MockLink support APM, Generic

QGCApplication.pro

@@ -166,6 +166,7 @@ FORMS += \
     src/ui/LogReplayLinkConfigurationWidget.ui \
     src/ui/MainWindow.ui \
     src/ui/MAVLinkSettingsWidget.ui \
+    src/ui/MockLinkConfiguration.ui \
     src/ui/QGCCommConfiguration.ui \
     src/ui/QGCLinkConfiguration.ui \
     src/ui/QGCMapRCToParamDialog.ui \
@@ -257,6 +258,7 @@ HEADERS += \
     src/ui/MainWindow.h \
     src/ui/MAVLinkDecoder.h \
     src/ui/MAVLinkSettingsWidget.h \
+    src/ui/MockLinkConfiguration.h \
     src/ui/QGCCommConfiguration.h \
     src/ui/QGCLinkConfiguration.h \
     src/ui/QGCMapRCToParamDialog.h \
@@ -368,6 +370,7 @@ SOURCES += \
     src/ui/MainWindow.cc \
     src/ui/MAVLinkDecoder.cc \
     src/ui/MAVLinkSettingsWidget.cc \
+    src/ui/MockLinkConfiguration.cc \
     src/ui/QGCCommConfiguration.cc \
     src/ui/QGCLinkConfiguration.cc \
     src/ui/QGCMapRCToParamDialog.cpp \

src/comm/LinkManager.cc

@@ -438,7 +438,7 @@ void LinkManager::loadLinkConfigurationList()
     
     // Debug buids always add MockLink automatically
 #ifdef QT_DEBUG
-    MockConfiguration* pMock = new MockConfiguration("Mock Link");
+    MockConfiguration* pMock = new MockConfiguration("Mock Link PX4");
     pMock->setDynamic(true);
     addLinkConfiguration(pMock);
     linksChanged = true;

src/comm/MockLink.cc

@@ -71,6 +71,8 @@ float MockLink::_vehicleLatitude =  47.633033f;
 float MockLink::_vehicleLongitude = -122.08794f;
 float MockLink::_vehicleAltitude =  2.5f;
 
+const char* MockConfiguration::_firmwareTypeKey = "FirmwareType";
+
 MockLink::MockLink(MockConfiguration* config)
     : _missionItemHandler(this)
     , _name("MockLink")
@@ -85,6 +87,10 @@ MockLink::MockLink(MockConfiguration* config)
     , _fileServer(NULL)
 {
     _config = config;
+    if (_config) {
+        _autopilotType = config->firmwareType();
+    }
+
     union px4_custom_mode   px4_cm;
 
     px4_cm.data = 0;
@@ -740,3 +746,51 @@ void MockLink::_sendGpsRawInt(void)
                                  8);                                    // satellite count
     respondWithMavlinkMessage(msg);
 }
+
+MockConfiguration::MockConfiguration(const QString& name)
+    : LinkConfiguration(name)
+    , _firmwareType(MAV_AUTOPILOT_PX4)
+{
+
+}
+
+MockConfiguration::MockConfiguration(MockConfiguration* source)
+    : LinkConfiguration(source)
+{
+    _firmwareType = source->_firmwareType;
+}
+
+void MockConfiguration::copyFrom(LinkConfiguration *source)
+{
+    LinkConfiguration::copyFrom(source);
+    MockConfiguration* usource = dynamic_cast<MockConfiguration*>(source);
+    Q_ASSERT(usource != NULL);
+    _firmwareType = usource->_firmwareType;
+}
+
+void MockConfiguration::saveSettings(QSettings& settings, const QString& root)
+{
+    settings.beginGroup(root);
+    settings.setValue(_firmwareTypeKey, (int)_firmwareType);
+    settings.sync();
+    settings.endGroup();
+}
+
+void MockConfiguration::loadSettings(QSettings& settings, const QString& root)
+{
+    settings.beginGroup(root);
+    _firmwareType = (MAV_AUTOPILOT)settings.value(_firmwareTypeKey, (int)MAV_AUTOPILOT_PX4).toInt();
+    settings.endGroup();
+}
+
+void MockConfiguration::updateSettings()
+{
+    if (_link) {
+        MockLink* ulink = dynamic_cast<MockLink*>(_link);
+        if (ulink) {
+            // Restart connect not supported
+            Q_ASSERT(false);
+            //ulink->_restartConnection();
+        }
+    }
+}

src/comm/MockLink.h

@@ -35,22 +35,26 @@
 Q_DECLARE_LOGGING_CATEGORY(MockLinkLog)
 Q_DECLARE_LOGGING_CATEGORY(MockLinkVerboseLog)
 
-/// @file
-///     @brief Mock implementation of a Link.
-///
-///     @author Don Gagne <don@thegagnes.com>
-
 class MockConfiguration : public LinkConfiguration
 {
 public:
+    MockConfiguration(const QString& name);
+    MockConfiguration(MockConfiguration* source);
+
+    MAV_AUTOPILOT firmwareType(void) { return _firmwareType; }
+    void setFirmwareType(MAV_AUTOPILOT firmwareType) { _firmwareType = firmwareType; }
+
+    // Overrides from LinkConfiguration
+    int  type(void) { return LinkConfiguration::TypeMock; }
+    void copyFrom(LinkConfiguration* source);
+    void loadSettings(QSettings& settings, const QString& root);
+    void saveSettings(QSettings& settings, const QString& root);
+    void updateSettings(void);
+
+private:
+    MAV_AUTOPILOT _firmwareType;
 
-    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() {}
+    static const char* _firmwareTypeKey;
 };
 
 class MockLink : public LinkInterface

src/ui/MockLinkConfiguration.cc

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2015 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/>.
+
+======================================================================*/
+
+#include "MockLinkConfiguration.h"
+#include "ui_MockLinkConfiguration.h"
+
+MockLinkConfiguration::MockLinkConfiguration(MockConfiguration *config, QWidget *parent)
+    : QWidget(parent)
+    , _ui(new Ui::MockLinkConfiguration)
+    , _config(config)
+{
+    _ui->setupUi(this);
+
+    switch (config->firmwareType()) {
+        case MAV_AUTOPILOT_PX4:
+            _ui->px4Radio->setChecked(true);
+            break;
+        case MAV_AUTOPILOT_ARDUPILOTMEGA:
+            _ui->apmRadio->setChecked(true);
+            break;
+        default:
+            _ui->genericRadio->setChecked(true);
+            break;
+    }
+
+    connect(_ui->px4Radio,      &QRadioButton::clicked, this, &MockLinkConfiguration::_px4RadioClicked);
+    connect(_ui->apmRadio,      &QRadioButton::clicked, this, &MockLinkConfiguration::_apmRadioClicked);
+    connect(_ui->genericRadio,  &QRadioButton::clicked, this, &MockLinkConfiguration::_genericRadioClicked);
+}
+
+MockLinkConfiguration::~MockLinkConfiguration()
+{
+    delete _ui;
+}
+
+void MockLinkConfiguration::_px4RadioClicked(bool checked)
+{
+    if (checked) {
+        _config->setFirmwareType(MAV_AUTOPILOT_PX4);
+    }
+}
+
+void MockLinkConfiguration::_apmRadioClicked(bool checked)
+{
+    if (checked) {
+        _config->setFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA);
+    }
+}
+
+void MockLinkConfiguration::_genericRadioClicked(bool checked)
+{
+    if (checked) {
+        _config->setFirmwareType(MAV_AUTOPILOT_GENERIC);
+    }
+}

src/ui/MockLinkConfiguration.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2015 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 MockLinkConfiguration_H
+#define MockLinkConfiguration_H
+
+#include <QWidget>
+
+#include "MockLink.h"
+
+namespace Ui
+{
+class MockLinkConfiguration;
+}
+
+class MockLinkConfiguration : public QWidget
+{
+    Q_OBJECT
+public:
+    explicit MockLinkConfiguration(MockConfiguration *config, QWidget *parent = 0);
+    ~MockLinkConfiguration();
+
+private slots:
+    void _px4RadioClicked(bool checked);
+    void _apmRadioClicked(bool checked);
+    void _genericRadioClicked(bool checked);
+
+private:
+    Ui::MockLinkConfiguration*  _ui;
+    MockConfiguration*          _config;
+};
+
+#endif // MockLinkConfiguration_H

src/ui/MockLinkConfiguration.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MockLinkConfiguration</class>
+ <widget class="QWidget" name="MockLinkConfiguration">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>187</width>
+    <height>116</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout_2">
+   <item>
+    <widget class="QRadioButton" name="px4Radio">
+     <property name="text">
+      <string>PX4 Firmware</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QRadioButton" name="apmRadio">
+     <property name="text">
+      <string>APM Firmware</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QRadioButton" name="genericRadio">
+     <property name="text">
+      <string>Generic Firmware</string>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/QGCCommConfiguration.cc

@@ -36,6 +36,7 @@ This file is part of the QGROUNDCONTROL project
 #endif
 #include "QGCUDPLinkConfiguration.h"
 #include "QGCTCPLinkConfiguration.h"
+#include "MockLinkConfiguration.h"
 #include "LogReplayLinkConfigurationWidget.h"
 #include "QGCCommConfiguration.h"
 #include "ui_QGCCommConfiguration.h"
@@ -151,7 +152,8 @@ void QGCCommConfiguration::_loadTypeConfigWidget(int type)
             break;
 #ifdef QT_DEBUG
         case LinkConfiguration::TypeMock: {
-            _ui->linkScrollArea->setWidget(NULL);
+            QWidget* conf = new MockLinkConfiguration((MockConfiguration*)_config, this);
+            _ui->linkScrollArea->setWidget(conf);
             _ui->linkGroupBox->setTitle(tr("Mock Link"));
             _ui->typeCombo->setCurrentIndex(_ui->typeCombo->findData(LinkConfiguration::TypeMock));
         }