MockLink.cc

/****************************************************************************
 *
 * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/


#include "MockLink.h"
#include "QGCLoggingCategory.h"
#include "QGCApplication.h"

#ifdef UNITTEST_BUILD
#include "UnitTest.h"
#endif

#include <QTimer>
#include <QDebug>
#include <QFile>

#include <string.h>

// FIXME: Hack to work around clean headers
#include "FirmwarePlugin/PX4/px4_custom_mode.h"

QGC_LOGGING_CATEGORY(MockLinkLog, "MockLinkLog")
QGC_LOGGING_CATEGORY(MockLinkVerboseLog, "MockLinkVerboseLog")

/// @file
///     @brief Mock implementation of a Link.
///
///     @author Don Gagne <don@thegagnes.com>

// Vehicle position is set close to default Gazebo vehicle location. This allows for multi-vehicle
// testing of a gazebo vehicle and a mocklink vehicle
#if 1
double      MockLink::_defaultVehicleLatitude =     47.397;
double      MockLink::_defaultVehicleLongitude =    8.5455;
double      MockLink::_defaultVehicleAltitude =     488.056;
#else
double      MockLink::_defaultVehicleLatitude =     47.6333022928789;
double      MockLink::_defaultVehicleLongitude =    -122.08833157994995;
double      MockLink::_defaultVehicleAltitude =     19.0;
#endif
int         MockLink::_nextVehicleSystemId =        128;
const char* MockLink::_failParam =                  "COM_FLTMODE6";

const char* MockConfiguration::_firmwareTypeKey =   "FirmwareType";
const char* MockConfiguration::_vehicleTypeKey =    "VehicleType";
const char* MockConfiguration::_sendStatusTextKey = "SendStatusText";
const char* MockConfiguration::_highLatencyKey =    "HighLatency";
const char* MockConfiguration::_failureModeKey =    "FailureMode";

MockLink::MockLink(SharedLinkConfigurationPointer& config)
    : LinkInterface                         (config)
    , _missionItemHandler                   (this, qgcApp()->toolbox()->mavlinkProtocol())
    , _name                                 ("MockLink")
    , _connected                            (false)
    , _mavlinkChannel                       (0)
    , _vehicleSystemId                      (_nextVehicleSystemId++)
    , _vehicleComponentId                   (MAV_COMP_ID_AUTOPILOT1)
    , _inNSH                                (false)
    , _mavlinkStarted                       (true)
    , _mavBaseMode                          (MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_CUSTOM_MODE_ENABLED)
    , _mavState                             (MAV_STATE_STANDBY)
    , _firmwareType                         (MAV_AUTOPILOT_PX4)
    , _vehicleType                          (MAV_TYPE_QUADROTOR)
    , _vehicleLatitude                      (_defaultVehicleLatitude + ((_vehicleSystemId - 128) * 0.0001))     // Slight offset for each vehicle
    , _vehicleLongitude                     (_defaultVehicleLongitude + ((_vehicleSystemId - 128) * 0.0001))
    , _vehicleAltitude                      (_defaultVehicleAltitude)
    , _sendStatusText                       (false)
    , _apmSendHomePositionOnEmptyList       (false)
    , _failureMode                          (MockConfiguration::FailNone)
    , _sendHomePositionDelayCount           (10)    // No home position for 4 seconds
    , _sendGPSPositionDelayCount            (100)   // No gps lock for 5 seconds
    , _currentParamRequestListComponentIndex(-1)
    , _currentParamRequestListParamIndex    (-1)
    , _logDownloadCurrentOffset             (0)
    , _logDownloadBytesRemaining            (0)
    , _adsbAngle                            (0)
{
    MockConfiguration* mockConfig = qobject_cast<MockConfiguration*>(_config.data());
    _firmwareType = mockConfig->firmwareType();
    _vehicleType = mockConfig->vehicleType();
    _sendStatusText = mockConfig->sendStatusText();
    _highLatency = mockConfig->highLatency();
    _failureMode = mockConfig->failureMode();

    QObject::connect(this, &MockLink::writeBytesQueuedSignal, this, &MockLink::_writeBytesQueued, Qt::QueuedConnection);

    union px4_custom_mode   px4_cm;
    px4_cm.data = 0;
    px4_cm.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
    _mavCustomMode = px4_cm.data;

    _mockLinkFTP = new MockLinkFTP(_vehicleSystemId, _vehicleComponentId, this);

    moveToThread(this);

    _loadParams();

    _adsbVehicleCoordinate = QGeoCoordinate(_vehicleLatitude, _vehicleLongitude).atDistanceAndAzimuth(1000, _adsbAngle);
    _adsbVehicleCoordinate.setAltitude(100);
    _runningTime.start();
}

MockLink::~MockLink(void)
{
    _disconnect();
    if (!_logDownloadFilename.isEmpty()) {
        QFile::remove(_logDownloadFilename);
    }
}

bool MockLink::_connect(void)
{
    if (!_connected) {
        _connected = true;
        _mavlinkChannel = qgcApp()->toolbox()->linkManager()->_reserveMavlinkChannel();
        if (_mavlinkChannel == 0) {
            qWarning() << "No mavlink channels available";
            return false;
        }
        // MockLinks use Mavlink 2.0
        mavlink_status_t* mavlinkStatus = mavlink_get_channel_status(_mavlinkChannel);
        mavlinkStatus->flags &= ~MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
        start();
        emit connected();
    }

    return true;
}

void MockLink::_disconnect(void)
{
    if (_connected) {
        if (_mavlinkChannel != 0) {
            qgcApp()->toolbox()->linkManager()->_freeMavlinkChannel(_mavlinkChannel);
        }
        _connected = false;
        quit();
        wait();
        emit disconnected();
    }
}

void MockLink::run(void)
{
    QTimer  timer1HzTasks;
    QTimer  timer10HzTasks;
    QTimer  timer500HzTasks;

    QObject::connect(&timer1HzTasks,  &QTimer::timeout, this, &MockLink::_run1HzTasks);
    QObject::connect(&timer10HzTasks, &QTimer::timeout, this, &MockLink::_run10HzTasks);
    QObject::connect(&timer500HzTasks, &QTimer::timeout, this, &MockLink::_run500HzTasks);

    timer1HzTasks.start(1000);
    timer10HzTasks.start(100);
    timer500HzTasks.start(2);

    exec();

    QObject::disconnect(&timer1HzTasks,  &QTimer::timeout, this, &MockLink::_run1HzTasks);
    QObject::disconnect(&timer10HzTasks, &QTimer::timeout, this, &MockLink::_run10HzTasks);
    QObject::disconnect(&timer500HzTasks, &QTimer::timeout, this, &MockLink::_run500HzTasks);

    _missionItemHandler.shutdown();
}

void MockLink::_run1HzTasks(void)
{
    if (_mavlinkStarted && _connected) {
        if (_highLatency) {
            _sendHighLatency2();
        } else {
            _sendVibration();
            _sendSysStatus();
            _sendADSBVehicles();
            if (!qgcApp()->runningUnitTests()) {
                // Sending RC Channels during unit test breaks RC tests which does it's own RC simulation
                _sendRCChannels();
            }
            if (_sendHomePositionDelayCount > 0) {
                // We delay home position for better testing
                _sendHomePositionDelayCount--;
            } else {
                _sendHomePosition();
            }
            if (_sendStatusText) {
                _sendStatusText = false;
                _sendStatusTextMessages();
            }
        }
    }
}

void MockLink::_run10HzTasks(void)
{
    if (_highLatency) {
        return;
    }

    if (_mavlinkStarted && _connected) {
        _sendHeartBeat();
        if (_sendGPSPositionDelayCount > 0) {
            // We delay gps position for better testing
            _sendGPSPositionDelayCount--;
        } else {
            _sendGpsRawInt();
        }
    }
}

void MockLink::_run500HzTasks(void)
{
    if (_highLatency) {
        return;
    }

    if (_mavlinkStarted && _connected) {
        _paramRequestListWorker();
        _logDownloadWorker();
    }
}

void MockLink::_loadParams(void)
{
    QFile paramFile;

    if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
        if (_vehicleType == MAV_TYPE_FIXED_WING) {
            paramFile.setFileName(":/FirmwarePlugin/APM/Plane.OfflineEditing.params");
        } else if (_vehicleType == MAV_TYPE_SUBMARINE ) {
            paramFile.setFileName(":/MockLink/APMArduSubMockLink.params");
        } else if (_vehicleType == MAV_TYPE_GROUND_ROVER ) {
            paramFile.setFileName(":/FirmwarePlugin/APM/Rover.OfflineEditing.params");
        } else {
            paramFile.setFileName(":/FirmwarePlugin/APM/Copter.OfflineEditing.params");
        }
    } else {
        paramFile.setFileName(":/MockLink/PX4MockLink.params");
    }


    bool success = paramFile.open(QFile::ReadOnly);
    Q_UNUSED(success);
    Q_ASSERT(success);

    QTextStream paramStream(&paramFile);

    while (!paramStream.atEnd()) {
        QString line = paramStream.readLine();

        if (line.startsWith("#")) {
            continue;
        }

        QStringList paramData = line.split("\t");
        Q_ASSERT(paramData.count() == 5);

        int compId = paramData.at(1).toInt();
        QString paramName = paramData.at(2);
        QString valStr = paramData.at(3);
        uint paramType = paramData.at(4).toUInt();

        QVariant paramValue;
        switch (paramType) {
        case MAV_PARAM_TYPE_REAL32:
            paramValue = QVariant(valStr.toFloat());
            break;
        case MAV_PARAM_TYPE_UINT32:
            paramValue = QVariant(valStr.toUInt());
            break;
        case MAV_PARAM_TYPE_INT32:
            paramValue = QVariant(valStr.toInt());
            break;
        case MAV_PARAM_TYPE_UINT16:
            paramValue = QVariant((quint16)valStr.toUInt());
            break;
        case MAV_PARAM_TYPE_INT16:
            paramValue = QVariant((qint16)valStr.toInt());
            break;
        case MAV_PARAM_TYPE_UINT8:
            paramValue = QVariant((quint8)valStr.toUInt());
            break;
        case MAV_PARAM_TYPE_INT8:
            paramValue = QVariant((qint8)valStr.toUInt());
            break;
        default:
            qCritical() << "Unknown type" << paramType;
            paramValue = QVariant(valStr.toInt());
            break;
        }

        qCDebug(MockLinkVerboseLog) << "Loading param" << paramName << paramValue;

        _mapParamName2Value[compId][paramName] = paramValue;
        _mapParamName2MavParamType[compId][paramName] = static_cast<MAV_PARAM_TYPE>(paramType);
    }
}

void MockLink::_sendHeartBeat(void)
{
    mavlink_message_t   msg;

    mavlink_msg_heartbeat_pack_chan(_vehicleSystemId,
                                    _vehicleComponentId,
                                    _mavlinkChannel,
                                    &msg,
                                    _vehicleType,        // MAV_TYPE
                                    _firmwareType,      // MAV_AUTOPILOT
                                    _mavBaseMode,        // MAV_MODE
                                    _mavCustomMode,      // custom mode
                                    _mavState);          // MAV_STATE

    respondWithMavlinkMessage(msg);
}

void MockLink::_sendHighLatency2(void)
{
    mavlink_message_t   msg;

    union px4_custom_mode   px4_cm;
    px4_cm.data = _mavCustomMode;

    qDebug() << "Sending" << _mavCustomMode;
    mavlink_msg_high_latency2_pack_chan(_vehicleSystemId,
                                        _vehicleComponentId,
                                        _mavlinkChannel,
                                        &msg,
                                        0,                          // timestamp
                                        _vehicleType,               // MAV_TYPE
                                        _firmwareType,              // MAV_AUTOPILOT
                                        px4_cm.custom_mode_hl,      // custom_mode
                                        (int32_t)(_vehicleLatitude  * 1E7),
                                        (int32_t)(_vehicleLongitude * 1E7),
                                        (int16_t)_vehicleAltitude,
                                        (int16_t)_vehicleAltitude,  // target_altitude,
                                        0,                          // heading
                                        0,                          // target_heading
                                        0,                          // target_distance
                                        0,                          // throttle
                                        0,                          // airspeed
                                        0,                          // airspeed_sp
                                        0,                          // groundspeed
                                        0,                          // windspeed,
                                        0,                          // wind_heading
                                        UINT8_MAX,                  // eph not known
                                        UINT8_MAX,                  // epv not known
                                        0,                          // temperature_air
                                        0,                          // climb_rate
                                        -1,                         // battery, do not use?
                                        0,                          // wp_num
                                        0,                          // failure_flags
                                        0, 0, 0);                   // custom0, custom1, custom2
    respondWithMavlinkMessage(msg);
}

void MockLink::_sendSysStatus(void)
{
    if(_batteryRemaining > 50) {
        _batteryRemaining = static_cast<int8_t>(100 - (_runningTime.elapsed() / 1000));
    }
    mavlink_message_t   msg;
    mavlink_msg_sys_status_pack_chan(
                _vehicleSystemId,
                _vehicleComponentId,
                static_cast<uint8_t>(_mavlinkChannel),
                &msg,
                0,          // onboard_control_sensors_present
                0,          // onboard_control_sensors_enabled
                0,          // onboard_control_sensors_health
                250,        // load
                4200 * 4,   // voltage_battery
                8000,       // current_battery
                _batteryRemaining, // battery_remaining
                0,0,0,0,0,0);
    respondWithMavlinkMessage(msg);
}

void MockLink::_sendVibration(void)
{
    mavlink_message_t   msg;

    mavlink_msg_vibration_pack_chan(_vehicleSystemId,
                                    _vehicleComponentId,
                                    _mavlinkChannel,
                                    &msg,
                                    0,       // time_usec
                                    50.5,    // vibration_x,
                                    10.5,    // vibration_y,
                                    60.0,    // vibration_z,
                                    1,       // clipping_0
                                    2,       // clipping_0
                                    3);      // clipping_0

    respondWithMavlinkMessage(msg);
}

void MockLink::respondWithMavlinkMessage(const mavlink_message_t& msg)
{
    uint8_t buffer[MAVLINK_MAX_PACKET_LEN];

    int cBuffer = mavlink_msg_to_send_buffer(buffer, &msg);
    QByteArray bytes((char *)buffer, cBuffer);
    emit bytesReceived(this, bytes);
}

/// @brief Called when QGC wants to write bytes to the MAV
void MockLink::_writeBytes(const QByteArray bytes)
{
    // This prevents the responses to mavlink messages from being sent until the _writeBytes returns.
    emit writeBytesQueuedSignal(bytes);
}

void MockLink::_writeBytesQueued(const QByteArray bytes)
{
    if (_inNSH) {
        _handleIncomingNSHBytes(bytes.constData(), bytes.count());
    } else {
        if (bytes.startsWith(QByteArray("\r\r\r"))) {
            _inNSH  = true;
            _handleIncomingNSHBytes(&bytes.constData()[3], bytes.count() - 3);
        }

        _handleIncomingMavlinkBytes((uint8_t *)bytes.constData(), bytes.count());
    }
}

/// @brief Handle incoming bytes which are meant to be interpreted by the NuttX shell
void MockLink::_handleIncomingNSHBytes(const char* bytes, int cBytes)
{
    Q_UNUSED(cBytes);

    // Drop back out of NSH
    if (cBytes == 4 && bytes[0] == '\r' && bytes[1] == '\r' && bytes[2] == '\r') {
        _inNSH  = false;
        return;
    }

    if (cBytes > 0) {
        qDebug() << "NSH:" << (const char*)bytes;

#if 0
        // MockLink not quite ready to handle this correctly yet
        if (strncmp(bytes, "sh /etc/init.d/rc.usb\n", cBytes) == 0) {
            // This is the mavlink start command
            _mavlinkStarted = true;
        }
#endif
    }
}

/// @brief Handle incoming bytes which are meant to be handled by the mavlink protocol
void MockLink::_handleIncomingMavlinkBytes(const uint8_t* bytes, int cBytes)
{
    mavlink_message_t msg;
    mavlink_status_t comm;

    for (qint64 i=0; i<cBytes; i++)
    {
        if (!mavlink_parse_char(_mavlinkChannel, bytes[i], &msg, &comm)) {
            continue;
        }

        if (_missionItemHandler.handleMessage(msg)) {
            continue;
        }

        switch (msg.msgid) {
        case MAVLINK_MSG_ID_HEARTBEAT:
            _handleHeartBeat(msg);
            break;
        case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
            _handleParamRequestList(msg);
            break;
        case MAVLINK_MSG_ID_SET_MODE:
            _handleSetMode(msg);
            break;
        case MAVLINK_MSG_ID_PARAM_SET:
            _handleParamSet(msg);
            break;
        case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
            _handleParamRequestRead(msg);
            break;
        case MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL:
            _handleFTP(msg);
            break;
        case MAVLINK_MSG_ID_COMMAND_LONG:
            _handleCommandLong(msg);
            break;
        case MAVLINK_MSG_ID_MANUAL_CONTROL:
            _handleManualControl(msg);
            break;
        case MAVLINK_MSG_ID_LOG_REQUEST_LIST:
            _handleLogRequestList(msg);
            break;
        case MAVLINK_MSG_ID_LOG_REQUEST_DATA:
            _handleLogRequestData(msg);
            break;
        case MAVLINK_MSG_ID_PARAM_MAP_RC:
            _handleParamMapRC(msg);
            break;
        default:
            break;
        }
    }
}

void MockLink::_handleHeartBeat(const mavlink_message_t& msg)
{
    Q_UNUSED(msg);
    qCDebug(MockLinkLog) << "Heartbeat";
}

void MockLink::_handleParamMapRC(const mavlink_message_t& msg)
{
    mavlink_param_map_rc_t paramMapRC;
    mavlink_msg_param_map_rc_decode(&msg, &paramMapRC);

    const QString paramName(QString::fromLocal8Bit(paramMapRC.param_id, static_cast<int>(strnlen(paramMapRC.param_id, MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN))));

    if (paramMapRC.param_index == -1) {
        qDebug() << QStringLiteral("MockLink - PARAM_MAP_RC: param(%1) tuningID(%2) centerValue(%3) scale(%4) min(%5) max(%6)").arg(paramName).arg(paramMapRC.parameter_rc_channel_index).arg(paramMapRC.param_value0).arg(paramMapRC.scale).arg(paramMapRC.param_value_min).arg(paramMapRC.param_value_max);
    } else if (paramMapRC.param_index == -2) {
        qDebug() << QStringLiteral("MockLink - PARAM_MAP_RC: Clear tuningID(%1)").arg(paramMapRC.parameter_rc_channel_index);
    } else {
        qWarning() << QStringLiteral("MockLink - PARAM_MAP_RC: Unsupported param_index(%1)").arg(paramMapRC.param_index);
    }
}

void MockLink::_handleSetMode(const mavlink_message_t& msg)
{
    mavlink_set_mode_t request;
    mavlink_msg_set_mode_decode(&msg, &request);

    Q_ASSERT(request.target_system == _vehicleSystemId);

    _mavBaseMode = request.base_mode;
    _mavCustomMode = request.custom_mode;
}

void MockLink::_handleManualControl(const mavlink_message_t& msg)
{
    mavlink_manual_control_t manualControl;
    mavlink_msg_manual_control_decode(&msg, &manualControl);

    qCDebug(MockLinkLog) << "MANUAL_CONTROL" << manualControl.x << manualControl.y << manualControl.z << manualControl.r;
}

void MockLink::_setParamFloatUnionIntoMap(int componentId, const QString& paramName, float paramFloat)
{
    mavlink_param_union_t   valueUnion;

    Q_ASSERT(_mapParamName2Value.contains(componentId));
    Q_ASSERT(_mapParamName2Value[componentId].contains(paramName));
    Q_ASSERT(_mapParamName2MavParamType[componentId].contains(paramName));

    valueUnion.param_float = paramFloat;

    MAV_PARAM_TYPE paramType = _mapParamName2MavParamType[componentId][paramName];

    QVariant paramVariant;

    switch (paramType) {
    case MAV_PARAM_TYPE_REAL32:
        paramVariant = QVariant::fromValue(valueUnion.param_float);
        break;

    case MAV_PARAM_TYPE_UINT32:
        paramVariant = QVariant::fromValue(valueUnion.param_uint32);
        break;

    case MAV_PARAM_TYPE_INT32:
        paramVariant = QVariant::fromValue(valueUnion.param_int32);
        break;

    case MAV_PARAM_TYPE_UINT16:
        paramVariant = QVariant::fromValue(valueUnion.param_uint16);
        break;

    case MAV_PARAM_TYPE_INT16:
        paramVariant = QVariant::fromValue(valueUnion.param_int16);
        break;

    case MAV_PARAM_TYPE_UINT8:
        paramVariant = QVariant::fromValue(valueUnion.param_uint8);
        break;

    case MAV_PARAM_TYPE_INT8:
        paramVariant = QVariant::fromValue(valueUnion.param_int8);
        break;

    default:
        qCritical() << "Invalid parameter type" << paramType;
        paramVariant = QVariant::fromValue(valueUnion.param_int32);
        break;
    }

    qCDebug(MockLinkLog) << "_setParamFloatUnionIntoMap" << paramName << paramVariant;
    _mapParamName2Value[componentId][paramName] = paramVariant;
}

/// Convert from a parameter variant to the float value from mavlink_param_union_t
float MockLink::_floatUnionForParam(int componentId, const QString& paramName)
{
    mavlink_param_union_t   valueUnion;

    Q_ASSERT(_mapParamName2Value.contains(componentId));
    Q_ASSERT(_mapParamName2Value[componentId].contains(paramName));
    Q_ASSERT(_mapParamName2MavParamType[componentId].contains(paramName));

    MAV_PARAM_TYPE paramType = _mapParamName2MavParamType[componentId][paramName];
    QVariant paramVar = _mapParamName2Value[componentId][paramName];

    switch (paramType) {
    case MAV_PARAM_TYPE_REAL32:
        valueUnion.param_float = paramVar.toFloat();
        break;

    case MAV_PARAM_TYPE_UINT32:
        if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
            valueUnion.param_float = paramVar.toUInt();
        } else {
            valueUnion.param_uint32 = paramVar.toUInt();
        }
        break;

    case MAV_PARAM_TYPE_INT32:
        if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
            valueUnion.param_float = paramVar.toInt();
        } else {
            valueUnion.param_int32 = paramVar.toInt();
        }
        break;

    case MAV_PARAM_TYPE_UINT16:
        if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
            valueUnion.param_float = paramVar.toUInt();
        } else {
            valueUnion.param_uint16 = paramVar.toUInt();
        }
        break;

    case MAV_PARAM_TYPE_INT16:
        if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
            valueUnion.param_float = paramVar.toInt();
        } else {
            valueUnion.param_int16 = paramVar.toInt();
        }
        break;

    case MAV_PARAM_TYPE_UINT8:
        if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
            valueUnion.param_float = paramVar.toUInt();
        } else {
            valueUnion.param_uint8 = paramVar.toUInt();
        }
        break;

    case MAV_PARAM_TYPE_INT8:
        if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
            valueUnion.param_float = (unsigned char)paramVar.toChar().toLatin1();
        } else {
            valueUnion.param_int8 = (unsigned char)paramVar.toChar().toLatin1();
        }
        break;

    default:
        if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
            valueUnion.param_float = paramVar.toInt();
        } else {
            valueUnion.param_int32 = paramVar.toInt();
        }
        qCritical() << "Invalid parameter type" << paramType;
    }

    return valueUnion.param_float;
}

void MockLink::_handleParamRequestList(const mavlink_message_t& msg)
{
    if (_failureMode == MockConfiguration::FailParamNoReponseToRequestList) {
        return;
    }

    mavlink_param_request_list_t request;

    mavlink_msg_param_request_list_decode(&msg, &request);

    Q_ASSERT(request.target_system == _vehicleSystemId);
    Q_ASSERT(request.target_component == MAV_COMP_ID_ALL);

    // Start the worker routine
    _currentParamRequestListComponentIndex = 0;
    _currentParamRequestListParamIndex = 0;
}

/// Sends the next parameter to the vehicle
void MockLink::_paramRequestListWorker(void)
{
    if (_currentParamRequestListComponentIndex == -1) {
        // Initial request complete
        return;
    }

    int componentId = _mapParamName2Value.keys()[_currentParamRequestListComponentIndex];
    int cParameters = _mapParamName2Value[componentId].count();
    QString paramName = _mapParamName2Value[componentId].keys()[_currentParamRequestListParamIndex];

    if ((_failureMode == MockConfiguration::FailMissingParamOnInitialReqest || _failureMode == MockConfiguration::FailMissingParamOnAllRequests) && paramName == _failParam) {
        qCDebug(MockLinkLog) << "Skipping param send:" << paramName;
    } else {

        char paramId[MAVLINK_MSG_ID_PARAM_VALUE_LEN];
        mavlink_message_t responseMsg;

        Q_ASSERT(_mapParamName2Value[componentId].contains(paramName));
        Q_ASSERT(_mapParamName2MavParamType[componentId].contains(paramName));

        MAV_PARAM_TYPE paramType = _mapParamName2MavParamType[componentId][paramName];

        Q_ASSERT(paramName.length() <= MAVLINK_MSG_ID_PARAM_VALUE_LEN);
        strncpy(paramId, paramName.toLocal8Bit().constData(), MAVLINK_MSG_ID_PARAM_VALUE_LEN);

        qCDebug(MockLinkLog) << "Sending msg_param_value" << componentId << paramId << paramType << _mapParamName2Value[componentId][paramId];

        mavlink_msg_param_value_pack_chan(_vehicleSystemId,
                                          componentId,                                   // component id
                                          _mavlinkChannel,
                                          &responseMsg,                                  // Outgoing message
                                          paramId,                                       // Parameter name
                                          _floatUnionForParam(componentId, paramName),   // Parameter value
                                          paramType,                                     // MAV_PARAM_TYPE
                                          cParameters,                                   // Total number of parameters
                                          _currentParamRequestListParamIndex);           // Index of this parameter
        respondWithMavlinkMessage(responseMsg);
    }

    // Move to next param index
    if (++_currentParamRequestListParamIndex >= cParameters) {
        // We've sent the last parameter for this component, move to next component
        if (++_currentParamRequestListComponentIndex >= _mapParamName2Value.keys().count()) {
            // We've finished sending the last parameter for the last component, request is complete
            _currentParamRequestListComponentIndex = -1;
        } else {
            _currentParamRequestListParamIndex = 0;
        }
    }
}

void MockLink::_handleParamSet(const mavlink_message_t& msg)
{
    mavlink_param_set_t request;
    mavlink_msg_param_set_decode(&msg, &request);

    Q_ASSERT(request.target_system == _vehicleSystemId);
    int componentId = request.target_component;

    // Param may not be null terminated if exactly fits
    char paramId[MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN + 1];
    paramId[MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN] = 0;
    strncpy(paramId, request.param_id, MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN);

    qCDebug(MockLinkLog) << "_handleParamSet" << componentId << paramId << request.param_type;

    Q_ASSERT(_mapParamName2Value.contains(componentId));
    Q_ASSERT(_mapParamName2MavParamType.contains(componentId));
    Q_ASSERT(_mapParamName2Value[componentId].contains(paramId));
    Q_ASSERT(request.param_type == _mapParamName2MavParamType[componentId][paramId]);

    // Save the new value
    _setParamFloatUnionIntoMap(componentId, paramId, request.param_value);

    // Respond with a param_value to ack
    mavlink_message_t responseMsg;
    mavlink_msg_param_value_pack_chan(_vehicleSystemId,
                                      componentId,                                               // component id
                                      _mavlinkChannel,
                                      &responseMsg,                                              // Outgoing message
                                      paramId,                                                   // Parameter name
                                      request.param_value,                                       // Send same value back
                                      request.param_type,                                        // Send same type back
                                      _mapParamName2Value[componentId].count(),                  // Total number of parameters
                                      _mapParamName2Value[componentId].keys().indexOf(paramId)); // Index of this parameter
    respondWithMavlinkMessage(responseMsg);
}

void MockLink::_handleParamRequestRead(const mavlink_message_t& msg)
{
    mavlink_message_t   responseMsg;
    mavlink_param_request_read_t request;
    mavlink_msg_param_request_read_decode(&msg, &request);

    const QString paramName(QString::fromLocal8Bit(request.param_id, static_cast<int>(strnlen(request.param_id, MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN))));
    int componentId = request.target_component;

    // special case for magic _HASH_CHECK value
    if (request.target_component == MAV_COMP_ID_ALL && paramName == "_HASH_CHECK") {
        mavlink_param_union_t   valueUnion;
        valueUnion.type = MAV_PARAM_TYPE_UINT32;
        valueUnion.param_uint32 = 0;
        // Special case of magic hash check value
        mavlink_msg_param_value_pack_chan(_vehicleSystemId,
                                          componentId,
                                          _mavlinkChannel,
                                          &responseMsg,
                                          request.param_id,
                                          valueUnion.param_float,
                                          MAV_PARAM_TYPE_UINT32,
                                          0,
                                          -1);
        respondWithMavlinkMessage(responseMsg);
        return;
    }

    Q_ASSERT(_mapParamName2Value.contains(componentId));

    char paramId[MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN + 1];
    paramId[0] = 0;

    Q_ASSERT(request.target_system == _vehicleSystemId);

    if (request.param_index == -1) {
        // Request is by param name. Param may not be null terminated if exactly fits
        strncpy(paramId, request.param_id, MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN);
    } else {
        // Request is by index

        Q_ASSERT(request.param_index >= 0 && request.param_index < _mapParamName2Value[componentId].count());

        QString key = _mapParamName2Value[componentId].keys().at(request.param_index);
        Q_ASSERT(key.length() <= MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN);
        strcpy(paramId, key.toLocal8Bit().constData());
    }

    Q_ASSERT(_mapParamName2Value[componentId].contains(paramId));
    Q_ASSERT(_mapParamName2MavParamType[componentId].contains(paramId));

    if (_failureMode == MockConfiguration::FailMissingParamOnAllRequests && strcmp(paramId, _failParam) == 0) {
        qCDebug(MockLinkLog) << "Ignoring request read for " << _failParam;
        // Fail to send this param no matter what
        return;
    }

    mavlink_msg_param_value_pack_chan(_vehicleSystemId,
                                      componentId,                                               // component id
                                      _mavlinkChannel,
                                      &responseMsg,                                              // Outgoing message
                                      paramId,                                                   // Parameter name
                                      _floatUnionForParam(componentId, paramId),                 // Parameter value
                                      _mapParamName2MavParamType[componentId][paramId],          // Parameter type
                                      _mapParamName2Value[componentId].count(),                  // Total number of parameters
                                      _mapParamName2Value[componentId].keys().indexOf(paramId)); // Index of this parameter
    respondWithMavlinkMessage(responseMsg);
}

void MockLink::emitRemoteControlChannelRawChanged(int channel, uint16_t raw)
{
    uint16_t chanRaw[18];

    for (int i=0; i<18; i++) {
        chanRaw[i] = UINT16_MAX;
    }
    chanRaw[channel] = raw;

    mavlink_message_t responseMsg;
    mavlink_msg_rc_channels_pack_chan(_vehicleSystemId,
                                      _vehicleComponentId,
                                      _mavlinkChannel,
                                      &responseMsg,          // Outgoing message
                                      0,                     // time since boot, ignored
                                      18,                    // channel count
                                      chanRaw[0],            // channel raw value
            chanRaw[1],            // channel raw value
            chanRaw[2],            // channel raw value
            chanRaw[3],            // channel raw value
            chanRaw[4],            // channel raw value
            chanRaw[5],            // channel raw value
            chanRaw[6],            // channel raw value
            chanRaw[7],            // channel raw value
            chanRaw[8],            // channel raw value
            chanRaw[9],            // channel raw value
            chanRaw[10],           // channel raw value
            chanRaw[11],           // channel raw value
            chanRaw[12],           // channel raw value
            chanRaw[13],           // channel raw value
            chanRaw[14],           // channel raw value
            chanRaw[15],           // channel raw value
            chanRaw[16],           // channel raw value
            chanRaw[17],           // channel raw value
            0);                    // rss
    respondWithMavlinkMessage(responseMsg);
}

void MockLink::_handleFTP(const mavlink_message_t& msg)
{
    _mockLinkFTP->mavlinkMessageReceived(msg);
}

void MockLink::_handleCommandLong(const mavlink_message_t& msg)
{
    static bool firstCmdUser3 = true;
    static bool firstCmdUser4 = true;

    bool noAck = false;
    mavlink_command_long_t request;
    uint8_t commandResult = MAV_RESULT_UNSUPPORTED;

    mavlink_msg_command_long_decode(&msg, &request);

    switch (request.command) {
    case MAV_CMD_COMPONENT_ARM_DISARM:
        if (request.param1 == 0.0f) {
            _mavBaseMode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
        } else {
            _mavBaseMode |= MAV_MODE_FLAG_SAFETY_ARMED;
        }
        commandResult = MAV_RESULT_ACCEPTED;
        break;
    case MAV_CMD_PREFLIGHT_CALIBRATION:
        _handlePreFlightCalibration(request);
        commandResult = MAV_RESULT_ACCEPTED;
        break;
    case MAV_CMD_PREFLIGHT_STORAGE:
        commandResult = MAV_RESULT_ACCEPTED;
        break;
    case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES:
        commandResult = MAV_RESULT_ACCEPTED;
        _respondWithAutopilotVersion();
        break;
    case MAV_CMD_REQUEST_MESSAGE:
        if (_handleRequestMessage(request, noAck)) {
            if (noAck) {
                return;
            }
            commandResult = MAV_RESULT_ACCEPTED;
        }
        break;
    case MAV_CMD_MOCKLINK_ALWAYS_RESULT_ACCEPTED:
        // Test command which always returns MAV_RESULT_ACCEPTED
        commandResult = MAV_RESULT_ACCEPTED;
        break;
    case MAV_CMD_MOCKLINK_ALWAYS_RESULT_FAILED:
        // Test command which always returns MAV_RESULT_FAILED
        commandResult = MAV_RESULT_FAILED;
        break;
    case MAV_CMD_MOCKLINK_SECOND_ATTEMPT_RESULT_ACCEPTED:
        // Test command which returns MAV_RESULT_ACCEPTED on second attempt
        if (firstCmdUser3) {
            firstCmdUser3 = false;
            return;
        } else {
            firstCmdUser3 = true;
            commandResult = MAV_RESULT_ACCEPTED;
        }
        break;
    case MAV_CMD_MOCKLINK_SECOND_ATTEMPT_RESULT_FAILED:
        // Test command which returns MAV_RESULT_FAILED on second attempt
        if (firstCmdUser4) {
            firstCmdUser4 = false;
            return;
        } else {
            firstCmdUser4 = true;
            commandResult = MAV_RESULT_FAILED;
        }
        break;
    case MAV_CMD_MOCKLINK_NO_RESPONSE:
        // No response
        return;
        break;
    }

    mavlink_message_t commandAck;
    mavlink_msg_command_ack_pack_chan(_vehicleSystemId,
                                      _vehicleComponentId,
                                      _mavlinkChannel,
                                      &commandAck,
                                      request.command,
                                      commandResult,
                                      0,    // progress
                                      0,    // result_param2
                                      0,    // target_system
                                      0);   // target_component
    respondWithMavlinkMessage(commandAck);
}

void MockLink::sendUnexpectedCommandAck(MAV_CMD command, MAV_RESULT ackResult)
{
    mavlink_message_t commandAck;
    mavlink_msg_command_ack_pack_chan(_vehicleSystemId,
                                      _vehicleComponentId,
                                      _mavlinkChannel,
                                      &commandAck,
                                      command,
                                      ackResult,
                                      0,    // progress
                                      0,    // result_param2