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/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#ifndef MOCKLINK_H
#define MOCKLINK_H
#include <QMap>
#include "MockLinkMissionItemHandler.h"
#include "LinkInterface.h"
#include "mavlink.h"
/// @file
/// @brief Mock implementation of a Link.
///
/// @author Don Gagne <don@thegagnes.com>
class MockLink : public LinkInterface
{
Q_OBJECT
public:
MockLink(void);
~MockLink(void);
// Virtuals from LinkInterface
virtual int getId(void) const { return _linkId; }
virtual QString getName(void) const { return _name; }
virtual void requestReset(void){ }
virtual bool isConnected(void) const { return _connected; }
virtual qint64 getConnectionSpeed(void) const { return 100000000; }
virtual qint64 bytesAvailable(void) { return 0; }
// These are left unimplemented in order to cause linker errors which indicate incorrect usage of
// connect/disconnect on link directly. All connect/disconnect calls should be made through LinkManager.
bool connect(void);
bool disconnect(void);
signals:
void error(const QString& errorMsg);
/// @brief Used internally to move data to the thread.
void _incomingBytes(const QByteArray bytes);
public slots:
virtual void writeBytes(const char *bytes, qint64 cBytes);
protected slots:
// FIXME: This should not be part of LinkInterface. It is an internal link implementation detail.
virtual void readBytes(void);
private slots:
void _run1HzTasks(void);
void _run10HzTasks(void);
void _run50HzTasks(void);
private:
// From LinkInterface
virtual bool _connect(void);
virtual bool _disconnect(void);
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// QThread override
virtual void run(void);
// MockLink methods
void _sendHeartBeat(void);
void _handleIncomingBytes(const QByteArray bytes);
void _handleIncomingNSHBytes(const char* bytes, int cBytes);
void _handleIncomingMavlinkBytes(const uint8_t* bytes, int cBytes);
void _loadParams(void);
void _errorInvalidTargetSystem(int targetId);
void _emitMavlinkMessage(const mavlink_message_t& msg);
void _handleHeartBeat(const mavlink_message_t& msg);
void _handleSetMode(const mavlink_message_t& msg);
void _handleParamRequestList(const mavlink_message_t& msg);
void _handleParamSet(const mavlink_message_t& msg);
void _handleParamRequestRead(const mavlink_message_t& msg);
void _handleMissionRequestList(const mavlink_message_t& msg);
void _handleMissionRequest(const mavlink_message_t& msg);
void _handleMissionItem(const mavlink_message_t& msg);
MockLinkMissionItemHandler* _missionItemHandler;
int _linkId;
QString _name;
bool _connected;
uint8_t _vehicleSystemId;
uint8_t _vehicleComponentId;
bool _inNSH;
bool _mavlinkStarted;
typedef QMap<QString, QVariant> ParamMap_t;
ParamMap_t _parameters;
uint16_t _cParameters;
typedef QMap<uint16_t, mavlink_mission_item_t> MissionList_t;
MissionList_t _missionItems;