Holden
211 lines
8.6 KiB
C++
211 lines
8.6 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 "MissionCommandTreeTest.h"
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#include "MissionCommandUIInfo.h"
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#include "MissionCommandList.h"
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#include "MissionCommandTree.h"
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#include "Vehicle.h"
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#include <QtTest/QTest>
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void MissionCommandTreeTest::init()
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{
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_commandTree = new MissionCommandTree(true /* unitTest */, this);
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}
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QString MissionCommandTreeTest::_rawName(int id) const
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{
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return QStringLiteral("UNITTEST_%1").arg(id);
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}
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QString MissionCommandTreeTest::_friendlyName(int id) const
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{
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return QStringLiteral("Unit Test %1").arg(id);
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}
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QString MissionCommandTreeTest::_paramLabel(int index) const
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{
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return QStringLiteral("param%1").arg(index);
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}
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void MissionCommandTreeTest::_checkFullInfoMap(const MissionCommandUIInfo *const uiInfo)
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{
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QVERIFY(uiInfo->_infoMap.contains(MissionCommandUIInfo::_rawNameJsonKey));
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QVERIFY(uiInfo->_infoMap.contains(MissionCommandUIInfo::_categoryJsonKey));
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QVERIFY(uiInfo->_infoMap.contains(MissionCommandUIInfo::_descriptionJsonKey));
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QVERIFY(uiInfo->_infoMap.contains(MissionCommandUIInfo::_friendlyEditJsonKey));
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QVERIFY(uiInfo->_infoMap.contains(MissionCommandUIInfo::_friendlyNameJsonKey));
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QVERIFY(uiInfo->_infoMap.contains(MissionCommandUIInfo::_standaloneCoordinateJsonKey));
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QVERIFY(uiInfo->_infoMap.contains(MissionCommandUIInfo::_specifiesCoordinateJsonKey));
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}
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void MissionCommandTreeTest::_checkBaseValues(const MissionCommandUIInfo *const uiInfo, int command)
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{
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QVERIFY(uiInfo != nullptr);
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_checkFullInfoMap(uiInfo);
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QCOMPARE(uiInfo->command(), static_cast<MAV_CMD>(command));
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QCOMPARE(uiInfo->rawName(), _rawName(command));
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QCOMPARE(uiInfo->category(), QStringLiteral("category"));
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QCOMPARE(uiInfo->description(), QStringLiteral("description"));
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QCOMPARE(uiInfo->friendlyEdit(), true);
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QCOMPARE(uiInfo->friendlyName(), _friendlyName(command));
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QCOMPARE(uiInfo->isStandaloneCoordinate(), true);
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QCOMPARE(uiInfo->specifiesCoordinate(), true);
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for (int i=1; i<=7; i++) {
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bool showUI;
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const MissionCmdParamInfo *const paramInfo = uiInfo->getParamInfo(i, showUI);
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QVERIFY(showUI);
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QVERIFY(paramInfo);
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QCOMPARE(paramInfo->decimalPlaces(), 1);
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QCOMPARE(paramInfo->defaultValue(), 1.0);
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QCOMPARE(paramInfo->enumStrings().count(), 2);
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QCOMPARE(paramInfo->enumStrings()[0], QStringLiteral("1"));
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QCOMPARE(paramInfo->enumStrings()[1], QStringLiteral("2"));
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QCOMPARE(paramInfo->enumValues().count(), 2);
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QCOMPARE(paramInfo->enumValues()[0].toDouble(), 1.0);
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QCOMPARE(paramInfo->enumValues()[1].toDouble(), 2.0);
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QCOMPARE(paramInfo->label(), _paramLabel(i));
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QCOMPARE(paramInfo->param(), i);
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QCOMPARE(paramInfo->units(), QStringLiteral("units"));
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}
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}
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void MissionCommandTreeTest::_checkOverrideParamValues(const MissionCommandUIInfo* uiInfo, int command, int paramIndex)
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{
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QString overrideString = QStringLiteral("override fw %1 %2").arg(command).arg(paramIndex);
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bool showUI;
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const MissionCmdParamInfo *const paramInfo = uiInfo->getParamInfo(paramIndex, showUI);
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QVERIFY(showUI);
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QVERIFY(paramInfo);
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QCOMPARE(paramInfo->decimalPlaces(), 1);
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QCOMPARE(paramInfo->defaultValue(), 1.0);
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QCOMPARE(paramInfo->enumStrings().count(), 2);
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QCOMPARE(paramInfo->enumStrings()[0], QStringLiteral("1"));
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QCOMPARE(paramInfo->enumStrings()[1], QStringLiteral("2"));
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QCOMPARE(paramInfo->enumValues().count(), 2);
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QCOMPARE(paramInfo->enumValues()[0].toDouble(), 1.0);
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QCOMPARE(paramInfo->enumValues()[1].toDouble(), 2.0);
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QCOMPARE(paramInfo->label(), overrideString);
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QCOMPARE(paramInfo->param(), paramIndex);
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QCOMPARE(paramInfo->units(), overrideString);
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}
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void MissionCommandTreeTest::_checkOverrideValues(const MissionCommandUIInfo* uiInfo, int command)
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{
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bool showUI;
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QString overrideString = QString("override fw %1").arg(command);
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QVERIFY(uiInfo != nullptr);
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_checkFullInfoMap(uiInfo);
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QCOMPARE(uiInfo->command(), static_cast<MAV_CMD>(command));
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QCOMPARE(uiInfo->rawName(), _rawName(command));
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QCOMPARE(uiInfo->category(), overrideString);
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QCOMPARE(uiInfo->description(), overrideString);
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QCOMPARE(uiInfo->friendlyEdit(), true);
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QCOMPARE(uiInfo->friendlyName(), _friendlyName(command));
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QCOMPARE(uiInfo->isStandaloneCoordinate(), false);
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QCOMPARE(uiInfo->specifiesCoordinate(), false);
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QVERIFY(uiInfo->getParamInfo(2, showUI));
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QCOMPARE(showUI, false);
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QVERIFY(uiInfo->getParamInfo(4, showUI));
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QCOMPARE(showUI, false);
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QVERIFY(uiInfo->getParamInfo(6, showUI));
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QCOMPARE(showUI, false);
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_checkOverrideParamValues(uiInfo, command, 1);
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_checkOverrideParamValues(uiInfo, command, 3);
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_checkOverrideParamValues(uiInfo, command, 5);
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}
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void MissionCommandTreeTest::testJsonLoad()
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{
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// Test loading from the bad command list
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MissionCommandList *const commandList = _commandTree->_staticCommandTree[MAV_AUTOPILOT_GENERIC][MAV_TYPE_GENERIC];
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QVERIFY(commandList != nullptr);
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// Command 1 should have all values defaulted, no params
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const MissionCommandUIInfo* uiInfo = commandList->getUIInfo(static_cast<MAV_CMD>(1));
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QVERIFY(uiInfo != nullptr);
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_checkFullInfoMap(uiInfo);
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QCOMPARE(uiInfo->command(), static_cast<MAV_CMD>(1));
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QCOMPARE(uiInfo->rawName(), _rawName(1));
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QVERIFY(uiInfo->category() == MissionCommandUIInfo::_advancedCategory);
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QVERIFY(uiInfo->description().isEmpty());
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QCOMPARE(uiInfo->friendlyEdit(), false);
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QCOMPARE(uiInfo->friendlyName(), uiInfo->rawName());
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QCOMPARE(uiInfo->isStandaloneCoordinate(), false);
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QCOMPARE(uiInfo->specifiesCoordinate(), false);
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bool showUI;
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for (int i=1; i<=7; i++) {
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QVERIFY(uiInfo->getParamInfo(i, showUI) == nullptr);
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QCOMPARE(showUI, false);
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}
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// Command 2 should all values defaulted for param 1
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uiInfo = commandList->getUIInfo(static_cast<MAV_CMD>(2));
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QVERIFY(uiInfo != nullptr);
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const MissionCmdParamInfo *const paramInfo = uiInfo->getParamInfo(1, showUI);
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QVERIFY(paramInfo);
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QCOMPARE(showUI, true);
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QCOMPARE(paramInfo->decimalPlaces(), -1);
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QCOMPARE(paramInfo->defaultValue(), 0.0);
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QCOMPARE(paramInfo->enumStrings().count(), 0);
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QCOMPARE(paramInfo->enumValues().count(), 0);
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QCOMPARE(paramInfo->label(), _paramLabel(1));
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QCOMPARE(paramInfo->param(), 1);
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QVERIFY(paramInfo->units().isEmpty());
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for (int i=2; i<=7; i++) {
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QVERIFY(uiInfo->getParamInfo(i, showUI) == nullptr);
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QCOMPARE(showUI, false);
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}
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// Command 3 should have all values set
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_checkBaseValues(commandList->getUIInfo(static_cast<MAV_CMD>(3)), 3);
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}
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void MissionCommandTreeTest::testOverride()
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{
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// Generic/Generic should not have any overrides
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Vehicle* vehicle = new Vehicle(MAV_AUTOPILOT_GENERIC, MAV_TYPE_GENERIC, this);
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_checkBaseValues(_commandTree->getUIInfo(vehicle, QGCMAVLink::VehicleClassGeneric, static_cast<MAV_CMD>(4)), 4);
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delete vehicle;
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// Generic/FixedWing should have overrides
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vehicle = new Vehicle(MAV_AUTOPILOT_GENERIC, MAV_TYPE_FIXED_WING, this);
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_checkOverrideValues(_commandTree->getUIInfo(vehicle, QGCMAVLink::VehicleClassGeneric, static_cast<MAV_CMD>(4)), 4);
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delete vehicle;
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}
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void MissionCommandTreeTest::testAllTrees()
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{
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QList<MAV_AUTOPILOT> firmwareList;
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QList<MAV_TYPE> vehicleList;
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firmwareList << MAV_AUTOPILOT_GENERIC << MAV_AUTOPILOT_PX4 << MAV_AUTOPILOT_ARDUPILOTMEGA;
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vehicleList << MAV_TYPE_GENERIC << MAV_TYPE_QUADROTOR << MAV_TYPE_FIXED_WING << MAV_TYPE_GROUND_ROVER << MAV_TYPE_SUBMARINE << MAV_TYPE_VTOL_TAILSITTER_QUADROTOR;
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// This will cause all of the variants of collapsed trees to be built
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for(MAV_AUTOPILOT firmwareType: firmwareList) {
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for (MAV_TYPE vehicleType: vehicleList) {
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if ((firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) && (vehicleType == MAV_TYPE_VTOL_TAILSITTER_QUADROTOR)) {
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// VTOL in ArduPilot shows up as plane so we can test this pair
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continue;
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}
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qDebug() << firmwareType << vehicleType;
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Vehicle *const vehicle = new Vehicle(firmwareType, vehicleType, this);
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QVERIFY(MissionCommandTree::instance()->getUIInfo(vehicle, QGCMAVLink::VehicleClassMultiRotor, MAV_CMD_NAV_WAYPOINT) != nullptr);
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delete vehicle;
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}
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}
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}
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