Holden
118 lines
3.3 KiB
C++
118 lines
3.3 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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/// @file
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/// @author Don Gagne <don@thegagnes.com>
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#include "FactSystemTestBase.h"
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#include "MultiVehicleManager.h"
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#include "Vehicle.h"
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#include "ParameterManager.h"
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#include "AutoPilotPlugin.h"
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#include "MAVLinkProtocol.h"
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#include <QtTest/QTest>
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/// FactSystem Unit Test
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FactSystemTestBase::FactSystemTestBase(void)
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{
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}
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void FactSystemTestBase::_init(MAV_AUTOPILOT autopilot)
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{
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UnitTest::init();
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MultiVehicleManager::instance()->init();
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_connectMockLink(autopilot);
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_plugin = MultiVehicleManager::instance()->activeVehicle()->autopilotPlugin();
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Q_ASSERT(_plugin);
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}
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void FactSystemTestBase::_cleanup(void)
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{
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UnitTest::cleanup();
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}
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/// Basic test of parameter values in Fact System
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void FactSystemTestBase::_parameter_default_component_id_test(void)
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{
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QVERIFY(_vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, "RC_MAP_THROTTLE"));
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Fact* fact = _vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, "RC_MAP_THROTTLE");
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QVERIFY(fact != nullptr);
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QVariant factValue = fact->rawValue();
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QCOMPARE(factValue.isValid(), true);
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QCOMPARE(factValue.toInt(), 3);
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}
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void FactSystemTestBase::_parameter_specific_component_id_test(void)
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{
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QVERIFY(_vehicle->parameterManager()->parameterExists(MAV_COMP_ID_AUTOPILOT1, "RC_MAP_THROTTLE"));
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Fact* fact = _vehicle->parameterManager()->getParameter(MAV_COMP_ID_AUTOPILOT1, "RC_MAP_THROTTLE");
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QVERIFY(fact != nullptr);
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QVariant factValue = fact->rawValue();
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QCOMPARE(factValue.isValid(), true);
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QCOMPARE(factValue.toInt(), 3);
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}
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/// Test that QML can reference a Fact
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void FactSystemTestBase::_qml_test(void)
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{
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//-- TODO
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#if 0
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QGCQuickWidget* widget = new QGCQuickWidget;
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widget->setAutoPilot(_plugin);
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widget->setSource(QUrl::fromUserInput("qrc:unittest/FactSystemTest.qml"));
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QQuickItem* rootObject = widget->rootObject();
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QObject* control = rootObject->findChild<QObject*>("testControl");
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QVERIFY(control != NULL);
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QVariant qmlValue = control->property("text").toInt();
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QCOMPARE(qmlValue.toInt(), 3);
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delete widget;
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#endif
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}
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/// Test QML getting an updated Fact value
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void FactSystemTestBase::_qmlUpdate_test(void)
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{
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//-- TODO
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#if 0
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QGCQuickWidget* widget = new QGCQuickWidget;
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widget->setAutoPilot(_plugin);
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widget->setSource(QUrl::fromUserInput("qrc:unittest/FactSystemTest.qml"));
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// Change the value
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QVariant paramValue = 12;
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MultiVehicleManager::instance()->activeVehicle()->parameterManager()->getParameter(ParameterManager::defaultComponentId, "RC_MAP_THROTTLE")->setRawValue(paramValue);
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QTest::qWait(500); // Let the signals flow through
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// Make sure the qml has the right value
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QQuickItem* rootObject = widget->rootObject();
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QObject* control = rootObject->findChild<QObject*>("testControl");
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QVERIFY(control != NULL);
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QCOMPARE(control->property("text").toInt(), 12);
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delete widget;
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#endif
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}
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