Merge pull request #1520 from DonLakeFlyer/SimulateGone

Remove the "Simulate" feature

QGCApplication.pro

@@ -235,10 +235,8 @@ HEADERS += \
     src/comm/LinkInterface.h \
     src/comm/LinkManager.h \
     src/comm/MAVLinkProtocol.h \
-    src/comm/MAVLinkSimulationLink.h \
-    src/comm/MAVLinkSimulationMAV.h \
-    src/comm/MAVLinkSimulationWaypointPlanner.h \
-    src/comm/MAVLinkSwarmSimulationLink.h \
+    src/comm/MockLink.h \
+    src/comm/MockLinkMissionItemHandler.h \
     src/comm/ProtocolInterface.h \
     src/comm/QGCFlightGearLink.h \
     src/comm/QGCHilLink.h \
@@ -357,12 +355,6 @@ HEADERS += \
     src/ViewWidgets/ViewWidgetController.h \
     src/Waypoint.h \
 
-DebugBuild {
-HEADERS += \
-    src/comm/MockLink.h \
-    src/comm/MockLinkMissionItemHandler.h
-}
-
 !AndroidBuild {
 HEADERS += \
     src/input/JoystickInput.h \
@@ -378,10 +370,8 @@ SOURCES += \
     src/comm/LinkConfiguration.cc \
     src/comm/LinkManager.cc \
     src/comm/MAVLinkProtocol.cc \
-    src/comm/MAVLinkSimulationLink.cc \
-    src/comm/MAVLinkSimulationMAV.cc \
-    src/comm/MAVLinkSimulationWaypointPlanner.cc \
-    src/comm/MAVLinkSwarmSimulationLink.cc \
+    src/comm/MockLink.cc \
+    src/comm/MockLinkMissionItemHandler.cc \
     src/comm/QGCFlightGearLink.cc \
     src/comm/QGCJSBSimLink.cc \
     src/comm/QGCXPlaneLink.cc \
@@ -492,12 +482,6 @@ SOURCES += \
     src/ViewWidgets/ViewWidgetController.cc \
     src/Waypoint.cc \
 
-DebugBuild {
-SOURCES += \
-    src/comm/MockLink.cc \
-    src/comm/MockLinkMissionItemHandler.cc
-}
-
 !AndroidBuild {
 SOURCES += \
     src/input/JoystickInput.cc \

src/QGCApplication.cc

@@ -49,7 +49,6 @@
 #include "QGCMessageBox.h"
 #include "MainWindow.h"
 #include "UDPLink.h"
-#include "MAVLinkSimulationLink.h"
 #include "SerialLink.h"
 #include "QGCSingleton.h"
 #include "LinkManager.h"

src/comm/LinkConfiguration.h

@@ -44,14 +44,11 @@ public:
         TypeTcp,        ///< TCP Link
         // TODO Below is not yet implemented
 #if 0
-        TypeSimulation, ///< Simulation Link
         TypeForwarding, ///< Forwarding Link
         TypeXbee,       ///< XBee Proprietary Link
         TypeOpal,       ///< Opal-RT Link
 #endif
-#ifdef QT_DEBUG
         TypeMock,       ///< Mock Link for Unitesting
-#endif
         TypeLast        // Last type value (type >= TypeLast == invalid)
     };
 

src/comm/MAVLinkSimulationLink.h

-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 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/>.
-
-======================================================================*/
-
-/**
- * @file
- *   @brief Definition of MAVLinkSimulationLink
- *
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-
-#ifndef MAVLINKSIMULATIONLINK_H
-#define MAVLINKSIMULATIONLINK_H
-
-#include <QFile>
-#include <QTimer>
-#include <QTextStream>
-#include <QQueue>
-#include <QMutex>
-#include <QMap>
-#include <qmath.h>
-#include <inttypes.h>
-#include "QGCMAVLink.h"
-
-#include "LinkInterface.h"
-
-class MAVLinkSimulationLink : public LinkInterface
-{
-    Q_OBJECT
-public:
-    MAVLinkSimulationLink(QString readFile="", QString writeFile="", int rate=5);
-    ~MAVLinkSimulationLink();
-    bool isConnected() const;
-
-    void run();
-    void requestReset() { }
-
-    // Extensive statistics for scientific purposes
-    qint64 getConnectionSpeed() const;
-    qint64 getCurrentInDataRate() const;
-    qint64 getCurrentOutDataRate() const;
-
-    QString getName() const;
-    int getBaudRate() const;
-    int getBaudRateType() const;
-    int getFlowType() const;
-    int getParityType() const;
-    int getDataBitsType() const;
-    int getStopBitsType() const;
-    
-    // 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);
-
-public slots:
-    void writeBytes(const char* data, qint64 size);
-    void readBytes();
-    /** @brief Mainloop simulating the mainloop of the MAV */
-    virtual void mainloop();
-    void sendMAVLinkMessage(const mavlink_message_t* msg);
-
-
-protected:
-
-    // UAS properties
-    float roll, pitch, yaw;
-    double x, y, z;
-    double spX, spY, spZ, spYaw;
-    int battery;
-
-    QTimer* timer;
-    /** File which contains the input data (simulated robot messages) **/
-    QFile* simulationFile;
-    QFile* mavlinkLogFile;
-    QString simulationHeader;
-    /** File where the commands sent by the groundstation are stored **/
-    QFile* receiveFile;
-    QTextStream textStream;
-    QTextStream* fileStream;
-    QTextStream* outStream;
-    /** Buffer which can be read from connected protocols through readBytes(). **/
-    QMutex readyBufferMutex;
-    bool _isConnected;
-    quint64 rate;
-    int maxTimeNoise;
-    quint64 lastSent;
-    static const int streamlength = 4096;
-    unsigned int streampointer;
-    //const int testoffset = 0;
-    uint8_t stream[streamlength];
-
-    int readyBytes;
-    QQueue<uint8_t> readyBuffer;
-
-    QString name;
-    qint64 timeOffset;
-    mavlink_sys_status_t status;
-    mavlink_heartbeat_t system;
-    QMap<QString, float> onboardParams;
-
-    void enqueue(uint8_t* stream, uint8_t* index, mavlink_message_t* msg);
-
-    static const uint8_t systemId = 220;
-    static const uint8_t componentId = 200;
-    static const uint16_t version = 1000;
-
-signals:
-    void valueChanged(int uasId, QString curve, double value, quint64 usec);
-    void messageReceived(const mavlink_message_t& message);
-    
-private:
-    // From LinkInterface
-    virtual bool _connect(void);
-    virtual bool _disconnect(void);
-};
-
-#endif // MAVLINKSIMULATIONLINK_H

src/comm/MAVLinkSimulationMAV.h

-#ifndef MAVLINKSIMULATIONMAV_H
-#define MAVLINKSIMULATIONMAV_H
-
-#include <QObject>
-#include <QTimer>
-
-#include "MAVLinkSimulationLink.h"
-#include "MAVLinkSimulationWaypointPlanner.h"
-
-class MAVLinkSimulationMAV : public QObject
-{
-    Q_OBJECT
-public:
-    explicit MAVLinkSimulationMAV(MAVLinkSimulationLink *parent, int systemid, double lat=47.376389, double lon=8.548056, int version=MAVLINK_VERSION);
-
-signals:
-
-public slots:
-    void mainloop();
-    void handleMessage(const mavlink_message_t& msg);
-
-protected:
-    MAVLinkSimulationLink* link;
-    MAVLinkSimulationWaypointPlanner planner;
-    int systemid;
-    QTimer mainloopTimer;
-    int timer25Hz;
-    int timer10Hz;
-    int timer1Hz;
-    double latitude;
-    double longitude;
-    double altitude;
-    double x;
-    double y;
-    double z;
-    double roll;
-    double pitch;
-    double yaw;
-    double rollspeed;
-    double pitchspeed;
-    double yawspeed;
-
-    bool globalNavigation;
-    bool firstWP;
-
-    double previousSPX;
-    double previousSPY;
-    double previousSPZ;
-    double previousSPYaw;
-
-    double nextSPX;
-    double nextSPY;
-    double nextSPZ;
-    double nextSPYaw;
-    uint8_t sys_mode;
-    uint8_t sys_state;
-    uint8_t nav_mode;
-    bool flying;
-    int mavlink_version;
-
-    // FIXME MAVLINKV10PORTINGNEEDED
-//    static inline uint16_t mavlink_msg_heartbeat_pack_version_free(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, uint8_t autopilot, uint8_t version) {
-//        uint16_t i = 0;
-//        msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
-
-//        i += put_uint8_t_by_index(type, i, msg->payload); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
-//        i += put_uint8_t_by_index(autopilot, i, msg->payload); // Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
-//        i += put_uint8_t_by_index(version, i, msg->payload); // MAVLink version
-
-//        return mavlink_finalize_message(msg, system_id, component_id, i);
-//    }
-
-};
-
-#endif // MAVLINKSIMULATIONMAV_H

src/comm/MAVLinkSimulationWaypointPlanner.h

-#ifndef MAVLINKSIMULATIONWAYPOINTPLANNER_H
-#define MAVLINKSIMULATIONWAYPOINTPLANNER_H
-
-#include <QObject>
-#include <vector>
-
-#include "MAVLinkSimulationLink.h"
-#include "QGCMAVLink.h"
-
-enum PX_WAYPOINTPLANNER_STATES {
-    PX_WPP_IDLE = 0,
-    PX_WPP_SENDLIST,
-    PX_WPP_SENDLIST_SENDWPS,
-    PX_WPP_GETLIST,
-    PX_WPP_GETLIST_GETWPS,
-    PX_WPP_GETLIST_GOTALL
-};
-
-class MAVLinkSimulationWaypointPlanner : public QObject
-{
-    Q_OBJECT
-public:
-    explicit MAVLinkSimulationWaypointPlanner(MAVLinkSimulationLink *parent, int systemid);
-
-signals:
-    void messageSent(const mavlink_message_t& msg);
-
-public slots:
-    void handleMessage(const mavlink_message_t& msg);
-
-protected:
-    MAVLinkSimulationLink* link;
-    bool idle;      				///< indicates if the system is following the waypoints or is waiting
-    uint16_t current_active_wp_id;		///< id of current waypoint
-    bool yawReached;						///< boolean for yaw attitude reached
-    bool posReached;						///< boolean for position reached
-    uint64_t timestamp_lastoutside_orbit;///< timestamp when the MAV was last outside the orbit or had the wrong yaw value
-    uint64_t timestamp_firstinside_orbit;///< timestamp when the MAV was the first time after a waypoint change inside the orbit and had the correct yaw value
-
-    std::vector<mavlink_mission_item_t*> waypoints1;	///< vector1 that holds the waypoints
-    std::vector<mavlink_mission_item_t*> waypoints2;	///< vector2 that holds the waypoints
-
-    std::vector<mavlink_mission_item_t*>* waypoints;		///< pointer to the currently active waypoint vector
-    std::vector<mavlink_mission_item_t*>* waypoints_receive_buffer;	///< pointer to the receive buffer waypoint vector
-    PX_WAYPOINTPLANNER_STATES current_state;
-    uint16_t protocol_current_wp_id;
-    uint16_t protocol_current_count;
-    uint8_t protocol_current_partner_systemid;
-    uint8_t protocol_current_partner_compid;
-    uint64_t protocol_timestamp_lastaction;
-    unsigned int protocol_timeout;
-    uint64_t timestamp_last_send_setpoint;
-    uint8_t systemid;
-    uint8_t compid;
-    unsigned int setpointDelay;
-    float yawTolerance;
-    bool verbose;
-    bool debug;
-    bool silent;
-
-    void send_waypoint_ack(uint8_t target_systemid, uint8_t target_compid, uint8_t type);
-    void send_waypoint_current(uint16_t seq);
-    void send_setpoint(uint16_t seq);
-    void send_waypoint_count(uint8_t target_systemid, uint8_t target_compid, uint16_t count);
-    void send_waypoint(uint8_t target_systemid, uint8_t target_compid, uint16_t seq);
-    void send_waypoint_request(uint8_t target_systemid, uint8_t target_compid, uint16_t seq);
-    void send_waypoint_reached(uint16_t seq);
-    float distanceToSegment(uint16_t seq, float x, float y, float z);
-    float distanceToPoint(uint16_t seq, float x, float y, float z);
-    float distanceToPoint(uint16_t seq, float x, float y);
-    void mavlink_handler(const mavlink_message_t* msg);
-
-};
-
-#endif // MAVLINKSIMULATIONWAYPOINTPLANNER_H

src/comm/MAVLinkSwarmSimulationLink.cc

-#include "MAVLinkSwarmSimulationLink.h"
-
-MAVLinkSwarmSimulationLink::MAVLinkSwarmSimulationLink(QString readFile, QString writeFile, int rate) :
-    MAVLinkSimulationLink(readFile, writeFile, rate)
-{
-}
-
-
-void MAVLinkSwarmSimulationLink::mainloop()
-{
-
-}

src/comm/MAVLinkSwarmSimulationLink.h

-#ifndef MAVLINKSWARMSIMULATIONLINK_H
-#define MAVLINKSWARMSIMULATIONLINK_H
-
-#include "MAVLinkSimulationLink.h"
-
-class MAVLinkSwarmSimulationLink : public MAVLinkSimulationLink
-{
-    Q_OBJECT
-public:
-    MAVLinkSwarmSimulationLink(QString readFile="", QString writeFile="", int rate=5);
-
-signals:
-
-public slots:
-    void mainloop();
-
-};
-
-#endif // MAVLINKSWARMSIMULATIONLINK_H

src/comm/MockLinkMissionItemHandler.h

@@ -29,7 +29,6 @@
 #include <QObject>
 #include <vector>
 
-#include "MAVLinkSimulationLink.h"
 #include "QGCMAVLink.h"
 
 /* Alreedy defined in MAVLinkSimulationLink.h above!

src/ui/MainWindow.cc

@@ -40,7 +40,6 @@ This file is part of the QGROUNDCONTROL project
 #include <QDesktopWidget>
 
 #include "QGC.h"
-#include "MAVLinkSimulationLink.h"
 #include "SerialLink.h"
 #include "MAVLinkProtocol.h"
 #include "QGCWaypointListMulti.h"
@@ -149,7 +148,6 @@ MainWindow::MainWindow(QSplashScreen* splashScreen)
     , _lowPowerMode(false)
     , _showStatusBar(false)
     , _centerStackActionGroup(new QActionGroup(this))
-    , _simulationLink(NULL)
     , _centralLayout(NULL)
     , _currentViewWidget(NULL)
     , _splashScreen(splashScreen)
@@ -346,11 +344,6 @@ MainWindow::MainWindow(QSplashScreen* splashScreen)
 
 MainWindow::~MainWindow()
 {
-    if (_simulationLink)
-    {
-        delete _simulationLink;
-        _simulationLink = NULL;
-    }
 #ifndef __android__
     if (joystick)
     {
@@ -857,8 +850,6 @@ void MainWindow::connectCommonActions()
     // Application Settings
     connect(_ui.actionSettings, SIGNAL(triggered()), this, SLOT(showSettings()));
 
-    connect(_ui.actionSimulate, SIGNAL(triggered(bool)), this, SLOT(simulateLink(bool)));
-
     // Update Tool Bar
     _mainToolBar->setCurrentView(_currentView);
 }
@@ -904,19 +895,6 @@ void MainWindow::showSettings()
     settings.exec();
 }
 
-void MainWindow::simulateLink(bool simulate) {
-    if (simulate) {
-        if (!_simulationLink) {
-            _simulationLink = new MAVLinkSimulationLink(":/demo-log.txt");
-            Q_CHECK_PTR(_simulationLink);
-        }
-        LinkManager::instance()->connectLink(_simulationLink);
-    } else {
-        Q_ASSERT(_simulationLink);
-        LinkManager::instance()->disconnectLink(_simulationLink);
-    }
-}
-
 void MainWindow::commsWidgetDestroyed(QObject *obj)
 {
     // Do not dynamic cast or de-reference QObject, since object is either in destructor or may have already

src/ui/MainWindow.h

@@ -47,7 +47,6 @@ This file is part of the QGROUNDCONTROL project
 #include "WaypointList.h"
 #include "CameraView.h"
 #include "UASListWidget.h"
-#include "MAVLinkSimulationLink.h"
 #ifndef __android__
 #include "input/JoystickInput.h"
 #endif
@@ -145,8 +144,6 @@ public:
 public slots:
     /** @brief Show the application settings */
     void showSettings();
-    /** @brief Simulate a link */
-    void simulateLink(bool simulate);
 
     /** @brief Add a new UAS */
     void UASCreated(UASInterface* uas);
@@ -292,7 +289,6 @@ protected:
     QAction* returnUASAct;
     QAction* stopUASAct;
     QAction* killUASAct;
-    QAction* simulateUASAct;
 
 
     LogCompressor* comp;
@@ -366,7 +362,6 @@ private:
     bool                    _lowPowerMode;           ///< If enabled, QGC reduces the update rates of all widgets
     bool                    _showStatusBar;
     QActionGroup*           _centerStackActionGroup;
-    MAVLinkSimulationLink*  _simulationLink;
     QVBoxLayout*            _centralLayout;
     QList<QObject*>         _commsWidgetList;
     QWidget*                _currentViewWidget;     ///< Currently displayed view widget

src/ui/MainWindow.ui

@@ -101,7 +101,6 @@
     <addaction name="actionTerminalView"/>
     <addaction name="actionSimulationView"/>
     <addaction name="separator"/>
-    <addaction name="actionSimulate"/>
     <addaction name="separator"/>
     <addaction name="menuTools"/>
    </widget>
@@ -170,17 +169,6 @@
     <string>Manage Communication Links</string>
    </property>
   </action>
-  <action name="actionSimulate">
-   <property name="checkable">
-    <bool>true</bool>
-   </property>
-   <property name="text">
-    <string>Simulate</string>
-   </property>
-   <property name="toolTip">
-    <string>Simulate one vehicle to test and evaluate this application</string>
-   </property>
-  </action>
   <action name="actionOnline_Documentation">
    <property name="text">
     <string>Online Documentation</string>

src/ui/QGCMAVLinkLogPlayer.cc

@@ -317,7 +317,8 @@ bool QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
     if (logLink) {
         LinkManager::instance()->_deleteLink(logLink);
     }
-    logLink = new MAVLinkSimulationLink("");
+    logLink = new MockLink();
+    LinkManager::instance()->_addLink(logLink);
 
     // Select if binary or MAVLink log format is used
     mavlinkLogFormat = file.endsWith(".mavlink");

src/ui/QGCMAVLinkLogPlayer.h

@@ -6,7 +6,7 @@
 
 #include "MAVLinkProtocol.h"
 #include "LinkInterface.h"
-#include "MAVLinkSimulationLink.h"
+#include "MockLink.h"
 
 namespace Ui
 {
@@ -67,7 +67,7 @@ protected:
     quint64 logEndTime;            ///< The last timestamp in the current log file. In units of microseconds since epoch UTC.
     float accelerationFactor;
     MAVLinkProtocol* mavlink;
-    MAVLinkSimulationLink* logLink;
+    MockLink* logLink;
     QFile logFile;
     QTimer loopTimer;
     int loopCounter;

src/ui/uas/QGCUnconnectedInfoWidget.cc

 #include "QGCUnconnectedInfoWidget.h"
 #include "LinkInterface.h"
 #include "LinkManager.h"
-#include "MAVLinkSimulationLink.h"
 #include "MainWindow.h"
 #include "ui_QGCUnconnectedInfoWidget.h"
 
@@ -24,15 +23,6 @@ QGCUnconnectedInfoWidget::~QGCUnconnectedInfoWidget()
  */
 void QGCUnconnectedInfoWidget::simulate()
 {
-    // TODO What is this?
-    // Try to get reference to MAVLinkSimulationlink
-    QList<LinkInterface*> links = LinkManager::instance()->getLinks();
-    foreach(LinkInterface* link, links) {
-        MAVLinkSimulationLink* sim = dynamic_cast<MAVLinkSimulationLink*>(link);
-        if (sim) {
-            LinkManager::instance()->connectLink(sim);
-        }
-    }
 }
 
 /**

src/ui/uas/UASListWidget.cc

@@ -41,7 +41,6 @@ This file is part of the PIXHAWK project
 #include "UASView.h"
 #include "QGCUnconnectedInfoWidget.h"
 #include "MainWindow.h"
-#include "MAVLinkSimulationLink.h"
 #include "LinkManager.h"
 
 UASListWidget::UASListWidget(QWidget *parent) : QWidget(parent),