Parameter support changes

- Now responds to request_list using a worker routine to send out
params one at a time
- Support for failure modes for unit testing

src/comm/MockLink.h

@@ -51,6 +51,15 @@ public:
     bool sendStatusText(void) { return _sendStatusText; }
     void setSendStatusText(bool sendStatusText) { _sendStatusText = sendStatusText; emit sendStatusChanged(); }
 
+    typedef enum {
+        FailNone,                           // No failures
+        FailParamNoReponseToRequestList,    // Do no respond to PARAM_REQUEST_LIST
+        FailMissingParamOnInitialReqest,    // Not all params are sent on initial request, should still succeed since QGC will re-query missing params
+        FailMissingParamOnAllRequests,      // Not all params are sent on initial request, QGC retries will fail as well
+    } FailureMode_t;
+    FailureMode_t failureMode(void) { return _failureMode; }
+    void setFailureMode(FailureMode_t failureMode) { _failureMode = failureMode; }
+
     // Overrides from LinkConfiguration
     LinkType    type            (void) { return LinkConfiguration::TypeMock; }
     void        copyFrom        (LinkConfiguration* source);
@@ -68,10 +77,12 @@ private:
     MAV_AUTOPILOT   _firmwareType;
     MAV_TYPE        _vehicleType;
     bool            _sendStatusText;
+    FailureMode_t   _failureMode;
 
     static const char* _firmwareTypeKey;
     static const char* _vehicleTypeKey;
     static const char* _sendStatusTextKey;
+    static const char* _failureModeKey;
 };
 
 class MockLink : public LinkInterface
@@ -88,6 +99,7 @@ public:
     MAV_AUTOPILOT getFirmwareType(void) { return _firmwareType; }
     void setFirmwareType(MAV_AUTOPILOT autopilot) { _firmwareType = autopilot; }
     void setSendStatusText(bool sendStatusText) { _sendStatusText = sendStatusText; }
+    void setFailureMode(MockConfiguration::FailureMode_t failureMode) { _failureMode = failureMode; }
 
     /// APM stack has strange handling of the first item of the mission list. If it has no
     /// onboard mission items, sometimes it sends back a home position in position 0 and
@@ -132,10 +144,10 @@ public:
     /// Reset the state of the MissionItemHandler to no items, no transactions in progress.
     void resetMissionItemHandler(void) { _missionItemHandler.reset(); }
 
-    static MockLink* startPX4MockLink            (bool sendStatusText);
-    static MockLink* startGenericMockLink        (bool sendStatusText);
-    static MockLink* startAPMArduCopterMockLink  (bool sendStatusText);
-    static MockLink* startAPMArduPlaneMockLink   (bool sendStatusText);
+    static MockLink* startPX4MockLink            (bool sendStatusText, MockConfiguration::FailureMode_t failureMode = MockConfiguration::FailNone);
+    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);
 
 private slots:
     virtual void _writeBytes(const QByteArray bytes);
@@ -143,7 +155,7 @@ private slots:
 private slots:
     void _run1HzTasks(void);
     void _run10HzTasks(void);
-    void _run50HzTasks(void);
+    void _run500HzTasks(void);
 
 private:
     // From LinkInterface
@@ -175,6 +187,7 @@ private:
     void _sendStatusTextMessages(void);
     void _respondWithAutopilotVersion(void);
     void _sendRCChannels(void);
+    void _paramRequestListWorker(void);
 
     static MockLink* _startMockLink(MockConfiguration* mockConfig);
 
@@ -204,14 +217,19 @@ private:
 
     bool _sendStatusText;
     bool _apmSendHomePositionOnEmptyList;
+    MockConfiguration::FailureMode_t _failureMode;
 
     int _sendHomePositionDelayCount;
     int _sendGPSPositionDelayCount;
 
-    static float    _vehicleLatitude;
-    static float    _vehicleLongitude;
-    static float    _vehicleAltitude;
-    static int      _nextVehicleSystemId;
+    int _currentParamRequestListComponentIndex; // Current component index for param request list workflow, -1 for no request in progress
+    int _currentParamRequestListParamIndex;     // Current parameter index for param request list workflor
+
+    static float        _vehicleLatitude;
+    static float        _vehicleLongitude;
+    static float        _vehicleAltitude;
+    static int          _nextVehicleSystemId;
+    static const char*  _failParam;
 };
 
 #endif