slight refactor to improve test coverage

Author: Claudio Chies

src/AutoPilotPlugins/PX4/CMakeLists.txt

@@ -113,6 +113,7 @@ qt_add_qml_module(AutoPilotPluginsPX4Module
         CalcVoltageDividerDialog.qml
         ESCCalibrationDialog.qml
         FailureInjectionComponent.qml
+        FailureInjectionInstances.js
         FlightModesComponentSummary.qml
         PowerComponentSummary.qml
         PX4FlightBehaviorCopter.qml

src/AutoPilotPlugins/PX4/FailureInjectionComponent.qml

@@ -14,6 +14,8 @@ import QGroundControl
 import QGroundControl.Controls
 import QGroundControl.FactControls
 
+import "FailureInjectionInstances.js" as Instances
+
 SetupPage {
     id:             failureInjectionPage
     pageComponent:  pageComponent
@@ -81,21 +83,8 @@ SetupPage {
                                    0, 0, 0)                            // param5..7
     }
 
-    // Map the current instance selection to the command form:
-    // All -> {p3:0, p4:0};  one instance n -> {p3:n, p4:0};  many -> {p3:NaN, p4:bitmask}.
     function _instanceSend() {
-        var sel = _selectedInstances.slice().sort(function(a, b){ return a - b })
-        if (sel.indexOf(0) >= 0) {
-            return { param3: 0, param4: 0, label: "all" }
-        }
-        if (sel.length === 1) {
-            return { param3: sel[0], param4: 0, label: "" + sel[0] }
-        }
-        var mask = 0
-        for (var i = 0; i < sel.length; ++i) {
-            mask |= (1 << (sel[i] - 1))
-        }
-        return { param3: NaN, param4: mask, label: sel.join(", ") }
+        return Instances.instanceSend(_selectedInstances)
     }
 
     // Queue one command; kick off sending if the queue was idle.
@@ -150,12 +139,7 @@ SetupPage {
     }
 
     function _toggleInstance(n) {
-        var arr = _selectedInstances.slice()
-        var zero = arr.indexOf(0)            // picking a specific instance clears the "All" selection
-        if (zero >= 0) { arr.splice(zero, 1) }
-        var idx = arr.indexOf(n)
-        if (idx >= 0) { arr.splice(idx, 1) } else { arr.push(n) }
-        _selectedInstances = arr
+        _selectedInstances = Instances.toggleInstance(_selectedInstances, n)
     }
 
     function _setEnabled(on) {
@@ -166,17 +150,11 @@ SetupPage {
     }
 
     function _unitName(unitEnum) {
-        for (var i = 0; i < _units.length; ++i) {
-            if (_units[i].unit === unitEnum) { return _units[i].name }
-        }
-        return "" + unitEnum
+        return Instances.unitName(_units, unitEnum)
     }
 
     function _typeName(typeEnum) {
-        for (var i = 0; i < _types.length; ++i) {
-            if (_types[i].type === typeEnum) { return _types[i].name }
-        }
-        return "" + typeEnum
+        return Instances.typeName(_types, typeEnum)
     }
 
     // Send FAILURE_TYPE_OK (all instances) to every unit injected this session and log each as a row.
@@ -226,24 +204,28 @@ SetupPage {
                         spacing:          ScreenTools.defaultFontPixelWidth * 2
 
                         QGCCheckBox {
+                            objectName: "failureInjection_enableCheckbox"
                             text:       qsTr("SYS_FAILURE_EN")
                             enabled:    _sysFailureEn !== null
                             checked:    _paramSet
                             onClicked:  _setEnabled(checked)
                         }
                         QGCLabel {
+                            objectName: "failureInjection_pendingRebootLabel"
                             Layout.fillWidth: true
                             color:      qgcPal.colorOrange
                             visible:    _pendingReboot
                             text:       qsTr("Parameter written — reboot required before it takes effect.")
                         }
                         QGCLabel {
+                            objectName: "failureInjection_armedLabel"
                             Layout.fillWidth: true
                             color:      qgcPal.colorGreen
                             visible:    _armed && !_pendingReboot
                             text:       qsTr("Active — injection armed.")
                         }
                         QGCButton {
+                            objectName: "failureInjection_rebootButton"
                             text:       qsTr("Reboot Vehicle")
                             visible:    _pendingReboot
                             onClicked: {
@@ -299,6 +281,7 @@ SetupPage {
                         }
                         Item { Layout.fillWidth: true }
                         QGCButton {
+                            objectName: "failureInjection_injectButton"
                             text:       qsTr("Inject failure")
                             primary:    true
                             enabled:    _armed && _selectedInstances.length > 0
@@ -363,7 +346,7 @@ SetupPage {
                 enabled:          _armed
                 opacity:          _armed ? 1.0 : 0.4
                 QGCLabel { Layout.fillWidth: true; text: qsTr("Activity — newest first") }
-                QGCButton { text: qsTr("Reset all"); onClicked: _resetAll() }
+                QGCButton { objectName: "failureInjection_resetAllButton"; text: qsTr("Reset all"); onClicked: _resetAll() }
             }
             // Column header, aligned with the rows below.
             RowLayout {
@@ -388,21 +371,25 @@ SetupPage {
                 opacity:                _armed ? 1.0 : 0.4
 
                 QGCListView {
+                    objectName:         "failureInjection_activityList"
                     anchors.fill:       parent
                     anchors.margins:    ScreenTools.defaultFontPixelWidth
                     clip:               true
                     model:              FailureInjection.activity
                     delegate: RowLayout {
                         required property var modelData
+                        required property int index
                         readonly property bool _pending: modelData.result === "pending"
                         readonly property bool _accepted: modelData.result === "accepted"
+                        objectName: "failureInjection_activityRow_" + index
                         width:   ListView.view.width
                         spacing: ScreenTools.defaultFontPixelWidth * 2
                         QGCLabel { Layout.preferredWidth: _colTimeWidth; font.family: ScreenTools.fixedFontFamily; color: qgcPal.colorOrange; text: modelData.time }
-                        QGCLabel { Layout.preferredWidth: _colUnitWidth; font.family: ScreenTools.fixedFontFamily; text: modelData.unitName }
-                        QGCLabel { Layout.preferredWidth: _colTypeWidth; font.family: ScreenTools.fixedFontFamily; text: modelData.typeName }
-                        QGCLabel { Layout.fillWidth: true;               font.family: ScreenTools.fixedFontFamily; elide: Text.ElideRight; text: modelData.instance }
+                        QGCLabel { objectName: "failureInjection_unitName_" + index; Layout.preferredWidth: _colUnitWidth; font.family: ScreenTools.fixedFontFamily; text: modelData.unitName }
+                        QGCLabel { objectName: "failureInjection_typeName_" + index; Layout.preferredWidth: _colTypeWidth; font.family: ScreenTools.fixedFontFamily; text: modelData.typeName }
+                        QGCLabel { objectName: "failureInjection_instance_" + index; Layout.fillWidth: true; font.family: ScreenTools.fixedFontFamily; elide: Text.ElideRight; text: modelData.instance }
                         QGCLabel {
+                            objectName:  "failureInjection_result_" + index
                             font.family: ScreenTools.fixedFontFamily
                             color:       _pending ? qgcPal.colorOrange : (_accepted ? qgcPal.colorGreen : qgcPal.colorRed)
                             text:        _pending ? qsTr("…") : (_accepted ? qsTr("✓ Accepted") : ("✗ " + modelData.result))

src/AutoPilotPlugins/PX4/FailureInjectionInstances.js

@@ -0,0 +1,47 @@
+.pragma library
+
+// Map a selected-instances array to the MAV_CMD_INJECT_FAILURE param3/param4 form:
+//   All -> {p3:0, p4:0};  one instance n -> {p3:n, p4:0};  many -> {p3:NaN, p4:bitmask}.
+function instanceSend(selectedInstances) {
+    var sel = selectedInstances.slice().sort(function(a, b){ return a - b })
+    if (sel.indexOf(0) >= 0) {
+        return { param3: 0, param4: 0, label: "all" }
+    }
+    if (sel.length === 1) {
+        return { param3: sel[0], param4: 0, label: "" + sel[0] }
+    }
+    var mask = 0
+    for (var i = 0; i < sel.length; ++i) {
+        mask |= (1 << (sel[i] - 1))
+    }
+    return { param3: NaN, param4: mask, label: sel.join(", ") }
+}
+
+// Toggle instance n in the selection. Picking a specific instance clears "All" (0); picking "All"
+// is handled by the caller directly, this only covers the specific-instance toggle.
+function toggleInstance(selectedInstances, n) {
+    var arr = selectedInstances.slice()
+    var zero = arr.indexOf(0)
+    if (zero >= 0) { arr.splice(zero, 1) }
+    var idx = arr.indexOf(n)
+    if (idx >= 0) { arr.splice(idx, 1) } else { arr.push(n) }
+    return arr
+}
+
+// Look up the display name for a FAILURE_UNIT value in a [{ name, unit }] catalog list.
+// Falls back to the numeric value as a string if not found.
+function unitName(units, unitEnum) {
+    for (var i = 0; i < units.length; ++i) {
+        if (units[i].unit === unitEnum) { return units[i].name }
+    }
+    return "" + unitEnum
+}
+
+// Look up the display name for a FAILURE_TYPE value in a [{ name, type }] catalog list.
+// Falls back to the numeric value as a string if not found.
+function typeName(types, typeEnum) {
+    for (var i = 0; i < types.length; ++i) {
+        if (types[i].type === typeEnum) { return types[i].name }
+    }
+    return "" + typeEnum
+}

test/QmlUITests/CMakeLists.txt

@@ -24,6 +24,8 @@ target_sources(${CMAKE_PROJECT_NAME}
         ${CMAKE_CURRENT_SOURCE_DIR}/APMSensorsCalibrationUITest.h
         ${CMAKE_CURRENT_SOURCE_DIR}/PX4AirframeSetupUITest.cc
         ${CMAKE_CURRENT_SOURCE_DIR}/PX4AirframeSetupUITest.h
+        ${CMAKE_CURRENT_SOURCE_DIR}/FailureInjectionUITest.cc
+        ${CMAKE_CURRENT_SOURCE_DIR}/FailureInjectionUITest.h
         ${CMAKE_CURRENT_SOURCE_DIR}/AppCloseWarningUITest.cc
         ${CMAKE_CURRENT_SOURCE_DIR}/AppCloseWarningUITest.h
         ${CMAKE_CURRENT_SOURCE_DIR}/NTRIPSettingsUITest.cc
@@ -40,5 +42,6 @@ add_qgc_test(PlanViewUITest LABELS Integration NoSanitizer TIMEOUT 120)
 add_qgc_test(PX4SensorsCalibrationUITest LABELS Integration NoSanitizer TIMEOUT 180)
 add_qgc_test(APMSensorsCalibrationUITest LABELS Integration NoSanitizer TIMEOUT 240)
 add_qgc_test(PX4AirframeSetupUITest LABELS Integration NoSanitizer TIMEOUT 120)
+add_qgc_test(FailureInjectionUITest LABELS Integration NoSanitizer TIMEOUT 120)
 add_qgc_test(AppCloseWarningUITest LABELS Integration NoSanitizer TIMEOUT 120)
 add_qgc_test(NTRIPSettingsUITest LABELS Integration NoSanitizer TIMEOUT 120)

test/QmlUITests/FailureInjectionUITest.cc

@@ -0,0 +1,58 @@
+#include "FailureInjectionUITest.h"
+
+#include <QtQuick/QQuickItem>
+#include <QtTest/QTest>
+
+#include "MockLink.h"
+
+UT_REGISTER_TEST(FailureInjectionUITest, TestLabel::Integration)
+
+void FailureInjectionUITest::_testInjectAndReset()
+{
+    runWithMockLink(
+        [] { return MockLink::startPX4MockLink(false, false, false); },
+        [&](QPointer<MockLink> /*mockLink*/, Vehicle * /*vehicle*/) {
+
+    navigateToConfigureView();
+    if (QTest::currentTestFailed()) return;
+
+    clickSidebarButton(QStringLiteral("vehicleConfig_comp_FailureInjection"));
+    if (QTest::currentTestFailed()) return;
+
+    // PX4MockLink.params ships SYS_FAILURE_EN=1, so the page starts already armed.
+    QVERIFY2(verifyChecked(QStringLiteral("failureInjection_enableCheckbox"), true, "on page open"),
+             "SYS_FAILURE_EN checkbox not checked on page open");
+    QQuickItem *armedLabel = findVisibleItem(_rootItem, QStringLiteral("failureInjection_armedLabel"), 2000);
+    QVERIFY2(armedLabel, "Armed label not visible on page open");
+
+    // Default selection (unit index 4 = GPS, type index 1 = OFF, instance 1) is injected as-is.
+    QVERIFY2(clickButton(QStringLiteral("failureInjection_injectButton")), "Failed to click Inject failure");
+
+    QQuickItem *activityList = findVisibleItem(_rootItem, QStringLiteral("failureInjection_activityList"), 2000);
+    QVERIFY2(activityList, "Activity list not visible after injecting");
+    QVERIFY2(QTest::qWaitFor([&] { return activityList->property("count").toInt() == 1; }, 3000),
+             "Activity row not added after injecting");
+
+    QVERIFY2(verifyText(QStringLiteral("failureInjection_unitName_0"), QStringLiteral("GPS"), "after inject"),
+             "Injected row does not show unit GPS");
+    QVERIFY2(verifyText(QStringLiteral("failureInjection_typeName_0"), QStringLiteral("OFF"), "after inject"),
+             "Injected row does not show type OFF");
+
+    // MockLink doesn't handle MAV_CMD_INJECT_FAILURE, so it acks MAV_RESULT_UNSUPPORTED.
+    QVERIFY2(verifyText(QStringLiteral("failureInjection_result_0"), QStringLiteral("✗ Unsupported"), "after inject ack"),
+             "Injected row result never resolved to Unsupported");
+
+    // Reset all reverts the unit tracked by the injection above: a second row appears (GPS / OK).
+    QVERIFY2(clickButton(QStringLiteral("failureInjection_resetAllButton")), "Failed to click Reset all");
+
+    QVERIFY2(QTest::qWaitFor([&] { return activityList->property("count").toInt() == 2; }, 3000),
+             "Activity row not added after reset");
+    QVERIFY2(verifyText(QStringLiteral("failureInjection_unitName_0"), QStringLiteral("GPS"), "after reset"),
+             "Reset row does not show unit GPS");
+    QVERIFY2(verifyText(QStringLiteral("failureInjection_typeName_0"), QStringLiteral("OK"), "after reset"),
+             "Reset row does not show type OK");
+    QVERIFY2(verifyText(QStringLiteral("failureInjection_result_0"), QStringLiteral("✗ Unsupported"), "after reset ack"),
+             "Reset row result never resolved to Unsupported");
+
+    });
+}

test/QmlUITests/FailureInjectionUITest.h

@@ -0,0 +1,19 @@
+#pragma once
+
+#include "VehicleConfigUITestBase.h"
+
+/// UI test that boots the full QML UI with a PX4 MockLink vehicle connected,
+/// navigates to the Failure Injection setup page and drives an injection and a
+/// reset through the real UI controls. MockLink doesn't special-case
+/// MAV_CMD_INJECT_FAILURE, so it acks MAV_RESULT_UNSUPPORTED for every send —
+/// this test exercises the send/ack/log round trip, not PX4 behavior.
+class FailureInjectionUITest : public VehicleConfigUITestBase
+{
+    Q_OBJECT
+
+public:
+    FailureInjectionUITest() = default;
+
+private slots:
+    void _testInjectAndReset();
+};

test/UnitTestFramework/QmlTesting/tests/tst_FailureInjectionInstances.qml

@@ -0,0 +1,68 @@
+import QtQuick
+import QtTest
+
+import "../../../../src/AutoPilotPlugins/PX4/FailureInjectionInstances.js" as Instances
+
+/// Tests the pure instance-selection logic shared with FailureInjectionComponent.qml.
+TestCase {
+    id: testCase
+    name: "FailureInjectionInstancesTest"
+
+    function test_instanceSend_data() {
+        return [
+            { tag: "all", selected: [0], param3: 0, param4: 0, label: "all" },
+            { tag: "single", selected: [3], param3: 3, param4: 0, label: "3" },
+            { tag: "unsorted-single", selected: [3], param3: 3, param4: 0, label: "3" },
+        ]
+    }
+
+    function test_instanceSend(data) {
+        var send = Instances.instanceSend(data.selected)
+        compare(send.param3, data.param3)
+        compare(send.param4, data.param4)
+        compare(send.label, data.label)
+    }
+
+    function test_instanceSend_multiIsBitmask() {
+        var send = Instances.instanceSend([1, 3, 5])
+        verify(isNaN(send.param3), "param3 is NaN when using the bitmask form")
+        compare(send.param4, (1 << 0) | (1 << 2) | (1 << 4))
+        compare(send.label, "1, 3, 5")
+    }
+
+    function test_instanceSend_sortsBeforeLabeling() {
+        var send = Instances.instanceSend([5, 1, 3])
+        compare(send.label, "1, 3, 5")
+    }
+
+    function test_toggleInstance_addsAndRemoves() {
+        var sel = Instances.toggleInstance([1], 2)
+        compare(sel, [1, 2])
+
+        sel = Instances.toggleInstance(sel, 1)
+        compare(sel, [2])
+    }
+
+    function test_toggleInstance_clearsAllSelection() {
+        var sel = Instances.toggleInstance([0], 3)
+        compare(sel, [3])
+    }
+
+    function test_unitName_found() {
+        var units = [{ name: "GYRO", unit: 0 }, { name: "GPS", unit: 4 }]
+        compare(Instances.unitName(units, 4), "GPS")
+    }
+
+    function test_unitName_fallsBackToNumber() {
+        compare(Instances.unitName([], 99), "99")
+    }
+
+    function test_typeName_found() {
+        var types = [{ name: "OK", type: 0 }, { name: "OFF", type: 1 }]
+        compare(Instances.typeName(types, 1), "OFF")
+    }
+
+    function test_typeName_fallsBackToNumber() {
+        compare(Instances.typeName([], 7), "7")
+    }
+}