Comms: Update Mocklink Threading

mavlink · Jan 7, 2025 · 9cdcde4 · 9cdcde4
1 parent eb2e314
commit 9cdcde4
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Showing 6 changed files with 1,101 additions and 1,095 deletions.
diff --git a/src/Comms/LinkManager.cc b/src/Comms/LinkManager.cc
@@ -168,7 +168,7 @@ bool LinkManager::createConnectedLink(SharedLinkConfigurationPtr &config)
         return false;
     }
 
-    (void) _rgLinks.append(link);
+    _rgLinks.append(link);
     config->setLink(link);
 
     (void) connect(link.get(), &LinkInterface::communicationError, qgcApp(), &QGCApplication::showAppMessage);

diff --git a/src/Comms/MockLink/CMakeLists.txt b/src/Comms/MockLink/CMakeLists.txt
@@ -7,6 +7,8 @@ if(CMAKE_BUILD_TYPE STREQUAL "Debug")
 
     target_sources(MockLink
         PRIVATE
+            MockConfiguration.cc
+            MockConfiguration.h
             MockLink.cc
             MockLink.h
             MockLinkFTP.cc

diff --git a/src/Comms/MockLink/MockConfiguration.cc b/src/Comms/MockLink/MockConfiguration.cc
@@ -0,0 +1,76 @@
+/****************************************************************************
+ *
+ * (c) 2009-2024 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "MockConfiguration.h"
+#include "QGCLoggingCategory.h"
+
+QGC_LOGGING_CATEGORY(MockConfigurationLog, "qgc.comms.mocklink.mockconfiguration")
+
+MockConfiguration::MockConfiguration(const QString &name, QObject *parent)
+    : LinkConfiguration(name, parent)
+{
+    // qCDebug(MockConfigurationLog) << Q_FUNC_INFO << this;
+}
+
+MockConfiguration::MockConfiguration(const MockConfiguration *copy, QObject *parent)
+    : LinkConfiguration(copy, parent)
+    , _firmwareType(copy->firmwareType())
+    , _vehicleType(copy->vehicleType())
+    , _sendStatusText(copy->sendStatusText())
+    , _incrementVehicleId(copy->incrementVehicleId())
+    , _failureMode(copy->failureMode())
+{
+    // qCDebug(MockConfigurationLog) << Q_FUNC_INFO << this;
+}
+
+MockConfiguration::~MockConfiguration()
+{
+    // qCDebug(MockConfigurationLog) << Q_FUNC_INFO << this;
+}
+
+void MockConfiguration::copyFrom(const LinkConfiguration *source)
+{
+    Q_ASSERT(source);
+    LinkConfiguration::copyFrom(source);
+
+    const MockConfiguration* const mockLinkSource = qobject_cast<const MockConfiguration*>(source);
+    Q_ASSERT(mockLinkSource);
+
+    setFirmwareType(mockLinkSource->firmwareType());
+    setVehicleType(mockLinkSource->vehicleType());
+    setSendStatusText(mockLinkSource->sendStatusText());
+    setIncrementVehicleId(mockLinkSource->incrementVehicleId());
+    setFailureMode(mockLinkSource->failureMode());
+}
+
+void MockConfiguration::loadSettings(QSettings &settings, const QString &root)
+{
+    settings.beginGroup(root);
+
+    setFirmwareType(static_cast<MAV_AUTOPILOT>(settings.value(_firmwareTypeKey, static_cast<int>(MAV_AUTOPILOT_PX4)).toInt()));
+    setVehicleType(static_cast<MAV_TYPE>(settings.value(_vehicleTypeKey, static_cast<int>(MAV_TYPE_QUADROTOR)).toInt()));
+    setSendStatusText(settings.value(_sendStatusTextKey, false).toBool());
+    setIncrementVehicleId(settings.value(_incrementVehicleIdKey, true).toBool());
+    setFailureMode(static_cast<FailureMode_t>(settings.value(_failureModeKey, static_cast<int>(FailNone)).toInt()));
+
+    settings.endGroup();
+}
+
+void MockConfiguration::saveSettings(QSettings &settings, const QString &root)
+{
+    settings.beginGroup(root);
+
+    settings.setValue(_firmwareTypeKey, firmwareType());
+    settings.setValue(_vehicleTypeKey, vehicleType());
+    settings.setValue(_sendStatusTextKey, sendStatusText());
+    settings.setValue(_incrementVehicleIdKey, incrementVehicleId());
+    settings.setValue(_failureModeKey, failureMode());
+
+    settings.endGroup();
+}
diff --git a/src/Comms/MockLink/MockConfiguration.h b/src/Comms/MockLink/MockConfiguration.h
@@ -0,0 +1,88 @@
+/****************************************************************************
+ *
+ * (c) 2009-2024 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "LinkConfiguration.h"
+#include "MAVLinkLib.h"
+
+#include <QtCore/QLoggingCategory>
+
+Q_DECLARE_LOGGING_CATEGORY(MockConfigurationLog)
+
+class MockConfiguration : public LinkConfiguration
+{
+    Q_OBJECT
+    Q_PROPERTY(int      firmware            READ firmware           WRITE setFirmware           NOTIFY firmwareChanged)
+    Q_PROPERTY(int      vehicle             READ vehicle            WRITE setVehicle            NOTIFY vehicleChanged)
+    Q_PROPERTY(bool     sendStatus          READ sendStatusText     WRITE setSendStatusText     NOTIFY sendStatusChanged)
+    Q_PROPERTY(bool     incrementVehicleId  READ incrementVehicleId WRITE setIncrementVehicleId NOTIFY incrementVehicleIdChanged)
+
+public:
+    explicit MockConfiguration(const QString &name, QObject *parent = nullptr);
+    explicit MockConfiguration(const MockConfiguration *copy, QObject *parent = nullptr);
+    ~MockConfiguration();
+
+    LinkType type() const final { return LinkConfiguration::TypeMock; }
+    void copyFrom(const LinkConfiguration *source) final;
+    void loadSettings(QSettings &settings, const QString &root) final;
+    void saveSettings(QSettings &settings, const QString &root) final;
+    QString settingsURL() final { return QStringLiteral("MockLinkSettings.qml"); }
+    QString settingsTitle() final { return tr("Mock Link Settings"); }
+
+    int firmware() const { return static_cast<int>(_firmwareType); }
+    void setFirmware(int type) { _firmwareType = static_cast<MAV_AUTOPILOT>(type); emit firmwareChanged(); }
+    int vehicle() const { return static_cast<int>(_vehicleType); }
+    void setVehicle(int type) { _vehicleType = static_cast<MAV_TYPE>(type); emit vehicleChanged(); }
+    bool incrementVehicleId() const { return _incrementVehicleId; }
+    void setIncrementVehicleId(bool incrementVehicleId) { _incrementVehicleId = incrementVehicleId; emit incrementVehicleIdChanged(); }
+    MAV_AUTOPILOT firmwareType() const { return _firmwareType; }
+    void setFirmwareType(MAV_AUTOPILOT firmwareType) { _firmwareType = firmwareType; emit firmwareChanged(); }
+    uint16_t boardVendorId() const { return _boardVendorId; }
+    uint16_t boardProductId() const { return _boardProductId; }
+    void setBoardVendorProduct(uint16_t vendorId, uint16_t productId) { _boardVendorId = vendorId; _boardProductId = productId; }
+    MAV_TYPE vehicleType() const { return _vehicleType; }
+    void setVehicleType(MAV_TYPE vehicleType) { _vehicleType = vehicleType; emit vehicleChanged(); }
+    bool sendStatusText() const { return _sendStatusText; }
+    void setSendStatusText(bool sendStatusText) { _sendStatusText = sendStatusText; emit sendStatusChanged(); }
+
+    enum FailureMode_t {
+        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
+        FailInitialConnectRequestMessageAutopilotVersionFailure,    // REQUEST_MESSAGE:AUTOPILOT_VERSION returns failure
+        FailInitialConnectRequestMessageAutopilotVersionLost,       // REQUEST_MESSAGE:AUTOPILOT_VERSION success, AUTOPILOT_VERSION never sent
+        FailInitialConnectRequestMessageProtocolVersionFailure,     // REQUEST_MESSAGE:PROTOCOL_VERSION returns failure
+        FailInitialConnectRequestMessageProtocolVersionLost,        // REQUEST_MESSAGE:PROTOCOL_VERSION success, PROTOCOL_VERSION never sent
+    };
+    FailureMode_t failureMode() const { return _failureMode; }
+    void setFailureMode(FailureMode_t failureMode) { _failureMode = failureMode; }
+
+signals:
+    void firmwareChanged();
+    void vehicleChanged();
+    void sendStatusChanged();
+    void incrementVehicleIdChanged();
+
+private:
+    MAV_AUTOPILOT _firmwareType = MAV_AUTOPILOT_PX4;
+    MAV_TYPE _vehicleType = MAV_TYPE_QUADROTOR;
+    bool _sendStatusText = false;
+    FailureMode_t _failureMode = FailNone;
+    bool _incrementVehicleId = true;
+    uint16_t _boardVendorId = 0;
+    uint16_t _boardProductId = 0;
+
+    static constexpr const char *_firmwareTypeKey = "FirmwareType";
+    static constexpr const char *_vehicleTypeKey = "VehicleType";
+    static constexpr const char *_sendStatusTextKey = "SendStatusText";
+    static constexpr const char *_incrementVehicleIdKey = "IncrementVehicleId";
+    static constexpr const char *_failureModeKey = "FailureMode";
+};