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249 lines
11 KiB
249 lines
11 KiB
/**************************************************************************** |
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* |
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* (c) 2009-2016 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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#ifndef MOCKLINK_H |
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#define MOCKLINK_H |
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#include <QMap> |
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#include <QLoggingCategory> |
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#include "MockLinkMissionItemHandler.h" |
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#include "MockLinkFileServer.h" |
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#include "LinkManager.h" |
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#include "QGCMAVLink.h" |
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Q_DECLARE_LOGGING_CATEGORY(MockLinkLog) |
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Q_DECLARE_LOGGING_CATEGORY(MockLinkVerboseLog) |
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class MockConfiguration : public LinkConfiguration |
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{ |
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Q_OBJECT |
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public: |
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Q_PROPERTY(int firmware READ firmware WRITE setFirmware NOTIFY firmwareChanged) |
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Q_PROPERTY(int vehicle READ vehicle WRITE setVehicle NOTIFY vehicleChanged) |
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Q_PROPERTY(bool sendStatus READ sendStatusText WRITE setSendStatusText NOTIFY sendStatusChanged) |
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// QML Access |
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int firmware () { return (int)_firmwareType; } |
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void setFirmware (int type) { _firmwareType = (MAV_AUTOPILOT)type; emit firmwareChanged(); } |
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int vehicle () { return (int)_vehicleType; } |
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void setVehicle (int type) { _vehicleType = (MAV_TYPE)type; emit vehicleChanged(); } |
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MockConfiguration(const QString& name); |
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MockConfiguration(MockConfiguration* source); |
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MAV_AUTOPILOT firmwareType(void) { return _firmwareType; } |
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void setFirmwareType(MAV_AUTOPILOT firmwareType) { _firmwareType = firmwareType; emit firmwareChanged(); } |
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MAV_TYPE vehicleType(void) { return _vehicleType; } |
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void setVehicleType(MAV_TYPE vehicleType) { _vehicleType = vehicleType; emit vehicleChanged(); } |
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/// @param sendStatusText true: mavlink status text messages will be sent for each severity, as well as voice output info message |
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bool sendStatusText(void) { return _sendStatusText; } |
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void setSendStatusText(bool sendStatusText) { _sendStatusText = sendStatusText; emit sendStatusChanged(); } |
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typedef enum { |
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FailNone, // No failures |
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FailParamNoReponseToRequestList, // Do no respond to PARAM_REQUEST_LIST |
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FailMissingParamOnInitialReqest, // Not all params are sent on initial request, should still succeed since QGC will re-query missing params |
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FailMissingParamOnAllRequests, // Not all params are sent on initial request, QGC retries will fail as well |
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} FailureMode_t; |
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FailureMode_t failureMode(void) { return _failureMode; } |
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void setFailureMode(FailureMode_t failureMode) { _failureMode = failureMode; } |
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// Overrides from LinkConfiguration |
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LinkType type (void) { return LinkConfiguration::TypeMock; } |
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void copyFrom (LinkConfiguration* source); |
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void loadSettings (QSettings& settings, const QString& root); |
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void saveSettings (QSettings& settings, const QString& root); |
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void updateSettings (void); |
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QString settingsURL () { return "MockLinkSettings.qml"; } |
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signals: |
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void firmwareChanged (); |
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void vehicleChanged (); |
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void sendStatusChanged (); |
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private: |
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MAV_AUTOPILOT _firmwareType; |
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MAV_TYPE _vehicleType; |
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bool _sendStatusText; |
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FailureMode_t _failureMode; |
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static const char* _firmwareTypeKey; |
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static const char* _vehicleTypeKey; |
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static const char* _sendStatusTextKey; |
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static const char* _failureModeKey; |
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}; |
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class MockLink : public LinkInterface |
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{ |
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Q_OBJECT |
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public: |
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// LinkConfiguration is optional for MockLink |
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MockLink(MockConfiguration* config = NULL); |
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~MockLink(void); |
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// MockLink methods |
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int vehicleId(void) { return _vehicleSystemId; } |
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MAV_AUTOPILOT getFirmwareType(void) { return _firmwareType; } |
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void setFirmwareType(MAV_AUTOPILOT autopilot) { _firmwareType = autopilot; } |
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void setSendStatusText(bool sendStatusText) { _sendStatusText = sendStatusText; } |
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void setFailureMode(MockConfiguration::FailureMode_t failureMode) { _failureMode = failureMode; } |
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/// APM stack has strange handling of the first item of the mission list. If it has no |
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/// onboard mission items, sometimes it sends back a home position in position 0 and |
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/// sometimes it doesn't. Don't ask. This option allows you to configure that behavior |
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/// for unit testing. |
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void setAPMMissionResponseMode(bool sendHomePositionOnEmptyList) { _apmSendHomePositionOnEmptyList = sendHomePositionOnEmptyList; } |
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void emitRemoteControlChannelRawChanged(int channel, uint16_t raw); |
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/// Sends the specified mavlink message to QGC |
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void respondWithMavlinkMessage(const mavlink_message_t& msg); |
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MockLinkFileServer* getFileServer(void) { return _fileServer; } |
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// Virtuals from LinkInterface |
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virtual QString getName(void) const { return _name; } |
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virtual void requestReset(void){ } |
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virtual bool isConnected(void) const { return _connected; } |
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virtual qint64 getConnectionSpeed(void) const { return 100000000; } |
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virtual qint64 bytesAvailable(void) { return 0; } |
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// These are left unimplemented in order to cause linker errors which indicate incorrect usage of |
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// connect/disconnect on link directly. All connect/disconnect calls should be made through LinkManager. |
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bool connect(void); |
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bool disconnect(void); |
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LinkConfiguration* getLinkConfiguration() { return _config; } |
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/// Sets a failure mode for unit testing |
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/// @param failureMode Type of failure to simulate |
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void setMissionItemFailureMode(MockLinkMissionItemHandler::FailureMode_t failureMode); |
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/// Called to send a MISSION_ACK message while the MissionManager is in idle state |
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void sendUnexpectedMissionAck(MAV_MISSION_RESULT ackType) { _missionItemHandler.sendUnexpectedMissionAck(ackType); } |
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/// Called to send a MISSION_ITEM message while the MissionManager is in idle state |
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void sendUnexpectedMissionItem(void) { _missionItemHandler.sendUnexpectedMissionItem(); } |
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/// Called to send a MISSION_REQUEST message while the MissionManager is in idle state |
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void sendUnexpectedMissionRequest(void) { _missionItemHandler.sendUnexpectedMissionRequest(); } |
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/// Reset the state of the MissionItemHandler to no items, no transactions in progress. |
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void resetMissionItemHandler(void) { _missionItemHandler.reset(); } |
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/// Returns the filename for the simulated log file. Onyl available after a download is requested. |
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QString logDownloadFile(void) { return _logDownloadFilename; } |
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static MockLink* startPX4MockLink (bool sendStatusText, MockConfiguration::FailureMode_t failureMode = MockConfiguration::FailNone); |
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static MockLink* startGenericMockLink (bool sendStatusText, MockConfiguration::FailureMode_t failureMode = MockConfiguration::FailNone); |
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static MockLink* startAPMArduCopterMockLink (bool sendStatusText, MockConfiguration::FailureMode_t failureMode = MockConfiguration::FailNone); |
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static MockLink* startAPMArduPlaneMockLink (bool sendStatusText, MockConfiguration::FailureMode_t failureMode = MockConfiguration::FailNone); |
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static MockLink* startAPMArduSubMockLink (bool sendStatusText, MockConfiguration::FailureMode_t failureMode = MockConfiguration::FailNone); |
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private slots: |
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virtual void _writeBytes(const QByteArray bytes); |
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private slots: |
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void _run1HzTasks(void); |
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void _run10HzTasks(void); |
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void _run500HzTasks(void); |
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private: |
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// From LinkInterface |
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virtual bool _connect(void); |
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virtual void _disconnect(void); |
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// QThread override |
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virtual void run(void); |
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// MockLink methods |
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void _sendHeartBeat(void); |
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void _handleIncomingNSHBytes(const char* bytes, int cBytes); |
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void _handleIncomingMavlinkBytes(const uint8_t* bytes, int cBytes); |
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void _loadParams(void); |
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void _handleHeartBeat(const mavlink_message_t& msg); |
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void _handleSetMode(const mavlink_message_t& msg); |
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void _handleParamRequestList(const mavlink_message_t& msg); |
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void _handleParamSet(const mavlink_message_t& msg); |
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void _handleParamRequestRead(const mavlink_message_t& msg); |
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void _handleFTP(const mavlink_message_t& msg); |
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void _handleCommandLong(const mavlink_message_t& msg); |
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void _handleManualControl(const mavlink_message_t& msg); |
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void _handlePreFlightCalibration(const mavlink_command_long_t& request); |
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void _handleLogRequestList(const mavlink_message_t& msg); |
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void _handleLogRequestData(const mavlink_message_t& msg); |
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float _floatUnionForParam(int componentId, const QString& paramName); |
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void _setParamFloatUnionIntoMap(int componentId, const QString& paramName, float paramFloat); |
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void _sendHomePosition(void); |
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void _sendGpsRawInt(void); |
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void _sendVibration(void); |
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void _sendStatusTextMessages(void); |
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void _respondWithAutopilotVersion(void); |
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void _sendRCChannels(void); |
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void _paramRequestListWorker(void); |
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void _logDownloadWorker(void); |
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static MockLink* _startMockLink(MockConfiguration* mockConfig); |
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MockLinkMissionItemHandler _missionItemHandler; |
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QString _name; |
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bool _connected; |
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uint8_t _vehicleSystemId; |
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uint8_t _vehicleComponentId; |
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bool _inNSH; |
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bool _mavlinkStarted; |
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QMap<int, QMap<QString, QVariant> > _mapParamName2Value; |
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QMap<QString, MAV_PARAM_TYPE> _mapParamName2MavParamType; |
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uint8_t _mavBaseMode; |
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uint32_t _mavCustomMode; |
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uint8_t _mavState; |
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MockConfiguration* _config; |
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MAV_AUTOPILOT _firmwareType; |
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MAV_TYPE _vehicleType; |
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MockLinkFileServer* _fileServer; |
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bool _sendStatusText; |
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bool _apmSendHomePositionOnEmptyList; |
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MockConfiguration::FailureMode_t _failureMode; |
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int _sendHomePositionDelayCount; |
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int _sendGPSPositionDelayCount; |
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int _currentParamRequestListComponentIndex; // Current component index for param request list workflow, -1 for no request in progress |
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int _currentParamRequestListParamIndex; // Current parameter index for param request list workflow |
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static const uint16_t _logDownloadLogId = 0; ///< Id of siumulated log file |
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static const uint32_t _logDownloadFileSize = 1000; ///< Size of simulated log file |
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QString _logDownloadFilename; ///< Filename for log download which is in progress |
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uint32_t _logDownloadCurrentOffset; ///< Current offset we are sending from |
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uint32_t _logDownloadBytesRemaining; ///< Number of bytes still to send, 0 = send inactive |
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static float _vehicleLatitude; |
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static float _vehicleLongitude; |
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static float _vehicleAltitude; |
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static int _nextVehicleSystemId; |
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static const char* _failParam; |
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}; |
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#endif
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