Mock implementation of a Link

Handy for testing without a real board

qgroundcontrol.pro

@@ -662,12 +662,16 @@ SOURCES += \
 
 DebugBuild|WindowsDebugAndRelease {
 
+DEFINES += UNITTEST_BUILD
+
 INCLUDEPATH += \
 	src/qgcunittest
 
 HEADERS += \
 	src/qgcunittest/AutoTest.h \
 	src/qgcunittest/UASUnitTest.h \
+    src/qgcunittest/MockLink.h \
+    src/qgcunittest/MockLinkMissionItemHandler.h \
 	src/qgcunittest/MockUASManager.h \
 	src/qgcunittest/MockUAS.h \
 	src/qgcunittest/MockQGCUASParamManager.h \
@@ -682,6 +686,8 @@ HEADERS += \
 
 SOURCES += \
 	src/qgcunittest/UASUnitTest.cc \
+    src/qgcunittest/MockLink.cc \
+    src/qgcunittest/MockLinkMissionItemHandler.cc \
 	src/qgcunittest/MockUASManager.cc \
 	src/qgcunittest/MockUAS.cc \
 	src/qgcunittest/MockQGCUASParamManager.cc \

qgroundcontrol.qrc

@@ -228,4 +228,7 @@
     <qresource prefix="/general">
         <file alias="vera.ttf">files/styles/Vera.ttf</file>
     </qresource>
+    <qresource prefix="/unittest">
+        <file alias="MockLink.param">src/qgcunittest/MockLink.param</file>
+    </qresource>
 </RCC>

src/qgcunittest/MockLink.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 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/>.
+ 
+ ======================================================================*/
+
+#ifndef MOCKLINK_H
+#define MOCKLINK_H
+
+#include <QMap>
+
+#include "MockLinkMissionItemHandler.h"
+#include "LinkInterface.h"
+#include "mavlink.h"
+
+/// @file
+///     @brief Mock implementation of a Link.
+///
+///     @author Don Gagne <don@thegagnes.com>
+
+class MockLink : public LinkInterface
+{
+    Q_OBJECT
+    
+public:
+    MockLink(void);
+    ~MockLink(void);
+    
+    // Virtuals from LinkInterface
+    virtual int getId(void) const { return _linkId; }
+    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 bool connect(void);
+    virtual bool disconnect(void);
+    virtual qint64 bytesAvailable(void) { return 0; }
+    
+signals:
+    void error(const QString& errorMsg);
+    
+    /// @brief Used internally to move data to the thread.
+    void _incomingBytes(const QByteArray bytes);
+    
+public slots:
+    virtual void writeBytes(const char *bytes, qint64 cBytes);
+    
+protected slots:
+    // FIXME: This should not be part of LinkInterface. It is an internal link implementation detail.
+    virtual void readBytes(void);
+    
+private slots:
+    void _run1HzTasks(void);
+    void _run10HzTasks(void);
+    void _run50HzTasks(void);
+    
+private:
+    // QThread override
+    virtual void run(void);
+    
+    // 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 _errorInvalidTargetSystem(int targetId);
+    void _emitMavlinkMessage(const mavlink_message_t& msg);
+    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);
+    void _handleMissionRequestList(const mavlink_message_t& msg);
+    void _handleMissionRequest(const mavlink_message_t& msg);
+    void _handleMissionItem(const mavlink_message_t& msg);
+    
+    MockLinkMissionItemHandler* _missionItemHandler;
+    
+    int     _linkId;
+    QString _name;
+    bool    _connected;
+    
+    uint8_t _vehicleSystemId;
+    uint8_t _vehicleComponentId;
+    
+    bool    _inNSH;
+    bool    _mavlinkStarted;
+    
+    typedef QMap<QString, QVariant> ParamMap_t;
+    ParamMap_t  _parameters;
+    uint16_t    _cParameters;
+    
+    typedef QMap<uint16_t, mavlink_mission_item_t>   MissionList_t;
+    MissionList_t   _missionItems;
+    
+    uint8_t _mavMode;
+    uint8_t _mavState;
+};
+
+#endif

src/qgcunittest/MockLinkMissionItemHandler.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 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/>.
+ 
+ ======================================================================*/
+
+#ifndef MOCKLINKMISSIONITEMHANDLER_H
+#define MOCKLINKMISSIONITEMHANDLER_H
+
+// FIXME: This file is a work in progress
+
+#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 MockLinkMissionItemHandler : public QObject
+{
+    Q_OBJECT
+    
+public:
+    MockLinkMissionItemHandler(uint16_t systemId, QObject* parent = NULL);
+    
+    /// @brief Called to handle mission item related messages. All messages should be passed to this method.
+    ///         It will handle the appropriate set.
+    void handleMessage(const mavlink_message_t& msg);
+
+#if 0
+signals:
+    void messageSent(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
+    
+private:
+    uint16_t _vehicleSystemId;  ///< System id of this vehicle
+    
+    QList<mavlink_mission_item_t>   _missionItems;  ///< Current set of mission itemss
+
+};
+
+#endif // MAVLINKSIMULATIONWAYPOINTPLANNER_H

src/ui/CommConfigurationWindow.cc

@@ -42,6 +42,9 @@ This file is part of the QGROUNDCONTROL project
 #include "UDPLink.h"
 #include "TCPLink.h"
 #include "MAVLinkSimulationLink.h"
+#ifdef UNITTEST_BUILD
+#include "MockLink.h"
+#endif
 #ifdef QGC_XBEE_ENABLED
 #include "XbeeLink.h"
 #include "XbeeConfigurationWindow.h"
@@ -85,10 +88,15 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
     ui.linkType->addItem(tr("Serial"), QGC_LINK_SERIAL);
     ui.linkType->addItem(tr("UDP"), QGC_LINK_UDP);
     ui.linkType->addItem(tr("TCP"), QGC_LINK_TCP);
+    
     if(dynamic_cast<MAVLinkSimulationLink*>(link)) {
         //Only show simulation option if already setup elsewhere as a simulation
         ui.linkType->addItem(tr("Simulation"), QGC_LINK_SIMULATION);
     }
+    
+#ifdef UNITTEST_BUILD
+    ui.linkType->addItem(tr("Mock"), QGC_LINK_MOCK);
+#endif
 
 #ifdef QGC_RTLAB_ENABLED
     ui.linkType->addItem(tr("Opal-RT Link"), QGC_LINK_OPAL);
@@ -144,6 +152,7 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
         ui.linkGroupBox->setTitle(tr("Serial Link"));
         ui.linkType->setCurrentIndex(ui.linkType->findData(QGC_LINK_SERIAL));
     }
+    
     UDPLink* udp = dynamic_cast<UDPLink*>(link);
     if (udp != 0) {
         QWidget* conf = new QGCUDPLinkConfiguration(udp, this);
@@ -151,6 +160,7 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
         ui.linkGroupBox->setTitle(tr("UDP Link"));
         ui.linkType->setCurrentIndex(ui.linkType->findData(QGC_LINK_UDP));
     }
+    
     TCPLink* tcp = dynamic_cast<TCPLink*>(link);
     if (tcp != 0) {
         QWidget* conf = new QGCTCPLinkConfiguration(tcp, this);
@@ -158,12 +168,22 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
         ui.linkGroupBox->setTitle(tr("TCP Link"));
         ui.linkType->setCurrentIndex(ui.linkType->findData(QGC_LINK_TCP));
     }
+    
     MAVLinkSimulationLink* sim = dynamic_cast<MAVLinkSimulationLink*>(link);
     if (sim != 0) {
         ui.linkType->setCurrentIndex(ui.linkType->findData(QGC_LINK_SIMULATION));
         ui.linkType->setEnabled(false); //Don't allow the user to change to a non-simulation
         ui.linkGroupBox->setTitle(tr("MAVLink Simulation Link"));
     }
+    
+#ifdef UNITTEST_BUILD
+    MockLink* mock = dynamic_cast<MockLink*>(link);
+    if (mock != 0) {
+        ui.linkGroupBox->setTitle(tr("Mock Link"));
+        ui.linkType->setCurrentIndex(ui.linkType->findData(QGC_LINK_MOCK));
+    }
+#endif
+    
 #ifdef QGC_RTLAB_ENABLED
     OpalLink* opal = dynamic_cast<OpalLink*>(link);
     if (opal != 0) {
@@ -175,6 +195,7 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
         ui.linkGroupBox->setTitle(tr("Opal-RT Link"));
     }
 #endif
+    
 #ifdef QGC_XBEE_ENABLED
 	XbeeLink* xbee = dynamic_cast<XbeeLink*>(link); // new Konrad
 	if(xbee != 0)
@@ -187,7 +208,11 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
 		connect(xbee,SIGNAL(tryConnectEnd(bool)),ui.actionConnect,SLOT(setEnabled(bool)));
 	}
 #endif // QGC_XBEE_ENABLED
+    
     if (serial == 0 && udp == 0 && sim == 0 && tcp == 0
+#ifdef UNITTEST_BUILD
+            && mock == 0
+#endif
 #ifdef QGC_RTLAB_ENABLED
             && opal == 0
 #endif
@@ -258,6 +283,7 @@ void CommConfigurationWindow::setLinkType(qgc_link_t linktype)
 				break;
 			}
 #endif // QGC_XBEE_ENABLED
+            
         case QGC_LINK_UDP:
 			{
 				UDPLink *udp = new UDPLink();
@@ -283,9 +309,18 @@ void CommConfigurationWindow::setLinkType(qgc_link_t linktype)
 				break;
 			}
 #endif // QGC_RTLAB_ENABLED
+            
+#ifdef UNITTEST_BUILD
+        case QGC_LINK_MOCK:
+        {
+            MockLink* mock = new MockLink;
+            tmpLink = mock;
+            MainWindow::instance()->addLink(tmpLink);
+            break;
+        }
+#endif
+            
 		default:
-			{
-			}
         case QGC_LINK_SERIAL:
 			{
 				SerialLink *serial = new SerialLink();

src/ui/CommConfigurationWindow.h

@@ -45,6 +45,9 @@ enum qgc_link_t {
     QGC_LINK_TCP,
     QGC_LINK_SIMULATION,
     QGC_LINK_FORWARDING,
+#ifdef UNITTEST_BUILD
+    QGC_LINK_MOCK,
+#endif
 #ifdef QGC_XBEE_ENABLED
     QGC_LINK_XBEE,
 #endif