Cleanup MockLink Helper Classes

src/Comms/MockLink/MockConfiguration.cc

@@ -39,7 +39,7 @@ void MockConfiguration::copyFrom(const LinkConfiguration *source)
     Q_ASSERT(source);
     LinkConfiguration::copyFrom(source);
 
-    const MockConfiguration* const mockLinkSource = qobject_cast<const MockConfiguration*>(source);
+    const MockConfiguration *const mockLinkSource = qobject_cast<const MockConfiguration*>(source);
     Q_ASSERT(mockLinkSource);
 
     setFirmwareType(mockLinkSource->firmwareType());

src/Comms/MockLink/MockConfiguration.h

@@ -10,9 +10,10 @@
 #pragma once
 
 #include "LinkConfiguration.h"
-#include "MAVLinkLib.h"
 
 #include <QtCore/QLoggingCategory>
+#include "MAVLinkLib.h"
+
 
 Q_DECLARE_LOGGING_CATEGORY(MockConfigurationLog)
 

src/Comms/MockLink/MockLink.h

@@ -13,7 +13,6 @@
 #include "LinkInterface.h"
 #include "MAVLinkLib.h"
 #include "MockConfiguration.h"
-#include "MockLinkFTP.h"
 #include "MockLinkMissionItemHandler.h"
 
 #include <QtCore/QElapsedTimer>
@@ -22,6 +21,8 @@
 #include <QtCore/QMutex>
 #include <QtPositioning/QGeoCoordinate>
 
+class MockLinkFTP;
+
 Q_DECLARE_LOGGING_CATEGORY(MockLinkLog)
 Q_DECLARE_LOGGING_CATEGORY(MockLinkVerboseLog)
 
@@ -36,31 +37,18 @@ class MockLink : public LinkInterface
     bool isConnected() const final { return _connected; }
     void disconnect() final;
 
+    Q_INVOKABLE void setCommLost(bool commLost) { _commLost = commLost; }
+    Q_INVOKABLE void simulateConnectionRemoved();
+
     int vehicleId() const { return _vehicleSystemId; }
     MAV_AUTOPILOT getFirmwareType() const { 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
-    /// sometimes it doesn't. Don't ask. This option allows you to configure that behavior
-    /// for unit testing.
-    void setAPMMissionResponseMode(bool sendHomePositionOnEmptyList) { _apmSendHomePositionOnEmptyList = sendHomePositionOnEmptyList; }
 
     void emitRemoteControlChannelRawChanged(int channel, uint16_t raw);
 
     /// Sends the specified mavlink message to QGC
     void respondWithMavlinkMessage(const mavlink_message_t &msg);
 
-    MockLinkFTP *mockLinkFTP() const { return _mockLinkFTP; }
-
-    struct ADSBVehicle {
-        QGeoCoordinate coordinate;
-        double angle;
-        double altitude; // Store unique altitude for each vehicle
-    };
-    std::vector<ADSBVehicle> _adsbVehicles; // Store data for multiple ADS-B vehicles
+    MockLinkFTP *mockLinkFTP() const;
 
     /// Sets a failure mode for unit testingqgcm
     ///     @param failureMode Type of failure to simulate
@@ -84,8 +72,16 @@ class MockLink : public LinkInterface
     /// Returns the filename for the simulated log file. Only available after a download is requested.
     QString logDownloadFile() const { return _logDownloadFilename; }
 
-    Q_INVOKABLE void setCommLost(bool commLost) { _commLost = commLost; }
-    Q_INVOKABLE void simulateConnectionRemoved();
+    void clearReceivedMavCommandCounts() { _receivedMavCommandCountMap.clear(); }
+    int receivedMavCommandCount(MAV_CMD command) const { return _receivedMavCommandCountMap[command]; }
+
+    enum RequestMessageFailureMode_t {
+        FailRequestMessageNone,
+        FailRequestMessageCommandAcceptedMsgNotSent,
+        FailRequestMessageCommandUnsupported,
+        FailRequestMessageCommandNoResponse,
+    };
+    void setRequestMessageFailureMode(RequestMessageFailureMode_t failureMode) { _requestMessageFailureMode = failureMode; }
 
     static MockLink *startPX4MockLink(bool sendStatusText, MockConfiguration::FailureMode_t failureMode = MockConfiguration::FailNone);
     static MockLink *startGenericMockLink(bool sendStatusText, MockConfiguration::FailureMode_t failureMode = MockConfiguration::FailNone);
@@ -106,23 +102,12 @@ class MockLink : public LinkInterface
     static constexpr MAV_CMD MAV_CMD_MOCKLINK_RESULT_IN_PROGRESS_FAILED = static_cast<MAV_CMD>(MAV_CMD_USER_5 + 3);
     static constexpr MAV_CMD MAV_CMD_MOCKLINK_RESULT_IN_PROGRESS_NO_ACK = static_cast<MAV_CMD>(MAV_CMD_USER_5 + 4);
 
-    void clearReceivedMavCommandCounts() { _receivedMavCommandCountMap.clear(); }
-    int receivedMavCommandCount(MAV_CMD command) const { return _receivedMavCommandCountMap[command]; }
-
-    enum RequestMessageFailureMode_t {
-        FailRequestMessageNone,
-        FailRequestMessageCommandAcceptedMsgNotSent,
-        FailRequestMessageCommandUnsupported,
-        FailRequestMessageCommandNoResponse,
-    };
-    void setRequestMessageFailureMode(RequestMessageFailureMode_t failureMode) { _requestMessageFailureMode = failureMode; }
-
 signals:
     void writeBytesQueuedSignal(const QByteArray &bytes);
     void highLatencyTransmissionEnabledChanged(bool highLatencyTransmissionEnabled);
 
 private slots:
-    /// @brief Called when QGC wants to write bytes to the MAV
+    /// Called when QGC wants to write bytes to the MAV
     void _writeBytes(const QByteArray &bytes) final;
 
     void _writeBytesQueued(const QByteArray &bytes);
@@ -138,17 +123,20 @@ private slots:
 
     void run() final;
 
-    uint8_t mavlinkAuxChannel() const { return _mavlinkAuxChannel; }
-    bool mavlinkAuxChannelIsSet() const;
+    uint8_t _getMavlinkAuxChannel() const { return _mavlinkAuxChannel; }
+    bool _mavlinkAuxChannelIsSet() const;
 
-    void _sendHeartBeat();
-    void _sendHighLatency2();
-    /// @brief Handle incoming bytes which are meant to be interpreted by the NuttX shell
+    void _loadParams();
+
+    /// Convert from a parameter variant to the float value from mavlink_param_union_t
+    float _floatUnionForParam(int componentId, const QString &paramName);
+    void _setParamFloatUnionIntoMap(int componentId, const QString &paramName, float paramFloat);
+
+    /// Handle incoming bytes which are meant to be interpreted by the NuttX shell
     void _handleIncomingNSHBytes(const char *bytes, int cBytes);
-    /// @brief Handle incoming bytes which are meant to be handled by the mavlink protocol
+    /// Handle incoming bytes which are meant to be handled by the mavlink protocol
     void _handleIncomingMavlinkBytes(const uint8_t *bytes, int cBytes);
     void _handleIncomingMavlinkMsg(const mavlink_message_t &msg);
-    void _loadParams();
     void _handleHeartBeat(const mavlink_message_t &msg);
     void _handleSetMode(const mavlink_message_t &msg);
     void _handleParamRequestList(const mavlink_message_t &msg);
@@ -164,9 +152,9 @@ private slots:
     void _handleLogRequestData(const mavlink_message_t &msg);
     void _handleParamMapRC(const mavlink_message_t &msg);
     bool _handleRequestMessage(const mavlink_command_long_t &request, bool &noAck);
-    /// Convert from a parameter variant to the float value from mavlink_param_union_t
-    float _floatUnionForParam(int componentId, const QString &paramName);
-    void _setParamFloatUnionIntoMap(int componentId, const QString &paramName, float paramFloat);
+
+    void _sendHeartBeat();
+    void _sendHighLatency2();
     void _sendHomePosition();
     void _sendGpsRawInt();
     void _sendGlobalPositionInt();
@@ -178,33 +166,42 @@ private slots:
     void _respondWithAutopilotVersion();
     void _sendRCChannels();
     /// Sends the next parameter to the vehicle
-    void _paramRequestListWorker();
-    void _logDownloadWorker();
     void _sendADSBVehicles();
-    void _moveADSBVehicle(int vehicleIndex);
     void _sendGeneralMetaData();
     void _sendRemoteIDArmStatus();
 
+    void _paramRequestListWorker();
+    void _logDownloadWorker();
+    void _moveADSBVehicle(int vehicleIndex);
+
     static MockLink *_startMockLinkWorker(const QString &configName, MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType, bool sendStatusText, MockConfiguration::FailureMode_t failureMode);
     static MockLink *_startMockLink(MockConfiguration *mockConfig);
 
     /// Creates a file with random contents of the specified size.
     /// @return Fully qualified path to created file
     static QString _createRandomFile(uint32_t byteCount);
 
-    MockLinkMissionItemHandler *_missionItemHandler = nullptr;
+    const MockConfiguration *_mockConfig = nullptr;
+    const MAV_AUTOPILOT _firmwareType = MAV_AUTOPILOT_PX4;
+    const MAV_TYPE _vehicleType = MAV_TYPE_QUADROTOR;
+    const bool _sendStatusText = false;
+    const MockConfiguration::FailureMode_t _failureMode = MockConfiguration::FailNone;
+    const uint8_t _vehicleSystemId = 0;
+    const double _vehicleLatitude = 0.0;
+    const double _vehicleLongitude = 0.0;
+    // These are just set for reporting the fields in _respondWithAutopilotVersion()
+    // and ensuring that the Vehicle reports the fields in Vehicle::firmwareBoardVendorId etc.
+    // They do not control any mock simulation (and it is up to the Custom build to do that).
+    const uint16_t _boardVendorId = 0;
+    const uint16_t _boardProductId = 0;
+    MockLinkMissionItemHandler *const _missionItemHandler = nullptr;
+    MockLinkFTP *const _mockLinkFTP = nullptr;
 
     uint8_t _mavlinkAuxChannel = std::numeric_limits<uint8_t>::max();
     QMutex _mavlinkAuxMutex;
 
-    QString _name = QString("MockLink");
     bool _connected = false;
-
-    uint8_t _vehicleSystemId = 0;
-    uint8_t _vehicleComponentId = MAV_COMP_ID_AUTOPILOT1;
-
     bool _inNSH = false;
-    bool _mavlinkStarted = true;
 
     uint8_t _mavBaseMode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
     uint32_t _mavCustomMode = PX4CustomMode::MANUAL;
@@ -219,49 +216,36 @@ private slots:
     int32_t _battery2TimeRemaining = _batteryMaxTimeRemaining;
     MAV_BATTERY_CHARGE_STATE _battery2ChargeState = MAV_BATTERY_CHARGE_STATE_OK;
 
-    MAV_AUTOPILOT _firmwareType = MAV_AUTOPILOT_PX4;
-    MAV_TYPE _vehicleType = MAV_TYPE_QUADROTOR;
-    double _vehicleLatitude = 0.0;
-    double _vehicleLongitude = 0.0;
     double _vehicleAltitudeAMSL = _defaultVehicleHomeAltitude;
     bool _commLost = false;
     bool _highLatencyTransmissionEnabled = true;
 
-    // These are just set for reporting the fields in _respondWithAutopilotVersion()
-    // and ensuring that the Vehicle reports the fields in Vehicle::firmwareBoardVendorId etc.
-    // They do not control any mock simulation (and it is up to the Custom build to do that).
-    uint16_t _boardVendorId = 0;
-    uint16_t _boardProductId = 0;
-
-    MockLinkFTP *_mockLinkFTP = nullptr;
-
-    bool _sendStatusText = false;
-    bool _apmSendHomePositionOnEmptyList = false;
-    MockConfiguration::FailureMode_t _failureMode = MockConfiguration::FailNone;
-
     int _sendHomePositionDelayCount = 10;               ///< No home position for 4 seconds
     int _sendGPSPositionDelayCount = 100;               ///< No gps lock for 5 seconds
 
     int _currentParamRequestListComponentIndex = -1;    ///< Current component index for param request list workflow, -1 for no request in progress
     int _currentParamRequestListParamIndex = -1;        ///< Current parameter index for param request list workflow
 
-    static constexpr uint16_t _logDownloadLogId = 0;        ///< Id of siumulated log file
-    static constexpr uint32_t _logDownloadFileSize = 1000;  ///< Size of simulated log file
-
     QString _logDownloadFilename;                       ///< Filename for log download which is in progress
     uint32_t _logDownloadCurrentOffset = 0;             ///< Current offset we are sending from
     uint32_t _logDownloadBytesRemaining = 0;            ///< Number of bytes still to send, 0 = send inactive
 
-    QList<QGeoCoordinate> _adsbVehicleCoordinates;      ///< List for multiple vehicles
-    static constexpr int _numberOfVehicles = 5;         ///< Number of ADS-B vehicles
-    double _adsbAngles[_numberOfVehicles]{};            ///< Array for angles of each vehicle
-
     RequestMessageFailureMode_t _requestMessageFailureMode = FailRequestMessageNone;
 
     QMap<MAV_CMD, int> _receivedMavCommandCountMap;
     QMap<int, QMap<QString, QVariant>> _mapParamName2Value;
     QMap<int, QMap<QString, MAV_PARAM_TYPE>> _mapParamName2MavParamType;
 
+    struct ADSBVehicle {
+        QGeoCoordinate coordinate;
+        double angle = 0.0;
+        double altitude = 0.0;                      ///< Store unique altitude for each vehicle
+    };
+    QList<ADSBVehicle> _adsbVehicles;               ///< Store data for multiple ADS-B vehicles
+    QList<QGeoCoordinate> _adsbVehicleCoordinates;  ///< List for multiple vehicles
+    static constexpr int _numberOfVehicles = 5;     ///< Number of ADS-B vehicles
+    double _adsbAngles[_numberOfVehicles]{};        ///< Array for angles of each vehicle
+
     static int _nextVehicleSystemId;
 
     // Vehicle position is set close to default Gazebo vehicle location. This allows for multi-vehicle
@@ -271,5 +255,12 @@ private slots:
     static constexpr double _defaultVehicleHomeAltitude = 488.056;
 
     static constexpr const char *_failParam = "COM_FLTMODE6";
+
+    static constexpr uint8_t _vehicleComponentId = MAV_COMP_ID_AUTOPILOT1;
+
+    static constexpr uint16_t _logDownloadLogId = 0;        ///< Id of siumulated log file
+    static constexpr uint32_t _logDownloadFileSize = 1000;  ///< Size of simulated log file
+
+    static constexpr bool _mavlinkStarted = true;
 };