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qgroundcontrol
Commit e0da3a72 authored by Pritam Ghanghas's avatar Pritam Ghanghas
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Merge remote-tracking branch 'origin/master' into apmseveritybugfix 

Conflicts:
	src/FirmwarePlugin/APM/APMFirmwarePlugin.h
parents 95b85aca e100631f
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Showing with 856 additions and 159 deletions
.appveyor.yml
View file @ e0da3a72
......@@ -14,8 +14,8 @@ install:
- cinst nsis -y -installArgs /D="%programfiles(x86)%\NSIS"
build_script:
- C:\Qt\5.4\msvc2013_opengl\bin\qmake -r CONFIG-=debug_and_release CONFIG+=%CONFIG% CONFIG+=WarningsAsErrorsOn qgroundcontrol.pro
- jom -j 4
- C:\Qt\5.4\msvc2013_opengl\bin\qmake -r CONFIG-=debug_and_release CONFIG+=%CONFIG% CONFIG+=WarningsAsErrorsOn CONFIG+=jombuild qgroundcontrol.pro
- jom
test_script:
- if "%CONFIG%" EQU "debug" ( debug\qgroundcontrol --unittest )
......
QGCCommon.pri
View file @ e0da3a72
......@@ -168,8 +168,11 @@ WindowsBuild {
DEFINES += __STDC_LIMIT_MACROS
# Specify multi-process compilation within Visual Studio.
# (drastically improves compilation times for multi-core computers)
QMAKE_CXXFLAGS_DEBUG += -MP
QMAKE_CXXFLAGS_RELEASE += -MP
!jombuild {
message("When using jom/QtCreator please add CONFIG+=jombuild to your project build settings")
QMAKE_CXXFLAGS_DEBUG += -MP
QMAKE_CXXFLAGS_RELEASE += -MP
}
}
#
......
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
View file @ e0da3a72
......@@ -321,3 +321,15 @@ void APMFirmwarePlugin::_adjustSeverity(mavlink_message_t* message) const
mavlink_msg_statustext_encode(message->sysid, message->compid, message, &statusText);
}
void APMFirmwarePlugin::initializeVehicle(Vehicle* vehicle)
{
// Streams are not started automatically on APM stack
vehicle->requestDataStream(MAV_DATA_STREAM_RAW_SENSORS, 2);
vehicle->requestDataStream(MAV_DATA_STREAM_EXTENDED_STATUS, 2);
vehicle->requestDataStream(MAV_DATA_STREAM_RC_CHANNELS, 2);
vehicle->requestDataStream(MAV_DATA_STREAM_POSITION, 3);
vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA1, 10);
vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA2, 10);
vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA3, 3);
}
src/FirmwarePlugin/APM/APMFirmwarePlugin.h
View file @ e0da3a72
......@@ -62,15 +62,15 @@ class APMFirmwarePlugin : public FirmwarePlugin
public:
// Overrides from FirmwarePlugin
virtual bool isCapable(FirmwareCapabilities capabilities);
virtual QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle);
virtual QStringList flightModes(void);
virtual QString flightMode(uint8_t base_mode, uint32_t custom_mode);
virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode);
virtual int manualControlReservedButtonCount(void);
virtual void adjustMavlinkMessage(mavlink_message_t *message);
virtual void adjustMavlinkMessage(mavlink_message_t* message);
virtual void initializeVehicle(Vehicle* vehicle);
private:
/// All access to singleton is through AutoPilotPluginManager::instance
APMFirmwarePlugin(QObject* parent = NULL);
......
src/FirmwarePlugin/FirmwarePlugin.h
View file @ e0da3a72
......@@ -35,6 +35,8 @@
#include <QList>
#include <QString>
class Vehicle;
/// This is the base class for Firmware specific plugins
///
/// The FirmwarePlugin class is the abstract base class which represents the methods and objects
......@@ -92,6 +94,9 @@ public:
/// @param message[in,out] Mavlink message to adjust if needed.
virtual void adjustMavlinkMessage(mavlink_message_t* message) = 0;
/// Called when Vehicle is first created to send any necessary mavlink messages to the firmware.
virtual void initializeVehicle(Vehicle* vehicle) = 0;
protected:
FirmwarePlugin(QObject* parent = NULL) : QGCSingleton(parent) { }
};
......
src/FirmwarePlugin/Generic/GenericFirmwarePlugin.cc
View file @ e0da3a72
......@@ -103,3 +103,10 @@ void GenericFirmwarePlugin::adjustMavlinkMessage(mavlink_message_t* message)
// Generic plugin does no message adjustment
}
void GenericFirmwarePlugin::initializeVehicle(Vehicle* vehicle)
{
Q_UNUSED(vehicle);
// Generic Flight Stack is by definition "generic", so no extra work
}
src/FirmwarePlugin/Generic/GenericFirmwarePlugin.h
View file @ e0da3a72
......@@ -45,6 +45,7 @@ public:
virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode);
virtual int manualControlReservedButtonCount(void);
virtual void adjustMavlinkMessage(mavlink_message_t* message);
virtual void initializeVehicle(Vehicle* vehicle);
private:
/// All access to singleton is through AutoPilotPluginManager::instance
......
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
View file @ e0da3a72
......@@ -193,3 +193,10 @@ bool PX4FirmwarePlugin::isCapable(FirmwareCapabilities capabilities)
{
return (capabilities & (MavCmdPreflightStorageCapability | SetFlightModeCapability)) == capabilities;
}
void PX4FirmwarePlugin::initializeVehicle(Vehicle* vehicle)
{
Q_UNUSED(vehicle);
// PX4 Flight Stack doesn't need to do any extra work
}
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
View file @ e0da3a72
......@@ -45,6 +45,7 @@ public:
virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode);
virtual int manualControlReservedButtonCount(void);
virtual void adjustMavlinkMessage(mavlink_message_t* message);
virtual void initializeVehicle(Vehicle* vehicle);
private:
/// All access to singleton is through AutoPilotPluginManager::instance
......
src/MissionManager/MissionManager.cc
View file @ e0da3a72
This diff is collapsed.
src/MissionManager/MissionManager.h
View file @ e0da3a72
......@@ -67,12 +67,28 @@ public:
/// Returns a copy of the current set of mission items. Caller is responsible for
/// freeing returned object.
QmlObjectListModel* copyMissionItems(void);
/// Error codes returned in error signal
typedef enum {
InternalError,
AckTimeoutError, ///< Timed out waiting for response from vehicle
ProtocolOrderError, ///< Incorrect protocol sequence from vehicle
RequestRangeError, ///< Vehicle requested item out of range
ItemMismatchError, ///< Vehicle returned item with seq # different than requested
VehicleError, ///< Vehicle returned error
MissingRequestsError, ///< Vehicle did not request all items during write sequence
} ErrorCode_t;
// These values are public so the unit test can set appropriate signal wait times
static const int _ackTimeoutMilliseconds= 2000;
static const int _maxRetryCount = 5;
signals:
// Public signals
void canEditChanged(bool canEdit);
void newMissionItemsAvailable(void);
void inProgressChanged(bool inProgress);
void error(int errorCode, const QString& errorMsg);
private slots:
void _mavlinkMessageReceived(const mavlink_message_t& message);
......@@ -86,7 +102,7 @@ private:
AckMissionRequest, ///< MISSION_REQUEST is expected, or MISSION_ACK to end sequence
} AckType_t;
void _startAckTimeout(AckType_t ack, const mavlink_message_t& message);
void _startAckTimeout(AckType_t ack);
bool _stopAckTimeout(AckType_t expectedAck);
void _sendTransactionComplete(void);
void _handleMissionCount(const mavlink_message_t& message);
......@@ -95,6 +111,10 @@ private:
void _handleMissionAck(const mavlink_message_t& message);
void _requestNextMissionItem(int sequenceNumber);
void _clearMissionItems(void);
void _sendError(ErrorCode_t errorCode, const QString& errorMsg);
void _retryWrite(void);
void _retryRead(void);
bool _retrySequence(AckType_t ackType);
private:
Vehicle* _vehicle;
......@@ -104,7 +124,6 @@ private:
QTimer* _ackTimeoutTimer;
AckType_t _retryAck;
mavlink_message_t _retryMessage;
int _retryCount;
int _expectedSequenceNumber;
......@@ -112,9 +131,6 @@ private:
QMutex _dataMutex;
QmlObjectListModel _missionItems;
static const int _ackTimeoutMilliseconds= 1000;
static const int _maxRetryCount = 5;
};
#endif
\ No newline at end of file
src/MissionManager/MissionManagerTest.cc
View file @ e0da3a72
This diff is collapsed.
src/MissionManager/MissionManagerTest.h
View file @ e0da3a72
......@@ -40,12 +40,16 @@ private slots:
void init(void);
void cleanup(void);
void _readEmptyVehicle(void);
void _roundTripItems(void);
void _testReadFailureHandling(void);
private:
void _checkInProgressValues(bool inProgress);
void _roundTripItems(MockLinkMissionItemHandler::FailureMode_t failureMode, MissionManager::ErrorCode_t errorCode, bool failFirstTimeOnly);
void _writeItems(MockLinkMissionItemHandler::FailureMode_t failureMode, MissionManager::ErrorCode_t errorCode, bool failFirstTimeOnly);
void _readEmptyVehicle(void);
void _testWriteFailureHandling(void);
MockLink* _mockLink;
MissionManager* _missionManager;
......@@ -53,6 +57,7 @@ private:
canEditChangedSignalIndex = 0,
newMissionItemsAvailableSignalIndex,
inProgressChangedSignalIndex,
errorSignalIndex,
maxSignalIndex
};
......@@ -60,6 +65,7 @@ private:
canEditChangedSignalMask = 1 << canEditChangedSignalIndex,
newMissionItemsAvailableSignalMask = 1 << newMissionItemsAvailableSignalIndex,
inProgressChangedSignalMask = 1 << inProgressChangedSignalIndex,
errorSignalMask = 1 << errorSignalIndex,
};
MultiSignalSpy* _multiSpy;
......@@ -85,6 +91,7 @@ private:
} TestCase_t;
static const TestCase_t _rgTestCases[];
static const int _signalWaitTime = MissionManager::_ackTimeoutMilliseconds * MissionManager::_maxRetryCount * 2;
};
#endif
src/Vehicle/Vehicle.cc
View file @ e0da3a72
......@@ -85,9 +85,11 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
, _satelliteLock(0)
, _wpm(NULL)
, _updateCount(0)
, _missionManager(NULL)
, _armed(false)
, _base_mode(0)
, _custom_mode(0)
, _nextSendMessageMultipleIndex(0)
{
_addLink(link);
......@@ -160,10 +162,18 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
if (qgcApp()->useNewMissionEditor()) {
_missionManager = new MissionManager(this);
}
_firmwarePlugin->initializeVehicle(this);
_sendMultipleTimer.start(_sendMessageMultipleIntraMessageDelay);
connect(&_sendMultipleTimer, &QTimer::timeout, this, &Vehicle::_sendMessageMultipleNext);
}
Vehicle::~Vehicle()
{
delete _missionManager;
_missionManager = NULL;
// Stop listening for system messages
disconnect(UASMessageHandler::instance(), &UASMessageHandler::textMessageCountChanged, this, &Vehicle::_handleTextMessage);
// Disconnect any previously connected active MAV
......@@ -1065,3 +1075,49 @@ bool Vehicle::missingParameters(void)
{
return _autopilotPlugin->missingParameters();
}
void Vehicle::requestDataStream(MAV_DATA_STREAM stream, uint16_t rate)
{
mavlink_message_t msg;
mavlink_request_data_stream_t dataStream;
dataStream.req_stream_id = stream;
dataStream.req_message_rate = rate;
dataStream.start_stop = 1; // start
dataStream.target_system = id();
dataStream.target_component = 0;
mavlink_msg_request_data_stream_encode(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, &dataStream);
// We use sendMessageMultiple since we really want these to make it to the vehicle
sendMessageMultiple(msg);
}
void Vehicle::_sendMessageMultipleNext(void)
{
if (_nextSendMessageMultipleIndex < _sendMessageMultipleList.count()) {
qCDebug(VehicleLog) << "_sendMessageMultipleNext:" << _sendMessageMultipleList[_nextSendMessageMultipleIndex].message.msgid;
sendMessage(_sendMessageMultipleList[_nextSendMessageMultipleIndex].message);
if (--_sendMessageMultipleList[_nextSendMessageMultipleIndex].retryCount <= 0) {
_sendMessageMultipleList.removeAt(_nextSendMessageMultipleIndex);
} else {
_nextSendMessageMultipleIndex++;
}
}
if (_nextSendMessageMultipleIndex >= _sendMessageMultipleList.count()) {
_nextSendMessageMultipleIndex = 0;
}
}
void Vehicle::sendMessageMultiple(mavlink_message_t message)
{
SendMessageMultipleInfo_t info;
info.message = message;
info.retryCount = _sendMessageMultipleRetries;
_sendMessageMultipleList.append(info);
}
src/Vehicle/Vehicle.h
View file @ e0da3a72
......@@ -151,6 +151,10 @@ public:
/// Sends this specified message to all links accociated with this vehicle
void sendMessage(mavlink_message_t message);
/// Sends the specified messages multiple times to the vehicle in order to attempt to
/// guarantee that it makes it to the vehicle.
void sendMessageMultiple(mavlink_message_t message);
/// Provides access to uas from vehicle. Temporary workaround until UAS is fully phased out.
UAS* uas(void) { return _uas; }
......@@ -180,6 +184,11 @@ public:
bool hilMode(void);
void setHilMode(bool hilMode);
/// Requests the specified data stream from the vehicle
/// @param stream Stream which is being requested
/// @param rate Rate at which to send stream in Hz
void requestDataStream(MAV_DATA_STREAM stream, uint16_t rate);
bool missingParameters(void);
typedef enum {
......@@ -289,7 +298,8 @@ private slots:
void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);
void _linkDisconnected(LinkInterface* link);
void _sendMessage(mavlink_message_t message);
void _sendMessageMultipleNext(void);
void _handleTextMessage (int newCount);
/** @brief Attitude from main autopilot / system state */
void _updateAttitude (UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp);
......@@ -397,7 +407,22 @@ private:
bool _armed; ///< true: vehicle is armed
uint8_t _base_mode; ///< base_mode from HEARTBEAT
uint32_t _custom_mode; ///< custom_mode from HEARTBEAT
/// Used to store a message being sent by sendMessageMultiple
typedef struct {
mavlink_message_t message; ///< Message to send multiple times
int retryCount; ///< Number of retries left
} SendMessageMultipleInfo_t;
QList<SendMessageMultipleInfo_t> _sendMessageMultipleList; ///< List of messages being sent multiple times
static const int _sendMessageMultipleRetries = 5;
static const int _sendMessageMultipleIntraMessageDelay = 500;
QTimer _sendMultipleTimer;
int _nextSendMessageMultipleIndex;
// Settings keys
static const char* _settingsGroup;
static const char* _joystickModeSettingsKey;
static const char* _joystickEnabledSettingsKey;
......
src/VehicleSetup/JoystickConfigController.cc
View file @ e0da3a72
......@@ -253,14 +253,14 @@ void JoystickConfigController::_inputCenterWaitBegin(Joystick::AxisFunction_t fu
_nextButton->setEnabled(true);
}
bool JoystickConfigController::_stickSettleComplete(int value)
bool JoystickConfigController::_stickSettleComplete(int axis, int value)
{
// We are waiting for the stick to settle out to a max position
if (abs(_stickDetectValue - value) > _calSettleDelta) {
// Stick is moving too much to consider stopped
qCDebug(JoystickConfigControllerLog) << "_stickSettleComplete still moving, _stickDetectValue:value" << _stickDetectValue << value;
qCDebug(JoystickConfigControllerLog) << "_stickSettleComplete still moving, axis:_stickDetectValue:value" << axis << _stickDetectValue << value;
_stickDetectValue = value;
_stickDetectSettleStarted = false;
......@@ -272,12 +272,13 @@ bool JoystickConfigController::_stickSettleComplete(int value)
if (_stickDetectSettleElapsed.elapsed() > _stickDetectSettleMSecs) {
// Stick has stayed positioned in one place long enough, detection is complete.
qCDebug(JoystickConfigControllerLog) << "_stickSettleComplete detection complete, axis:_stickDetectValue:value" << axis << _stickDetectValue << value;
return true;
}
} else {
// Start waiting for the stick to stay settled for _stickDetectSettleWaitMSecs msecs
qCDebug(JoystickConfigControllerLog) << "_stickSettleComplete starting settle timer, _stickDetectValue:value" << _stickDetectValue << value;
qCDebug(JoystickConfigControllerLog) << "_stickSettleComplete starting settle timer, axis:_stickDetectValue:value" << axis << _stickDetectValue << value;
_stickDetectSettleStarted = true;
_stickDetectSettleElapsed.start();
......@@ -310,11 +311,9 @@ void JoystickConfigController::_inputStickDetect(Joystick::AxisFunction_t functi
_stickDetectValue = value;
}
} else if (axis == _stickDetectAxis) {
if (_stickSettleComplete(value)) {
if (_stickSettleComplete(axis, value)) {
AxisInfo* info = &_rgAxisInfo[axis];
qCDebug(JoystickConfigControllerLog) << "_inputStickDetect settle complete, function:axis:value" << function << axis << value;
// Stick detection is complete. Stick should be at max position.
// Map the axis to the function
_rgFunctionAxisMapping[function] = axis;
......@@ -322,7 +321,6 @@ void JoystickConfigController::_inputStickDetect(Joystick::AxisFunction_t functi
// Axis should be at max value, if it is below initial set point the the axis is reversed.
info->reversed = value < _axisValueSave[axis];
qCDebug(JoystickConfigControllerLog) << "_inputStickDetect reversed:value:_axisValueSave" << info->reversed << value << _axisValueSave[axis];
if (info->reversed) {
_rgAxisInfo[axis].axisMin = value;
......@@ -330,6 +328,8 @@ void JoystickConfigController::_inputStickDetect(Joystick::AxisFunction_t functi
_rgAxisInfo[axis].axisMax = value;
}
qCDebug(JoystickConfigControllerLog) << "_inputStickDetect saving values, function:axis:value:reversed:_axisValueSave" << function << axis << value << info->reversed << _axisValueSave[axis];
_signalAllAttiudeValueChanges();
_advanceState();
......@@ -339,6 +339,8 @@ void JoystickConfigController::_inputStickDetect(Joystick::AxisFunction_t functi
void JoystickConfigController::_inputStickMin(Joystick::AxisFunction_t function, int axis, int value)
{
qCDebug(JoystickConfigControllerLog) << "_inputStickMin function:axis:value" << function << axis << value;
// We only care about the axis mapped to the function we are working on
if (_rgFunctionAxisMapping[function] != axis) {
return;
......@@ -351,18 +353,20 @@ void JoystickConfigController::_inputStickMin(Joystick::AxisFunction_t function,
_stickDetectAxis = axis;
_stickDetectInitialValue = value;
_stickDetectValue = value;
qCDebug(JoystickConfigControllerLog) << "_inputStickMin detected movement _stickDetectAxis:_stickDetectInitialValue" << _stickDetectAxis << _stickDetectInitialValue;
}
} else {
if (value < _calCenterPoint - _calMoveDelta) {
_stickDetectAxis = axis;
_stickDetectInitialValue = value;
_stickDetectValue = value;
qCDebug(JoystickConfigControllerLog) << "_inputStickMin detected movement _stickDetectAxis:_stickDetectInitialValue" << _stickDetectAxis << _stickDetectInitialValue;
}
}
} else {
// We are waiting for the selected axis to settle out
if (_stickSettleComplete(value)) {
if (_stickSettleComplete(axis, value)) {
AxisInfo* info = &_rgAxisInfo[axis];
// Stick detection is complete. Stick should be at min position.
......@@ -376,8 +380,8 @@ void JoystickConfigController::_inputStickMin(Joystick::AxisFunction_t function,
if (function == Joystick::throttleFunction) {
_rgAxisInfo[axis].axisTrim = value;
}
// XXX to support configs which can reverse they need to check a reverse
// flag here and not do this.
qCDebug(JoystickConfigControllerLog) << "_inputStickMin saving values, function:axis:value:reversed" << function << axis << value << info->reversed;
_advanceState();
}
......@@ -386,6 +390,8 @@ void JoystickConfigController::_inputStickMin(Joystick::AxisFunction_t function,
void JoystickConfigController::_inputCenterWait(Joystick::AxisFunction_t function, int axis, int value)
{
qCDebug(JoystickConfigControllerLog) << "_inputCenterWait function:axis:value" << function << axis << value;
// We only care about the axis mapped to the function we are working on
if (_rgFunctionAxisMapping[function] != axis) {
return;
......@@ -399,9 +405,10 @@ void JoystickConfigController::_inputCenterWait(Joystick::AxisFunction_t functio
_stickDetectAxis = axis;
_stickDetectInitialValue = value;
_stickDetectValue = value;
qCDebug(JoystickConfigControllerLog) << "_inputStickMin detected possible center _stickDetectAxis:_stickDetectInitialValue" << _stickDetectAxis << _stickDetectInitialValue;
}
} else {
if (_stickSettleComplete(value)) {
if (_stickSettleComplete(axis, value)) {
_advanceState();
}
}
......
src/VehicleSetup/JoystickConfigController.h
View file @ e0da3a72
......@@ -182,7 +182,7 @@ private:
void _skipFlaps(void);
void _saveAllTrims(void);
bool _stickSettleComplete(int value);
bool _stickSettleComplete(int axis, int value);
void _validateCalibration(void);
void _writeCalibration(void);
......
src/comm/MockLink.cc
View file @ e0da3a72
......@@ -67,17 +67,18 @@ union px4_custom_mode {
float data_float;
};
MockLink::MockLink(MockConfiguration* config) :
_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)
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)
{
_config = config;
union px4_custom_mode px4_cm;
......@@ -89,10 +90,8 @@ MockLink::MockLink(MockConfiguration* config) :
_fileServer = new MockLinkFileServer(_vehicleSystemId, _vehicleComponentId, this);
Q_CHECK_PTR(_fileServer);
_missionItemHandler = new MockLinkMissionItemHandler(this);
Q_CHECK_PTR(_missionItemHandler);
moveToThread(this);
_loadParams();
QObject::connect(this, &MockLink::_incomingBytes, this, &MockLink::_handleIncomingBytes);
}
......@@ -150,6 +149,8 @@ void MockLink::run(void)
QObject::disconnect(&_timer1HzTasks, &QTimer::timeout, this, &MockLink::_run1HzTasks);
QObject::disconnect(&_timer10HzTasks, &QTimer::timeout, this, &MockLink::_run10HzTasks);
QObject::disconnect(&_timer50HzTasks, &QTimer::timeout, this, &MockLink::_run50HzTasks);
_missionItemHandler.shutdown();
}
void MockLink::_run1HzTasks(void)
......@@ -304,8 +305,7 @@ void MockLink::_handleIncomingMavlinkBytes(const uint8_t* bytes, int cBytes)
continue;
}
Q_ASSERT(_missionItemHandler);
if (_missionItemHandler->handleMessage(msg)) {
if (_missionItemHandler.handleMessage(msg)) {
continue;
}
......@@ -669,3 +669,7 @@ void MockLink::_handleCommandLong(const mavlink_message_t& msg)
}
}
void MockLink::setMissionItemFailureMode(MockLinkMissionItemHandler::FailureMode_t failureMode, bool firstTimeOnly)
{
_missionItemHandler.setMissionItemFailureMode(failureMode, firstTimeOnly);
}
src/comm/MockLink.h
View file @ e0da3a72
......@@ -86,6 +86,23 @@ public:
bool disconnect(void);
LinkConfiguration* getLinkConfiguration() { return _config; }
/// Sets a failure mode for unit testing
/// @param failureMode Type of failure to simulate
/// @param firstTimeOnly true: fail first call, success subsequent calls, false: fail all calls
void setMissionItemFailureMode(MockLinkMissionItemHandler::FailureMode_t failureMode, bool firstTimeOnly);
/// Called to send a MISSION_ACK message while the MissionManager is in idle state
void sendUnexpectedMissionAck(MAV_MISSION_RESULT ackType) { _missionItemHandler.sendUnexpectedMissionAck(ackType); }
/// Called to send a MISSION_ITEM message while the MissionManager is in idle state
void sendUnexpectedMissionItem(void) { _missionItemHandler.sendUnexpectedMissionItem(); }
/// Called to send a MISSION_REQUEST message while the MissionManager is in idle state
void sendUnexpectedMissionRequest(void) { _missionItemHandler.sendUnexpectedMissionRequest(); }
/// Reset the state of the MissionItemHandler to no items, no transactions in progress.
void resetMissionItemHandler(void) { _missionItemHandler.reset(); }
signals:
/// @brief Used internally to move data to the thread.
......@@ -127,7 +144,7 @@ private:
float _floatUnionForParam(int componentId, const QString& paramName);
void _setParamFloatUnionIntoMap(int componentId, const QString& paramName, float paramFloat);
MockLinkMissionItemHandler* _missionItemHandler;
MockLinkMissionItemHandler _missionItemHandler;
QString _name;
bool _connected;
......
src/comm/MockLinkMissionItemHandler.cc
View file @ e0da3a72
This diff is collapsed.
src/comm/MockLinkMissionItemHandler.h
View file @ e0da3a72
......@@ -26,6 +26,7 @@
#include <QObject>
#include <QMap>
#include <QTimer>
#include "QGCMAVLink.h"
#include "QGCLoggingCategory.h"
......@@ -40,11 +41,55 @@ class MockLinkMissionItemHandler : public QObject
public:
MockLinkMissionItemHandler(MockLink* mockLink);
~MockLinkMissionItemHandler();
// Prepares for destruction on correct thread
void shutdown(void);
/// @brief Called to handle mission item related messages. All messages should be passed to this method.
/// It will handle the appropriate set.
/// @return true: message handled
bool handleMessage(const mavlink_message_t& msg);
typedef enum {
FailNone, // No failures
FailReadRequestListNoResponse, // Don't send MISSION_COUNT in response to MISSION_REQUEST_LIST
FailReadRequest0NoResponse, // Don't send MISSION_ITEM in response to MISSION_REQUEST item 0
FailReadRequest1NoResponse, // Don't send MISSION_ITEM in response to MISSION_REQUEST item 1
FailReadRequest0IncorrectSequence, // Respond to MISSION_REQUEST 0 with incorrect sequence number in MISSION_ITEM
FailReadRequest1IncorrectSequence, // Respond to MISSION_REQUEST 1 with incorrect sequence number in MISSION_ITEM
FailReadRequest0ErrorAck, // Respond to MISSION_REQUEST 0 with MISSION_ACK error
FailReadRequest1ErrorAck, // Respond to MISSION_REQUEST 1 bogus MISSION_ACK error
FailWriteRequest0NoResponse, // Don't respond to MISSION_COUNT with MISSION_REQUEST 0
FailWriteRequest1NoResponse, // Don't respond to MISSION_ITEM 0 with MISSION_REQUEST 1
FailWriteRequest0IncorrectSequence, // Respond to MISSION_COUNT 0 with MISSION_REQUEST with wrong sequence number
FailWriteRequest1IncorrectSequence, // Respond to MISSION_ITEM 0 with MISSION_REQUEST with wrong sequence number
FailWriteRequest0ErrorAck, // Respond to MISSION_COUNT 0 with MISSION_ACK error
FailWriteRequest1ErrorAck, // Respond to MISSION_ITEM 0 with MISSION_ACK error
FailWriteFinalAckNoResponse, // Don't send the final MISSION_ACK
FailWriteFinalAckErrorAck, // Send an error as the final MISSION_ACK
FailWriteFinalAckMissingRequests, // Send the MISSION_ACK before all items have been requested
} FailureMode_t;
/// Sets a failure mode for unit testing
/// @param failureMode Type of failure to simulate
/// @param firstTimeOnly true: fail first call, success subsequent calls, false: fail all calls
void setMissionItemFailureMode(FailureMode_t failureMode, bool firstTimeOnly);
/// Called to send a MISSION_ACK message while the MissionManager is in idle state
void sendUnexpectedMissionAck(MAV_MISSION_RESULT ackType);
/// Called to send a MISSION_ITEM message while the MissionManager is in idle state
void sendUnexpectedMissionItem(void);
/// Called to send a MISSION_REQUEST message while the MissionManager is in idle state
void sendUnexpectedMissionRequest(void);
/// Reset the state of the MissionItemHandler to no items, no transactions in progress.
void reset(void) { _missionItems.clear(); }
private slots:
void _missionItemResponseTimeout(void);
private:
void _handleMissionRequestList(const mavlink_message_t& msg);
......@@ -52,6 +97,8 @@ private:
void _handleMissionItem(const mavlink_message_t& msg);
void _handleMissionCount(const mavlink_message_t& msg);
void _requestNextMissionItem(int sequenceNumber);
void _sendAck(MAV_MISSION_RESULT ackType);
void _startMissionItemResponseTimer(void);
private:
MockLink* _mockLink;
......@@ -61,6 +108,10 @@ private:
typedef QMap<uint16_t, mavlink_mission_item_t> MissionList_t;
MissionList_t _missionItems;
QTimer* _missionItemResponseTimer;
FailureMode_t _failureMode;
bool _failureFirstTimeOnly;
};
#endif
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