MockLink.cc 23.6 KB
Newer Older
1
/*=====================================================================
2

3
 QGroundControl Open Source Ground Control Station
4

5
 (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
6

7
 This file is part of the QGROUNDCONTROL project
8

9 10 11 12
 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.
13

14 15 16 17
 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.
18

19 20
 You should have received a copy of the GNU General Public License
 along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
21

22 23 24
 ======================================================================*/

#include "MockLink.h"
25
#include "QGCLoggingCategory.h"
26 27 28 29 30 31 32

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

#include <string.h>

33
QGC_LOGGING_CATEGORY(MockLinkLog, "MockLinkLog")
34
QGC_LOGGING_CATEGORY(MockLinkLogVerbose, "MockLinkLogVerbose")
35

36 37 38 39 40
/// @file
///     @brief Mock implementation of a Link.
///
///     @author Don Gagne <don@thegagnes.com>

Don Gagne's avatar
Don Gagne committed
41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69
enum PX4_CUSTOM_MAIN_MODE {
    PX4_CUSTOM_MAIN_MODE_MANUAL = 1,
    PX4_CUSTOM_MAIN_MODE_ALTCTL,
    PX4_CUSTOM_MAIN_MODE_POSCTL,
    PX4_CUSTOM_MAIN_MODE_AUTO,
    PX4_CUSTOM_MAIN_MODE_ACRO,
    PX4_CUSTOM_MAIN_MODE_OFFBOARD,
};

enum PX4_CUSTOM_SUB_MODE_AUTO {
    PX4_CUSTOM_SUB_MODE_AUTO_READY = 1,
    PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF,
    PX4_CUSTOM_SUB_MODE_AUTO_LOITER,
    PX4_CUSTOM_SUB_MODE_AUTO_MISSION,
    PX4_CUSTOM_SUB_MODE_AUTO_RTL,
    PX4_CUSTOM_SUB_MODE_AUTO_LAND,
    PX4_CUSTOM_SUB_MODE_AUTO_RTGS
};

union px4_custom_mode {
    struct {
        uint16_t reserved;
        uint8_t main_mode;
        uint8_t sub_mode;
    };
    uint32_t data;
    float data_float;
};

70 71 72 73 74 75 76 77 78 79 80 81
MockLink::MockLink(MockConfiguration* config)
    : _missionItemHandler(this)
    , _name("MockLink")
    , _connected(false)
    , _vehicleSystemId(128)     // FIXME: Pull from eventual parameter manager
    , _vehicleComponentId(200)  // FIXME: magic number?
    , _inNSH(false)
    , _mavlinkStarted(false)
    , _mavBaseMode(MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_CUSTOM_MODE_ENABLED)
    , _mavState(MAV_STATE_STANDBY)
    , _autopilotType(MAV_AUTOPILOT_PX4)
    , _fileServer(NULL)
82
{
83
    _config = config;
Don Gagne's avatar
Don Gagne committed
84 85 86 87 88 89
    union px4_custom_mode   px4_cm;

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

90 91 92
    _fileServer = new MockLinkFileServer(_vehicleSystemId, _vehicleComponentId, this);
    Q_CHECK_PTR(_fileServer);
    
93
    moveToThread(this);
94
    
95 96 97 98 99 100
    _loadParams();
    QObject::connect(this, &MockLink::_incomingBytes, this, &MockLink::_handleIncomingBytes);
}

MockLink::~MockLink(void)
{
Daniel Agar's avatar
Daniel Agar committed
101
    qDebug() << "MockLink destructor";
102
    _disconnect();
103 104 105 106 107 108 109
}

void MockLink::readBytes(void)
{
    // FIXME: This is a bad virtual from LinkInterface?
}

110
bool MockLink::_connect(void)
111
{
112 113 114 115 116
    if (!_connected) {
        _connected = true;
        start();
        emit connected();
    }
117

118 119 120
    return true;
}

121
bool MockLink::_disconnect(void)
122
{
123 124
    if (_connected) {
        _connected = false;
Daniel Agar's avatar
Daniel Agar committed
125 126
        quit();
        wait();
127 128
        emit disconnected();
    }
129

130 131 132 133 134 135 136 137
    return true;
}

void MockLink::run(void)
{
    QTimer  _timer1HzTasks;
    QTimer  _timer10HzTasks;
    QTimer  _timer50HzTasks;
138

139 140 141
    QObject::connect(&_timer1HzTasks, &QTimer::timeout, this, &MockLink::_run1HzTasks);
    QObject::connect(&_timer10HzTasks, &QTimer::timeout, this, &MockLink::_run10HzTasks);
    QObject::connect(&_timer50HzTasks, &QTimer::timeout, this, &MockLink::_run50HzTasks);
142

143 144 145
    _timer1HzTasks.start(1000);
    _timer10HzTasks.start(100);
    _timer50HzTasks.start(20);
146

147
    exec();
148

149 150 151
    QObject::disconnect(&_timer1HzTasks, &QTimer::timeout, this, &MockLink::_run1HzTasks);
    QObject::disconnect(&_timer10HzTasks, &QTimer::timeout, this, &MockLink::_run10HzTasks);
    QObject::disconnect(&_timer50HzTasks, &QTimer::timeout, this, &MockLink::_run50HzTasks);
152 153
    
    _missionItemHandler.shutdown();
154 155 156 157
}

void MockLink::_run1HzTasks(void)
{
158
    if (_mavlinkStarted && _connected) {
159 160 161 162 163 164
        _sendHeartBeat();
    }
}

void MockLink::_run10HzTasks(void)
{
165
    if (_mavlinkStarted && _connected) {
166 167 168 169 170
    }
}

void MockLink::_run50HzTasks(void)
{
171
    if (_mavlinkStarted && _connected) {
172 173 174 175 176
    }
}

void MockLink::_loadParams(void)
{
177
    QFile paramFile(":/unittest/MockLink.params");
178

179 180 181
    bool success = paramFile.open(QFile::ReadOnly);
    Q_UNUSED(success);
    Q_ASSERT(success);
182

183
    QTextStream paramStream(&paramFile);
184

185 186
    while (!paramStream.atEnd()) {
        QString line = paramStream.readLine();
187

188 189 190
        if (line.startsWith("#")) {
            continue;
        }
191

192 193
        QStringList paramData = line.split("\t");
        Q_ASSERT(paramData.count() == 5);
194

195
        int componentId = paramData.at(1).toInt();
196 197 198
        QString paramName = paramData.at(2);
        QString valStr = paramData.at(3);
        uint paramType = paramData.at(4).toUInt();
199

200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217
        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_INT8:
                paramValue = QVariant((unsigned char)valStr.toUInt());
                break;
            default:
                Q_ASSERT(false);
                break;
        }
218

219
        qCDebug(MockLinkLogVerbose) << "Loading param" << paramName << paramValue;
220

221
        _mapParamName2Value[componentId][paramName] = paramValue;
222
        _mapParamName2MavParamType[paramName] = static_cast<MAV_PARAM_TYPE>(paramType);
223 224 225 226 227 228 229 230 231 232 233
    }
}

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

    mavlink_msg_heartbeat_pack(_vehicleSystemId,
                               _vehicleComponentId,
                               &msg,
                               MAV_TYPE_QUADROTOR,  // MAV_TYPE
234
                               _autopilotType,      // MAV_AUTOPILOT
Don Gagne's avatar
Don Gagne committed
235 236
                               _mavBaseMode,        // MAV_MODE
                               _mavCustomMode,      // custom mode
237
                               _mavState);          // MAV_STATE
238 239 240
    
    respondWithMavlinkMessage(msg);
}
241

242 243 244 245
void MockLink::respondWithMavlinkMessage(const mavlink_message_t& msg)
{
    uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
    
246 247 248 249 250 251 252 253 254 255
    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 char* bytes, qint64 cBytes)
{
    // Package up the data so we can signal it over to the right thread
    QByteArray byteArray(bytes, cBytes);
256

257 258 259 260 261 262 263 264 265 266 267 268 269
    emit _incomingBytes(byteArray);
}

/// @brief Handles bytes from QGC on the thread
void MockLink::_handleIncomingBytes(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);
        }
270

271 272 273 274 275 276 277 278
        _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);
279

280 281 282 283 284 285 286 287
    // 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;
288

289 290 291 292 293 294 295 296 297 298 299 300
        if (strncmp(bytes, "sh /etc/init.d/rc.usb\n", cBytes) == 0) {
            // This is the mavlink start command
            _mavlinkStarted = true;
        }
    }
}

/// @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;
301

302 303
    for (qint64 i=0; i<cBytes; i++)
    {
304
        if (!mavlink_parse_char(getMavlinkChannel(), bytes[i], &msg, &comm)) {
305 306
            continue;
        }
Don Gagne's avatar
Don Gagne committed
307
        
308
        if (_missionItemHandler.handleMessage(msg)) {
Don Gagne's avatar
Don Gagne committed
309 310
            continue;
        }
311

312 313 314 315
        switch (msg.msgid) {
            case MAVLINK_MSG_ID_HEARTBEAT:
                _handleHeartBeat(msg);
                break;
316

317 318 319
            case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
                _handleParamRequestList(msg);
                break;
320

321 322 323
            case MAVLINK_MSG_ID_SET_MODE:
                _handleSetMode(msg);
                break;
324

325 326 327
            case MAVLINK_MSG_ID_PARAM_SET:
                _handleParamSet(msg);
                break;
328

329 330 331
            case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
                _handleParamRequestRead(msg);
                break;
332 333 334 335
                
            case MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL:
                _handleFTP(msg);
                break;
336 337 338 339
                
            case MAVLINK_MSG_ID_COMMAND_LONG:
                _handleCommandLong(msg);
                break;
340

341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359
            default:
                break;
        }
    }
}

void MockLink::_handleHeartBeat(const mavlink_message_t& msg)
{
    Q_UNUSED(msg);
#if 0
    mavlink_heartbeat_t heartbeat;
    mavlink_msg_heartbeat_decode(&msg, &heartbeat);
#endif
}

void MockLink::_handleSetMode(const mavlink_message_t& msg)
{
    mavlink_set_mode_t request;
    mavlink_msg_set_mode_decode(&msg, &request);
360

361
    Q_ASSERT(request.target_system == _vehicleSystemId);
362

363 364 365 366
    _mavBaseMode = request.base_mode;
    _mavCustomMode = request.custom_mode;
}

367
void MockLink::_setParamFloatUnionIntoMap(int componentId, const QString& paramName, float paramFloat)
368 369
{
    mavlink_param_union_t   valueUnion;
370

371 372
    Q_ASSERT(_mapParamName2Value.contains(componentId));
    Q_ASSERT(_mapParamName2Value[componentId].contains(paramName));
373
    Q_ASSERT(_mapParamName2MavParamType.contains(paramName));
374

375
    valueUnion.param_float = paramFloat;
376

377
    MAV_PARAM_TYPE paramType = _mapParamName2MavParamType[paramName];
378

379
    QVariant paramVariant;
380

381 382 383 384
    switch (paramType) {
        case MAV_PARAM_TYPE_INT8:
            paramVariant = QVariant::fromValue(valueUnion.param_int8);
            break;
385

386 387 388
        case MAV_PARAM_TYPE_INT32:
            paramVariant = QVariant::fromValue(valueUnion.param_int32);
            break;
389

390 391 392
        case MAV_PARAM_TYPE_UINT32:
            paramVariant = QVariant::fromValue(valueUnion.param_uint32);
            break;
393

394 395 396
        case MAV_PARAM_TYPE_REAL32:
            paramVariant = QVariant::fromValue(valueUnion.param_float);
            break;
397

398 399
        default:
            qCritical() << "Invalid parameter type" << paramType;
400
    }
401

402
    qCDebug(MockLinkLog) << "_setParamFloatUnionIntoMap" << paramName << paramVariant;
403
    _mapParamName2Value[componentId][paramName] = paramVariant;
404 405
}

406
/// Convert from a parameter variant to the float value from mavlink_param_union_t
407
float MockLink::_floatUnionForParam(int componentId, const QString& paramName)
408
{
409
    mavlink_param_union_t   valueUnion;
410

411 412
    Q_ASSERT(_mapParamName2Value.contains(componentId));
    Q_ASSERT(_mapParamName2Value[componentId].contains(paramName));
413
    Q_ASSERT(_mapParamName2MavParamType.contains(paramName));
414

415
    MAV_PARAM_TYPE paramType = _mapParamName2MavParamType[paramName];
416
    QVariant paramVar = _mapParamName2Value[componentId][paramName];
417

418 419
    switch (paramType) {
        case MAV_PARAM_TYPE_INT8:
420 421 422 423 424
            if (_autopilotType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
                valueUnion.param_float = (unsigned char)paramVar.toChar().toLatin1();
            } else {
                valueUnion.param_int8 = (unsigned char)paramVar.toChar().toLatin1();
            }
425
            break;
426

427
        case MAV_PARAM_TYPE_INT32:
428 429 430 431 432
            if (_autopilotType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
                valueUnion.param_float = paramVar.toInt();
            } else {
                valueUnion.param_int32 = paramVar.toInt();
            }
433
            break;
434

435
        case MAV_PARAM_TYPE_UINT32:
436 437 438 439 440
            if (_autopilotType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
                valueUnion.param_float = paramVar.toUInt();
            } else {
                valueUnion.param_uint32 = paramVar.toUInt();
            }
441
            break;
442

443
        case MAV_PARAM_TYPE_REAL32:
444
                valueUnion.param_float = paramVar.toFloat();
445
            break;
446

447 448 449
        default:
            qCritical() << "Invalid parameter type" << paramType;
    }
450

451
    return valueUnion.param_float;
452 453 454 455 456
}

void MockLink::_handleParamRequestList(const mavlink_message_t& msg)
{
    mavlink_param_request_list_t request;
457

458
    mavlink_msg_param_request_list_decode(&msg, &request);
459

460
    Q_ASSERT(request.target_system == _vehicleSystemId);
461
    Q_ASSERT(request.target_component == MAV_COMP_ID_ALL);
462 463 464
    
    // We must send the first parameter for each component first. Otherwise system won't correctly know
    // when all parameters are loaded.
465 466

    foreach (int componentId, _mapParamName2Value.keys()) {
467
        uint16_t paramIndex = 0;
468 469 470 471 472 473 474 475 476 477 478 479 480 481
        int cParameters = _mapParamName2Value[componentId].count();
        
        foreach(QString paramName, _mapParamName2Value[componentId].keys()) {
            char paramId[MAVLINK_MSG_ID_PARAM_VALUE_LEN];
            mavlink_message_t       responseMsg;

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

            MAV_PARAM_TYPE paramType = _mapParamName2MavParamType[paramName];

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

482
            qCDebug(MockLinkLog) << "Sending msg_param_value" << componentId << paramId << paramType << _mapParamName2Value[componentId][paramId];
483 484 485 486 487 488 489 490 491

            mavlink_msg_param_value_pack(_vehicleSystemId,
                                         componentId,                       // component id
                                         &responseMsg,                      // Outgoing message
                                         paramId,                           // Parameter name
                                         _floatUnionForParam(componentId, paramName),    // Parameter value
                                         paramType,                         // MAV_PARAM_TYPE
                                         cParameters,                       // Total number of parameters
                                         paramIndex++);                     // Index of this parameter
492
            respondWithMavlinkMessage(responseMsg);
493 494 495 496 497 498 499 500 501 502 503 504 505 506
            
            // Only first parameter the first time through
            break;
        }
    }
    
    foreach (int componentId, _mapParamName2Value.keys()) {
        uint16_t paramIndex = 0;
        int cParameters = _mapParamName2Value[componentId].count();
        bool skipParam = true;
        
        foreach(QString paramName, _mapParamName2Value[componentId].keys()) {
            if (skipParam) {
                // We've already sent the first param
Don Gagne's avatar
Don Gagne committed
507
                skipParam = false;
508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530
                paramIndex++;
            } else {
                char paramId[MAVLINK_MSG_ID_PARAM_VALUE_LEN];
                mavlink_message_t       responseMsg;
                
                Q_ASSERT(_mapParamName2Value[componentId].contains(paramName));
                Q_ASSERT(_mapParamName2MavParamType.contains(paramName));
                
                MAV_PARAM_TYPE paramType = _mapParamName2MavParamType[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(_vehicleSystemId,
                                             componentId,                       // component id
                                             &responseMsg,                      // Outgoing message
                                             paramId,                           // Parameter name
                                             _floatUnionForParam(componentId, paramName),    // Parameter value
                                             paramType,                         // MAV_PARAM_TYPE
                                             cParameters,                       // Total number of parameters
                                             paramIndex++);                     // Index of this parameter
531
                respondWithMavlinkMessage(responseMsg);
532
            }
533
        }
534 535 536 537 538 539 540
    }
}

void MockLink::_handleParamSet(const mavlink_message_t& msg)
{
    mavlink_param_set_t request;
    mavlink_msg_param_set_decode(&msg, &request);
541

542
    Q_ASSERT(request.target_system == _vehicleSystemId);
543
    int componentId = request.target_component;
Don Gagne's avatar
Don Gagne committed
544
    
545 546
    // Param may not be null terminated if exactly fits
    char paramId[MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN + 1];
Don Gagne's avatar
Don Gagne committed
547
    paramId[MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN] = 0;
548
    strncpy(paramId, request.param_id, MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN);
549

Don Gagne's avatar
Don Gagne committed
550 551
    qCDebug(MockLinkLog) << "_handleParamSet" << componentId << paramId << request.param_type;
    
552 553
    Q_ASSERT(_mapParamName2Value.contains(componentId));
    Q_ASSERT(_mapParamName2Value[componentId].contains(paramId));
554
    Q_ASSERT(request.param_type == _mapParamName2MavParamType[paramId]);
555

556
    // Save the new value
557
    _setParamFloatUnionIntoMap(componentId, paramId, request.param_value);
558

559 560 561
    // Respond with a param_value to ack
    mavlink_message_t responseMsg;
    mavlink_msg_param_value_pack(_vehicleSystemId,
562 563 564 565 566 567 568
                                 componentId,                                               // component id
                                 &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
569
    respondWithMavlinkMessage(responseMsg);
570 571 572 573 574 575
}

void MockLink::_handleParamRequestRead(const mavlink_message_t& msg)
{
    mavlink_param_request_read_t request;
    mavlink_msg_param_request_read_decode(&msg, &request);
576 577 578
    
    int componentId = request.target_component;
    Q_ASSERT(_mapParamName2Value.contains(componentId));
579

580 581
    char paramId[MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN + 1];
    paramId[0] = 0;
582

583
    Q_ASSERT(request.target_system == _vehicleSystemId);
584

585 586 587
    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);
588
    } else {
589
        // Request is by index
590

591
        Q_ASSERT(request.param_index >= 0 && request.param_index < _mapParamName2Value[componentId].count());
592

593
        QString key = _mapParamName2Value[componentId].keys().at(request.param_index);
594 595
        Q_ASSERT(key.length() <= MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN);
        strcpy(paramId, key.toLocal8Bit().constData());
596
    }
597

598
    Q_ASSERT(_mapParamName2Value[componentId].contains(paramId));
599
    Q_ASSERT(_mapParamName2MavParamType.contains(paramId));
600

601
    mavlink_message_t   responseMsg;
602

603
    mavlink_msg_param_value_pack(_vehicleSystemId,
604 605 606 607 608 609 610
                                 componentId,                                               // component id
                                 &responseMsg,                                              // Outgoing message
                                 paramId,                                                   // Parameter name
                                 _floatUnionForParam(componentId, paramId),                 // Parameter value
                                 _mapParamName2MavParamType[paramId],                       // Parameter type
                                 _mapParamName2Value[componentId].count(),                  // Total number of parameters
                                 _mapParamName2Value[componentId].keys().indexOf(paramId)); // Index of this parameter
611
    respondWithMavlinkMessage(responseMsg);
612 613
}

614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647
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(_vehicleSystemId,
                                 _vehicleComponentId,
                                 &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
648 649 650 651 652 653 654
    respondWithMavlinkMessage(responseMsg);
}

void MockLink::_handleFTP(const mavlink_message_t& msg)
{
    Q_ASSERT(_fileServer);
    _fileServer->handleFTPMessage(msg);
655
}
656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671

void MockLink::_handleCommandLong(const mavlink_message_t& msg)
{
    mavlink_command_long_t request;
    
    mavlink_msg_command_long_decode(&msg, &request);

    if (request.command == MAV_CMD_COMPONENT_ARM_DISARM) {
        if (request.param1 == 0.0f) {
            _mavBaseMode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
        } else {
            _mavBaseMode |= MAV_MODE_FLAG_SAFETY_ARMED;
        }
    }
}

672 673 674 675
void MockLink::setMissionItemFailureMode(MockLinkMissionItemHandler::FailureMode_t failureMode, bool firstTimeOnly)
{
    _missionItemHandler.setMissionItemFailureMode(failureMode, firstTimeOnly);
}