MockLink.h 6.27 KB
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/*=====================================================================
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 QGroundControl Open Source Ground Control Station
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 (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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 This file is part of the QGROUNDCONTROL project
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 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.
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 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.
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 You should have received a copy of the GNU General Public License
 along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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 ======================================================================*/

#ifndef MOCKLINK_H
#define MOCKLINK_H

#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"

Q_DECLARE_LOGGING_CATEGORY(MockLinkLog)
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Q_DECLARE_LOGGING_CATEGORY(MockLinkVerboseLog)
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/// @file
///     @brief Mock implementation of a Link.
///
///     @author Don Gagne <don@thegagnes.com>

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class MockConfiguration : public LinkConfiguration
{
public:

    MockConfiguration(const QString& name) : LinkConfiguration(name) {}
    MockConfiguration(MockConfiguration* source) : LinkConfiguration(source) {}
    int  type() { return LinkConfiguration::TypeMock; }
    void copyFrom(LinkConfiguration* source) { LinkConfiguration::copyFrom(source); }
    void loadSettings(QSettings& settings, const QString& root) { Q_UNUSED(settings); Q_UNUSED(root); }
    void saveSettings(QSettings& settings, const QString& root) { Q_UNUSED(settings); Q_UNUSED(root); }
    void updateSettings() {}
};

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class MockLink : public LinkInterface
{
    Q_OBJECT
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public:
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    // LinkConfiguration is optional for MockLink
    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 getAutopilotType(void) { return _autopilotType; }
    void setAutopilotType(MAV_AUTOPILOT autopilot) { _autopilotType = autopilot; }
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    void emitRemoteControlChannelRawChanged(int channel, uint16_t raw);
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    /// Sends the specified mavlink message to QGC
    void respondWithMavlinkMessage(const mavlink_message_t& msg);
    
    MockLinkFileServer* getFileServer(void) { return _fileServer; }
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    // Virtuals from LinkInterface
    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; }

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    // 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);
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    LinkConfiguration* getLinkConfiguration() { return _config; }
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    /// Sets a failure mode for unit testing
    ///     @param failureMode Type of failure to simulate
    ///     @param firstTimeOnly true: fail first call, success subsequent calls, false: fail all calls
    void setMissionItemFailureMode(MockLinkMissionItemHandler::FailureMode_t failureMode, bool firstTimeOnly);
    
    /// Called to send a MISSION_ACK message while the MissionManager is in idle state
    void sendUnexpectedMissionAck(MAV_MISSION_RESULT ackType) { _missionItemHandler.sendUnexpectedMissionAck(ackType); }
    
    /// Called to send a MISSION_ITEM message while the MissionManager is in idle state
    void sendUnexpectedMissionItem(void) { _missionItemHandler.sendUnexpectedMissionItem(); }
    
    /// Called to send a MISSION_REQUEST message while the MissionManager is in idle state
    void sendUnexpectedMissionRequest(void) { _missionItemHandler.sendUnexpectedMissionRequest(); }
    
    /// Reset the state of the MissionItemHandler to no items, no transactions in progress.
    void resetMissionItemHandler(void) { _missionItemHandler.reset(); }
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signals:
    /// @brief Used internally to move data to the thread.
    void _incomingBytes(const QByteArray bytes);
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public slots:
    virtual void writeBytes(const char *bytes, qint64 cBytes);
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protected slots:
    // FIXME: This should not be part of LinkInterface. It is an internal link implementation detail.
    virtual void readBytes(void);
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private slots:
    void _run1HzTasks(void);
    void _run10HzTasks(void);
    void _run50HzTasks(void);
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private:
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    // From LinkInterface
    virtual bool _connect(void);
    virtual bool _disconnect(void);
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    // QThread override
    virtual void run(void);
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    // 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 _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);
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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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    float _floatUnionForParam(int componentId, const QString& paramName);
    void _setParamFloatUnionIntoMap(int componentId, const QString& paramName, float paramFloat);
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    void _sendHomePosition(void);
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    MockLinkMissionItemHandler  _missionItemHandler;
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    QString _name;
    bool    _connected;
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    uint8_t _vehicleSystemId;
    uint8_t _vehicleComponentId;
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    bool    _inNSH;
    bool    _mavlinkStarted;
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    QMap<int, QMap<QString, QVariant> > _mapParamName2Value;
    QMap<QString, MAV_PARAM_TYPE>       _mapParamName2MavParamType;
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    uint8_t     _mavBaseMode;
    uint32_t    _mavCustomMode;
    uint8_t     _mavState;
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    MockConfiguration* _config;
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    MAV_AUTOPILOT _autopilotType;
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    MockLinkFileServer* _fileServer;
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};

#endif