Merge pull request mavlink#3133 from DonLakeFlyer/MissionItemFixes

Mission item fixes
dagar · Apr 3, 2016 · e68c93d · e68c93d
2 parents 9912625 + 246de5b
commit e68c93d
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Showing 3 changed files with 65 additions and 22 deletions.
diff --git a/src/MissionManager/MissionItem.cc b/src/MissionManager/MissionItem.cc
@@ -203,6 +203,10 @@ bool MissionItem::load(const QJsonObject& json, QString& errorString)
         return false;
     }
 
+    // Make sure to set these first since they can signal other changes
+    setFrame((MAV_FRAME)json[_jsonFrameKey].toInt());
+    setCommand((MAV_CMD)json[_jsonCommandKey].toInt());
+
     QGeoCoordinate coordinate;
     if (!JsonHelper::toQGeoCoordinate(json[_jsonCoordinateKey], coordinate, true /* altitudeRequired */, errorString)) {
         return false;
@@ -213,8 +217,6 @@ bool MissionItem::load(const QJsonObject& json, QString& errorString)
 
     setIsCurrentItem(false);
     setSequenceNumber(json[_jsonIdKey].toInt());
-    setFrame((MAV_FRAME)json[_jsonFrameKey].toInt());
-    setCommand((MAV_CMD)json[_jsonCommandKey].toInt());
     setParam1(json[_jsonParam1Key].toDouble());
     setParam2(json[_jsonParam2Key].toDouble());
     setParam3(json[_jsonParam3Key].toDouble());

diff --git a/src/MissionManager/MissionItemTest.cc b/src/MissionManager/MissionItemTest.cc
@@ -25,6 +25,7 @@
 #include "LinkManager.h"
 #include "MultiVehicleManager.h"
 #include "MissionItem.h"
+#include "SimpleMissionItem.h"
 
 #if 0
 const MissionItemTest::TestCase_t MissionItemTest::_rgTestCases[] = {
@@ -236,16 +237,10 @@ void MissionItemTest::_testFactSignals(void)
     QCOMPARE(arguments.at(0).toDouble(), 8.0);
 }
 
-void MissionItemTest::_testLoadFromStream(void)
+void MissionItemTest::_checkExpectedMissionItem(const MissionItem& missionItem)
 {
-    MissionItem missionItem;
-
-    QString testString("10\t1\t3\t80\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n");
-    QTextStream testStream(&testString, QIODevice::ReadOnly);
-
-    QVERIFY(missionItem.load(testStream));
     QCOMPARE(missionItem.sequenceNumber(), 10);
-    QCOMPARE(missionItem.isCurrentItem(), true);
+    QCOMPARE(missionItem.isCurrentItem(), false);
     QCOMPARE(missionItem.frame(), (MAV_FRAME)3);
     QCOMPARE(missionItem.command(), (MAV_CMD)80);
     QCOMPARE(missionItem.param1(), 10.0);
@@ -258,6 +253,30 @@ void MissionItemTest::_testLoadFromStream(void)
     QCOMPARE(missionItem.autoContinue(), true);
 }
 
+void MissionItemTest::_testLoadFromStream(void)
+{
+    MissionItem missionItem;
+
+    QString testString("10\t0\t3\t80\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n");
+    QTextStream testStream(&testString, QIODevice::ReadOnly);
+
+    QVERIFY(missionItem.load(testStream));
+    _checkExpectedMissionItem(missionItem);
+}
+
+void MissionItemTest::_testSimpleLoadFromStream(void)
+{
+    // We specifically test SimpleMissionItem loading as well since it has additional
+    // signalling which can affect values.
+    SimpleMissionItem simpleMissionItem(NULL);
+
+    QString testString("10\t0\t3\t80\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n");
+    QTextStream testStream(&testString, QIODevice::ReadOnly);
+
+    QVERIFY(simpleMissionItem.load(testStream));
+    _checkExpectedMissionItem(simpleMissionItem.missionItem());
+}
+
 void MissionItemTest::_testLoadFromJson(void)
 {
     MissionItem missionItem;
@@ -335,18 +354,34 @@ void MissionItemTest::_testLoadFromJson(void)
     // Test good load
 
     QVERIFY(missionItem.load(jsonObject, errorString));
-    QCOMPARE(missionItem.sequenceNumber(), 10);
-    QCOMPARE(missionItem.isCurrentItem(), false);
-    QCOMPARE(missionItem.frame(), (MAV_FRAME)3);
-    QCOMPARE(missionItem.command(), (MAV_CMD)80);
-    QCOMPARE(missionItem.param1(), 10.0);
-    QCOMPARE(missionItem.param2(), 20.0);
-    QCOMPARE(missionItem.param3(), 30.0);
-    QCOMPARE(missionItem.param4(), 40.0);
-    QCOMPARE(missionItem.param5(), -10.0);
-    QCOMPARE(missionItem.param6(), -20.0);
-    QCOMPARE(missionItem.param7(), -30.0);
-    QCOMPARE(missionItem.autoContinue(), true);
+    _checkExpectedMissionItem(missionItem);
+}
+
+void MissionItemTest::_testSimpleLoadFromJson(void)
+{
+    // We specifically test SimpleMissionItem loading as well since it has additional
+    // signalling which can affect values.
+
+    SimpleMissionItem simpleMissionItem(NULL);
+    QString     errorString;
+    QJsonArray  coordinateArray = { -10.0, -20.0, -30.0 };
+    QJsonObject jsonObject
+    {
+        { "autoContinue",   true },
+        { "command",        80 },
+        { "frame",          3 },
+        { "id",             10 },
+        { "param1",         10 },
+        { "param2",         20 },
+        { "param3",         30 },
+        { "param4",         40 },
+        { "type",           "missionItem" },
+        { "coordinate",     coordinateArray },
+    };
+
+
+    QVERIFY(simpleMissionItem.load(jsonObject, errorString));
+    _checkExpectedMissionItem(simpleMissionItem.missionItem());
 }
 
 void MissionItemTest::_testSaveToJson(void)

diff --git a/src/MissionManager/MissionItemTest.h b/src/MissionManager/MissionItemTest.h
@@ -26,6 +26,7 @@
 
 #include "UnitTest.h"
 #include "MultiSignalSpy.h"
+#include "MissionItem.h"
 
 /// Unit test for the MissionItem Object
 class MissionItemTest : public UnitTest
@@ -40,8 +41,13 @@ private slots:
     void _testSignals(void);
     void _testFactSignals(void);
     void _testLoadFromStream(void);
+    void _testSimpleLoadFromStream(void);
     void _testLoadFromJson(void);
+    void _testSimpleLoadFromJson(void);
     void _testSaveToJson(void);
+
+private:
+    void _checkExpectedMissionItem(const MissionItem& missionItem);
 };
 
 #endif