Merge pull request #3897 from bluerobotics/ardusubMocklink

Add mock link for ArduSub Firmware Plugin testing

qgroundcontrol.qrc

@@ -3,6 +3,7 @@
         <file alias="PX4MockLink.params">src/comm/PX4MockLink.params</file>
         <file alias="APMArduCopterMockLink.params">src/comm/APMArduCopterMockLink.params</file>
         <file alias="APMArduPlaneMockLink.params">src/comm/APMArduPlaneMockLink.params</file>
+        <file alias="APMArduSubMockLink.params">src/comm/APMArduSubMockLink.params</file>
         <file alias="FactSystemTest.qml">src/FactSystem/FactSystemTest.qml</file>
     </qresource>
     <qresource prefix="/qml">

src/QmlControls/QGroundControlQmlGlobal.cc

@@ -137,6 +137,15 @@ void QGroundControlQmlGlobal::startAPMArduPlaneMockLink(bool sendStatusText)
 #endif
 }
 
+void QGroundControlQmlGlobal::startAPMArduSubMockLink(bool sendStatusText)
+{
+#ifdef QT_DEBUG
+    MockLink::startAPMArduSubMockLink(sendStatusText);
+#else
+    Q_UNUSED(sendStatusText);
+#endif
+}
+
 void QGroundControlQmlGlobal::stopAllMockLinks(void)
 {
 #ifdef QT_DEBUG

src/QmlControls/QGroundControlQmlGlobal.h

@@ -123,6 +123,7 @@ public:
     Q_INVOKABLE void    startGenericMockLink        (bool sendStatusText);
     Q_INVOKABLE void    startAPMArduCopterMockLink  (bool sendStatusText);
     Q_INVOKABLE void    startAPMArduPlaneMockLink   (bool sendStatusText);
+    Q_INVOKABLE void    startAPMArduSubMockLink     (bool sendStatusText);
     Q_INVOKABLE void    stopAllMockLinks            (void);
 
     /// Converts from meters to the user specified distance unit

src/comm/MockLink.cc

@@ -180,6 +180,8 @@ void MockLink::_loadParams(void)
     if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
         if (_vehicleType == MAV_TYPE_FIXED_WING) {
             paramFile.setFileName(":/unittest/APMArduPlaneMockLink.params");
+        } else if (_vehicleType == MAV_TYPE_SUBMARINE ) {
+            paramFile.setFileName(":/unittest/APMArduSubMockLink.params");
         } else {
             paramFile.setFileName(":/unittest/APMArduCopterMockLink.params");
         }
@@ -1030,6 +1032,18 @@ MockLink*  MockLink::startAPMArduPlaneMockLink(bool sendStatusText, MockConfigur
     return _startMockLink(mockConfig);
 }
 
+MockLink*  MockLink::startAPMArduSubMockLink(bool sendStatusText, MockConfiguration::FailureMode_t failureMode)
+{
+    MockConfiguration* mockConfig = new MockConfiguration("APM ArduSub MockLink");
+
+    mockConfig->setFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA);
+    mockConfig->setVehicleType(MAV_TYPE_SUBMARINE);
+    mockConfig->setSendStatusText(sendStatusText);
+    mockConfig->setFailureMode(failureMode);
+
+    return _startMockLink(mockConfig);
+}
+
 void MockLink::_sendRCChannels(void)
 {
     mavlink_message_t   msg;

src/comm/MockLink.h

@@ -148,6 +148,7 @@ public:
     static MockLink* startGenericMockLink        (bool sendStatusText, MockConfiguration::FailureMode_t failureMode = MockConfiguration::FailNone);
     static MockLink* startAPMArduCopterMockLink  (bool sendStatusText, MockConfiguration::FailureMode_t failureMode = MockConfiguration::FailNone);
     static MockLink* startAPMArduPlaneMockLink   (bool sendStatusText, MockConfiguration::FailureMode_t failureMode = MockConfiguration::FailNone);
+    static MockLink* startAPMArduSubMockLink     (bool sendStatusText, MockConfiguration::FailureMode_t failureMode = MockConfiguration::FailNone);
 
 private slots:
     virtual void _writeBytes(const QByteArray bytes);

src/ui/preferences/MockLink.qml

@@ -48,6 +48,10 @@ Rectangle {
                 text:       qsTr("APM ArduPlane Vehicle")
                 onClicked:  QGroundControl.startAPMArduPlaneMockLink(sendStatusText.checked)
             }
+            QGCButton {
+                text:       qsTr("APM ArduSub Vehicle")
+                onClicked:  QGroundControl.startAPMArduSubMockLink(sendStatusText.checked)
+            }
             QGCButton {
                 text:       qsTr("Generic Vehicle")
                 onClicked:  QGroundControl.startGenericMockLink(sendStatusText.checked)