSpy(&missionItem._commandFact, SIGNAL(valueChanged(QVariant)));
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missionItem.setCommand(MAV_CMD_NAV_WAYPOINT);
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QCOMPARE(commandSpy.count(), 0);
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missionItem.setCommand(MAV_CMD_NAV_ALTITUDE_WAIT);
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QCOMPARE(commandSpy.count(), 1);
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QList<QVariant> arguments = commandSpy.takeFirst();
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QCOMPARE(arguments.count(), 1);
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QCOMPARE((MAV_CMD)arguments.at(0).toInt(), MAV_CMD_NAV_ALTITUDE_WAIT);
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// frame
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QSignalSpy frameSpy(&missionItem._frameFact, SIGNAL(valueChanged(QVariant)));
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missionItem.setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
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QCOMPARE(frameSpy.count(), 0);
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missionItem.setFrame(MAV_FRAME_BODY_NED);
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QCOMPARE(frameSpy.count(), 1);
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arguments = frameSpy.takeFirst();
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QCOMPARE(arguments.count(), 1);
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QCOMPARE((MAV_FRAME)arguments.at(0).toInt(), MAV_FRAME_BODY_NED);
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// param1
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QSignalSpy param1Spy(&missionItem._param1Fact, SIGNAL(valueChanged(QVariant)));
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missionItem.setParam1(1.0);
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QCOMPARE(param1Spy.count(), 0);
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missionItem.setParam1(2.0);
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QCOMPARE(param1Spy.count(), 1);
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arguments = param1Spy.takeFirst();
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QCOMPARE(arguments.count(), 1);
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QCOMPARE(arguments.at(0).toDouble(), 2.0);
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// param2
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QSignalSpy param2Spy(&missionItem._param2Fact, SIGNAL(valueChanged(QVariant)));
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missionItem.setParam2(2.0);
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QCOMPARE(param2Spy.count(), 0);
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missionItem.setParam2(3.0);
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QCOMPARE(param2Spy.count(), 1);
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arguments = param2Spy.takeFirst();
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QCOMPARE(arguments.count(), 1);
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QCOMPARE(arguments.at(0).toDouble(), 3.0);
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// param3
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QSignalSpy param3Spy(&missionItem._param3Fact, SIGNAL(valueChanged(QVariant)));
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missionItem.setParam3(3.0);
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QCOMPARE(param3Spy.count(), 0);
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missionItem.setParam3(4.0);
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QCOMPARE(param3Spy.count(), 1);
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arguments = param3Spy.takeFirst();
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QCOMPARE(arguments.count(), 1);
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QCOMPARE(arguments.at(0).toDouble(), 4.0);
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// param4
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QSignalSpy param4Spy(&missionItem._param4Fact, SIGNAL(valueChanged(QVariant)));
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missionItem.setParam4(4.0);
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QCOMPARE(param4Spy.count(), 0);
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missionItem.setParam4(5.0);
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QCOMPARE(param4Spy.count(), 1);
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arguments = param4Spy.takeFirst();
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QCOMPARE(arguments.count(), 1);
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QCOMPARE(arguments.at(0).toDouble(), 5.0);
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// param6
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QSignalSpy param6Spy(&missionItem._param6Fact, SIGNAL(valueChanged(QVariant)));
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missionItem.setParam6(6.0);
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QCOMPARE(param6Spy.count(), 0);
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missionItem.setParam6(7.0);
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QCOMPARE(param6Spy.count(), 1);
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arguments = param6Spy.takeFirst();
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QCOMPARE(arguments.count(), 1);
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QCOMPARE(arguments.at(0).toDouble(), 7.0);
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// param7
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QSignalSpy param7Spy(&missionItem._param7Fact, SIGNAL(valueChanged(QVariant)));
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missionItem.setParam7(7.0);
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QCOMPARE(param7Spy.count(), 0);
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missionItem.setParam7(8.0);
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QCOMPARE(param7Spy.count(), 1);
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arguments = param7Spy.takeFirst();
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QCOMPARE(arguments.count(), 1);
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QCOMPARE(arguments.at(0).toDouble(), 8.0);
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}
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void MissionItemTest::_checkExpectedMissionItem(const MissionItem& missionItem, bool allNaNs)
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{
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QCOMPARE(missionItem.sequenceNumber(), _seq);
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QCOMPARE(missionItem.isCurrentItem(), false);
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QCOMPARE(missionItem.frame(), (MAV_FRAME)3);
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QCOMPARE(missionItem.command(), (MAV_CMD)80);
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QCOMPARE(missionItem.autoContinue(), true);
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if (allNaNs) {
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QVERIFY(qIsNaN(missionItem.param1()));
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QVERIFY(qIsNaN(missionItem.param2()));
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QVERIFY(qIsNaN(missionItem.param3()));
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QVERIFY(qIsNaN(missionItem.param4()));
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QVERIFY(qIsNaN(missionItem.param5()));
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QVERIFY(qIsNaN(missionItem.param6()));
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QVERIFY(qIsNaN(missionItem.param7()));
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} else {
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QCOMPARE(missionItem.param1(), 10.0);
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QCOMPARE(missionItem.param2(), 20.0);
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QCOMPARE(missionItem.param3(), 30.0);
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QCOMPARE(missionItem.param4(), 40.0);
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QCOMPARE(missionItem.param5(), -10.0);
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QCOMPARE(missionItem.param6(), -20.0);
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QCOMPARE(missionItem.param7(), -30.0);
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}
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}
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void MissionItemTest::_testLoadFromStream(void)
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{
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MissionItem missionItem;
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QString testString("10\t0\t3\t80\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n");
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QTextStream testStream(&testString, QIODevice::ReadOnly);
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QVERIFY(missionItem.load(testStream));
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_checkExpectedMissionItem(missionItem);
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}
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void MissionItemTest::_testSimpleLoadFromStream(void)
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{
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// We specifically test SimpleMissionItem loading as well since it has additional
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// signalling which can affect values.
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SimpleMissionItem simpleMissionItem(_offlineVehicle, false /* flyView */, false /* forLoad */, nullptr);
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QString testString("10\t0\t3\t80\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n");
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QTextStream testStream(&testString, QIODevice::ReadOnly);
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QVERIFY(simpleMissionItem.load(testStream));
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_checkExpectedMissionItem(simpleMissionItem.missionItem());
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}
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void MissionItemTest::_testLoadFromJsonV1(void)
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{
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MissionItem missionItem;
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QString errorString;
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QJsonObject jsonObject = _createV1Json();
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// V1 format has param 1-4 in separate items instead of in params array
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QStringList removeKeys;
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removeKeys << MissionItem::_jsonParam1Key << MissionItem::_jsonParam2Key << MissionItem::_jsonParam3Key << MissionItem::_jsonParam4Key;
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for (const QString& removeKey: removeKeys) {
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QJsonObject badObject = jsonObject;
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badObject.remove(removeKey);
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QCOMPARE(missionItem.load(badObject, _seq, errorString), false);
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QVERIFY(!errorString.isEmpty());
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qDebug() << errorString;
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}
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// Test good load
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bool success = missionItem.load(jsonObject, _seq, errorString);
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if (!success) {
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qDebug() << errorString;
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}
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QVERIFY(success);
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_checkExpectedMissionItem(missionItem);
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}
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void MissionItemTest::_testLoadFromJsonV2(void)
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{
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MissionItem missionItem;
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QString errorString;
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QJsonObject jsonObject = _createV2Json();
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// Test missing key detection
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QStringList removeKeys;
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removeKeys << MissionItem::_jsonCoordinateKey;
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for(const QString& removeKey: removeKeys) {
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QJsonObject badObject = jsonObject;
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badObject.remove(removeKey);
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QCOMPARE(missionItem.load(badObject, _seq, errorString), false);
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QVERIFY(!errorString.isEmpty());
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qDebug() << errorString;
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}
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// Test bad coordinate variations
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QJsonObject badObject = jsonObject;
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badObject.remove("coordinate");
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badObject["coordinate"] = 10;
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QCOMPARE(missionItem.load(badObject, _seq, errorString), false);
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QVERIFY(!errorString.isEmpty());
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qDebug() << errorString;
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QJsonArray badCoordinateArray;
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badCoordinateArray << -10.0 << -20.0 ;
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badObject = jsonObject;
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badObject.remove("coordinate");
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badObject["coordinate"] = badCoordinateArray;
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QCOMPARE(missionItem.load(badObject, _seq, errorString), false);
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QVERIFY(!errorString.isEmpty());
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qDebug() << errorString;
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QJsonArray badCoordinateArray_second;
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badCoordinateArray_second << -10.0 << -20.0 << true;
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badObject = jsonObject;
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badObject.remove("coordinate");
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badObject["coordinate"] = badCoordinateArray_second;
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QCOMPARE(missionItem.load(badObject, _seq, errorString), false);
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QVERIFY(!errorString.isEmpty());
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qDebug() << errorString;
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QJsonArray badCoordinateArray2;
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badCoordinateArray2 << 1 << 2;
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QJsonArray badCoordinateArray_third;
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badCoordinateArray_third << -10.0 << -20.0 << badCoordinateArray2;
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badObject = jsonObject;
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badObject.remove("coordinate");
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badObject["coordinate"] = badCoordinateArray_third;
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QCOMPARE(missionItem.load(badObject, _seq, errorString), false);
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QVERIFY(!errorString.isEmpty());
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qDebug() << errorString;
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// Test good load
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bool result = missionItem.load(jsonObject, _seq, errorString);
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if (!result) {
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qDebug() << errorString;
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QVERIFY(result);
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}
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_checkExpectedMissionItem(missionItem);
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}
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void MissionItemTest::_testLoadFromJsonV3(void)
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{
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MissionItem missionItem;
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QString errorString;
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QJsonObject jsonObject = _createV3Json();
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// Test missing key detection
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QStringList removeKeys;
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removeKeys << MissionItem::_jsonAutoContinueKey <<
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MissionItem::_jsonCommandKey <<
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MissionItem::_jsonFrameKey <<
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MissionItem::_jsonParamsKey <<
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VisualMissionItem::jsonTypeKey;
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for(const QString& removeKey: removeKeys) {
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QJsonObject badObject = jsonObject;
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badObject.remove(removeKey);
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QCOMPARE(missionItem.load(badObject, _seq, errorString), false);
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QVERIFY(!errorString.isEmpty());
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qDebug() << errorString;
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}
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// Bad type
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QJsonObject badObject = jsonObject;
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badObject[VisualMissionItem::jsonTypeKey] = "foo";
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QCOMPARE(missionItem.load(badObject, _seq, errorString), false);
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QVERIFY(!errorString.isEmpty());
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qDebug() << errorString;
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// Incorrect param count
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badObject = jsonObject;
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QJsonArray rgParam = badObject[MissionItem::_jsonParamsKey].toArray();
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rgParam.removeFirst();
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badObject[MissionItem::_jsonParamsKey] = rgParam;
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QCOMPARE(missionItem.load(badObject, _seq, errorString), false);
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QVERIFY(!errorString.isEmpty());
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qDebug() << errorString;
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// Test good load
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bool result = missionItem.load(jsonObject, _seq, errorString);
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if (!result) {
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qDebug() << errorString;
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QVERIFY(result);
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}
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_checkExpectedMissionItem(missionItem);
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}
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void MissionItemTest::_testLoadFromJsonV3NaN(void)
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{
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MissionItem missionItem;
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QString errorString;
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QJsonObject jsonObject = _createV3Json(true /* allNaNs */);
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bool result = missionItem.load(jsonObject, _seq, errorString);
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if (!result) {
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qDebug() << errorString;
|
|
QVERIFY(result);
|
|
}
|
|
_checkExpectedMissionItem(missionItem, true /* allNaNs */);
|
|
}
|
|
|
|
void MissionItemTest::_testSimpleLoadFromJson(void)
|
|
{
|
|
// We specifically test SimpleMissionItem loading as well since it has additional
|
|
// signalling which can affect values.
|
|
|
|
SimpleMissionItem simpleMissionItem(_offlineVehicle, false /* flyView */, false /* forLoad */, nullptr);
|
|
QString errorString;
|
|
QJsonArray coordinateArray;
|
|
QJsonObject jsonObject;
|
|
|
|
coordinateArray << -10.0 << -20.0 <<-30.0;
|
|
jsonObject.insert(MissionItem::_jsonAutoContinueKey, true);
|
|
jsonObject.insert(MissionItem::_jsonCommandKey, 80);
|
|
jsonObject.insert(MissionItem::_jsonFrameKey, 3);
|
|
jsonObject.insert(VisualMissionItem::jsonTypeKey, VisualMissionItem::jsonTypeSimpleItemValue);
|
|
jsonObject.insert(MissionItem::_jsonCoordinateKey, coordinateArray);
|
|
|
|
QJsonArray rgParams = { 10, 20, 30, 40 };
|
|
jsonObject.insert(MissionItem::_jsonParamsKey, rgParams);
|
|
|
|
QVERIFY(simpleMissionItem.load(jsonObject, _seq, errorString));
|
|
_checkExpectedMissionItem(simpleMissionItem.missionItem());
|
|
}
|
|
|
|
void MissionItemTest::_testSaveToJson(void)
|
|
{
|
|
MissionItem missionItem;
|
|
QString errorString;
|
|
|
|
QJsonObject jsonObject = _createV3Json(false /* allNaNs */);
|
|
QVERIFY(missionItem.load(jsonObject, _seq, errorString));
|
|
missionItem.save(jsonObject);
|
|
QCOMPARE(jsonObject.contains(MissionItem::_jsonCoordinateKey), false);
|
|
QVERIFY(missionItem.load(jsonObject, _seq, errorString));
|
|
_checkExpectedMissionItem(missionItem, false /* allNaNs */);
|
|
|
|
jsonObject = _createV3Json(true /* allNaNs */);
|
|
QVERIFY(missionItem.load(jsonObject, _seq, errorString));
|
|
missionItem.save(jsonObject);
|
|
QVERIFY(missionItem.load(jsonObject, _seq, errorString));
|
|
_checkExpectedMissionItem(missionItem, true /* allNaNs */);
|
|
}
|
|
|
|
QJsonObject MissionItemTest::_createV1Json(void)
|
|
{
|
|
QJsonObject jsonObject;
|
|
QJsonArray coordinateArray;
|
|
|
|
coordinateArray << -10.0 << -20.0 <<-30.0;
|
|
jsonObject.insert(MissionItem::_jsonAutoContinueKey, true);
|
|
jsonObject.insert(MissionItem::_jsonCommandKey, 80);
|
|
jsonObject.insert(MissionItem::_jsonFrameKey, 3);
|
|
jsonObject.insert(MissionItem::_jsonParam1Key, 10);
|
|
jsonObject.insert(MissionItem::_jsonParam2Key, 20);
|
|
jsonObject.insert(MissionItem::_jsonParam3Key, 30);
|
|
jsonObject.insert(MissionItem::_jsonParam4Key, 40);
|
|
jsonObject.insert(VisualMissionItem::jsonTypeKey, VisualMissionItem::jsonTypeSimpleItemValue);
|
|
jsonObject.insert(MissionItem::_jsonCoordinateKey, coordinateArray);
|
|
|
|
return jsonObject;
|
|
}
|
|
|
|
QJsonObject MissionItemTest::_createV2Json(void)
|
|
{
|
|
QJsonObject jsonObject;
|
|
QJsonArray coordinateArray;
|
|
|
|
coordinateArray << -10.0 << -20.0 <<-30.0;
|
|
jsonObject.insert(MissionItem::_jsonAutoContinueKey, true);
|
|
jsonObject.insert(MissionItem::_jsonCommandKey, 80);
|
|
jsonObject.insert(MissionItem::_jsonFrameKey, 3);
|
|
jsonObject.insert(VisualMissionItem::jsonTypeKey, VisualMissionItem::jsonTypeSimpleItemValue);
|
|
jsonObject.insert(MissionItem::_jsonCoordinateKey, coordinateArray);
|
|
|
|
QJsonArray rgParams = { 10, 20, 30, 40 };
|
|
jsonObject.insert(MissionItem::_jsonParamsKey, rgParams);
|
|
|
|
return jsonObject;
|
|
}
|
|
|
|
QJsonObject MissionItemTest::_createV3Json(bool allNaNs)
|
|
{
|
|
QJsonObject jsonObject;
|
|
|
|
jsonObject.insert(MissionItem::_jsonAutoContinueKey, true);
|
|
jsonObject.insert(MissionItem::_jsonCommandKey, 80);
|
|
jsonObject.insert(MissionItem::_jsonFrameKey, 3);
|
|
jsonObject.insert(VisualMissionItem::jsonTypeKey, VisualMissionItem::jsonTypeSimpleItemValue);
|
|
|
|
if (allNaNs) {
|
|
QJsonArray rgParams = { NAN, NAN, NAN, NAN, NAN, NAN, NAN };
|
|
jsonObject.insert(MissionItem::_jsonParamsKey, rgParams);
|
|
} else {
|
|
QJsonArray rgParams = { 10, 20, 30, 40, -10, -20, -30 };
|
|
jsonObject.insert(MissionItem::_jsonParamsKey, rgParams);
|
|
}
|
|
|
|
return jsonObject;
|
|
}
|