MockConfiguration.cc

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#include "MockConfiguration.h"
#include "QGCLoggingCategory.h"
 
QGC_LOGGING_CATEGORY(MockConfigurationLog, "Comms.MockLink.MockConfiguration")
 
MockConfiguration::MockConfiguration(const QString &name, QObject *parent)
    : LinkConfiguration(name, parent)
{
    qCDebug(MockConfigurationLog) << this;
}
 
MockConfiguration::MockConfiguration(const MockConfiguration* copy, QObject* parent)
    : LinkConfiguration(copy, parent)
    , _firmwareType(copy->firmwareType())
    , _vehicleType(copy->vehicleType())
    , _sendStatusText(copy->sendStatusText())
    , _apmStartFreshParams(copy->apmStartFreshParams())
    , _enableCamera(copy->enableCamera())
    , _enableGimbal(copy->enableGimbal())
    , _enableProximity(copy->enableProximity())
    , _enableADSB(copy->enableADSB())
    , _failureMode(copy->failureMode())
    , _incrementVehicleId(copy->incrementVehicleId())
    , _startArmed(copy->startArmed())
    , _preloadMission(copy->preloadMission())
    , _stayMavlinkV1(copy->stayMavlinkV1())
    , _sendRadioStatus(copy->sendRadioStatus())
    , _cameraCaptureVideo(copy->cameraCaptureVideo())
    , _cameraCaptureImage(copy->cameraCaptureImage())
    , _cameraHasModes(copy->cameraHasModes())
    , _cameraHasVideoStream(copy->cameraHasVideoStream())
    , _cameraCanCaptureImageInVideoMode(copy->cameraCanCaptureImageInVideoMode())
    , _cameraCanCaptureVideoInImageMode(copy->cameraCanCaptureVideoInImageMode())
    , _cameraHasBasicZoom(copy->cameraHasBasicZoom())
    , _cameraHasTrackingPoint(copy->cameraHasTrackingPoint())
    , _cameraHasTrackingRectangle(copy->cameraHasTrackingRectangle())
    , _videoStreamType(copy->videoStreamTypeEnum())
    , _homeLocation(copy->homeLocationEnum())
    , _gimbalHasRollAxis(copy->gimbalHasRollAxis())
    , _gimbalHasPitchAxis(copy->gimbalHasPitchAxis())
    , _gimbalHasYawAxis(copy->gimbalHasYawAxis())
    , _gimbalHasYawFollow(copy->gimbalHasYawFollow())
    , _gimbalHasYawLock(copy->gimbalHasYawLock())
    , _gimbalHasRetract(copy->gimbalHasRetract())
    , _gimbalHasNeutral(copy->gimbalHasNeutral())
    , _gimbalDeviceId(copy->gimbalDeviceId())
{
    qCDebug(MockConfigurationLog) << this;
}
 
MockConfiguration::~MockConfiguration()
{
    qCDebug(MockConfigurationLog) << this;
}
 
void MockConfiguration::copyFrom(const LinkConfiguration *source)
{
    const MockConfiguration *mockLinkSource = qobject_cast<const MockConfiguration*>(source);
    if (!mockLinkSource) {
        qCWarning(MockConfigurationLog) << "Invalid source configuration type";
        return;
    }
 
    LinkConfiguration::copyFrom(source);
 
    setFirmwareType(mockLinkSource->firmwareType());
    setVehicleType(mockLinkSource->vehicleType());
    setSendStatusText(mockLinkSource->sendStatusText());
    setApmStartFreshParams(mockLinkSource->apmStartFreshParams());
    setEnableCamera(mockLinkSource->enableCamera());
    setEnableGimbal(mockLinkSource->enableGimbal());
    setEnableProximity(mockLinkSource->enableProximity());
    setEnableADSB(mockLinkSource->enableADSB());
    setIncrementVehicleId(mockLinkSource->incrementVehicleId());
    setFailureMode(mockLinkSource->failureMode());
    setCameraCaptureVideo(mockLinkSource->cameraCaptureVideo());
    setCameraCaptureImage(mockLinkSource->cameraCaptureImage());
    setCameraHasModes(mockLinkSource->cameraHasModes());
    setCameraHasVideoStream(mockLinkSource->cameraHasVideoStream());
    setCameraCanCaptureImageInVideoMode(mockLinkSource->cameraCanCaptureImageInVideoMode());
    setCameraCanCaptureVideoInImageMode(mockLinkSource->cameraCanCaptureVideoInImageMode());
    setCameraHasBasicZoom(mockLinkSource->cameraHasBasicZoom());
    setCameraHasTrackingPoint(mockLinkSource->cameraHasTrackingPoint());
    setCameraHasTrackingRectangle(mockLinkSource->cameraHasTrackingRectangle());
    setVideoStreamType(mockLinkSource->videoStreamType());
    setHomeLocation(mockLinkSource->homeLocation());
    setGimbalHasRollAxis(mockLinkSource->gimbalHasRollAxis());
    setGimbalHasPitchAxis(mockLinkSource->gimbalHasPitchAxis());
    setGimbalHasYawAxis(mockLinkSource->gimbalHasYawAxis());
    setGimbalHasYawFollow(mockLinkSource->gimbalHasYawFollow());
    setGimbalHasYawLock(mockLinkSource->gimbalHasYawLock());
    setGimbalHasRetract(mockLinkSource->gimbalHasRetract());
    setGimbalHasNeutral(mockLinkSource->gimbalHasNeutral());
    setGimbalDeviceId(mockLinkSource->gimbalDeviceId());
    setStartArmed(mockLinkSource->startArmed());
    setPreloadMission(mockLinkSource->preloadMission());
    setStayMavlinkV1(mockLinkSource->stayMavlinkV1());
    setSendRadioStatus(mockLinkSource->sendRadioStatus());
}
 
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());
    setApmStartFreshParams(settings.value(_apmStartFreshParamsKey, false).toBool());
    setEnableCamera(settings.value(_enableCameraKey, false).toBool());
    setEnableGimbal(settings.value(_enableGimbalKey, false).toBool());
    setEnableProximity(settings.value(_enableProximityKey, false).toBool());
    setEnableADSB(settings.value(_enableADSBKey, false).toBool());
    setIncrementVehicleId(settings.value(_incrementVehicleIdKey, true).toBool());
    setFailureMode(static_cast<FailureMode_t>(settings.value(_failureModeKey, static_cast<int>(FailNone)).toInt()));
    setCameraCaptureVideo(settings.value(_cameraCaptureVideoKey, true).toBool());
    setCameraCaptureImage(settings.value(_cameraCaptureImageKey, true).toBool());
    setCameraHasModes(settings.value(_cameraHasModesKey, true).toBool());
    setCameraHasVideoStream(settings.value(_cameraHasVideoStreamKey, true).toBool());
    setCameraCanCaptureImageInVideoMode(settings.value(_cameraCanCaptureImageInVideoModeKey, true).toBool());
    setCameraCanCaptureVideoInImageMode(settings.value(_cameraCanCaptureVideoInImageModeKey, false).toBool());
    setCameraHasBasicZoom(settings.value(_cameraHasBasicZoomKey, true).toBool());
    setCameraHasTrackingPoint(settings.value(_cameraHasTrackingPointKey, true).toBool());
    setCameraHasTrackingRectangle(settings.value(_cameraHasTrackingRectangleKey, true).toBool());
    setVideoStreamType(settings.value(_videoStreamTypeKey, static_cast<int>(VideoStreamNone)).toInt());
    setHomeLocation(settings.value(_homeLocationKey, static_cast<int>(HomeLocationPX4SITL)).toInt());
    setGimbalHasRollAxis(settings.value(_gimbalHasRollAxisKey, true).toBool());
    setGimbalHasPitchAxis(settings.value(_gimbalHasPitchAxisKey, true).toBool());
    setGimbalHasYawAxis(settings.value(_gimbalHasYawAxisKey, true).toBool());
    setGimbalHasYawFollow(settings.value(_gimbalHasYawFollowKey, true).toBool());
    setGimbalHasYawLock(settings.value(_gimbalHasYawLockKey, true).toBool());
    setGimbalHasRetract(settings.value(_gimbalHasRetractKey, true).toBool());
    setGimbalHasNeutral(settings.value(_gimbalHasNeutralKey, true).toBool());
    setGimbalDeviceId(settings.value(_gimbalDeviceIdKey, static_cast<int>(MAV_COMP_ID_GIMBAL)).toInt());
 
    settings.endGroup();
}
 
void MockConfiguration::saveSettings(QSettings &settings, const QString &root) const
{
    settings.beginGroup(root);
 
    settings.setValue(_firmwareTypeKey, firmwareType());
    settings.setValue(_vehicleTypeKey, vehicleType());
    settings.setValue(_sendStatusTextKey, sendStatusText());
    settings.setValue(_apmStartFreshParamsKey, apmStartFreshParams());
    settings.setValue(_enableCameraKey, enableCamera());
    settings.setValue(_enableGimbalKey, enableGimbal());
    settings.setValue(_enableProximityKey, enableProximity());
    settings.setValue(_enableADSBKey, enableADSB());
    settings.setValue(_incrementVehicleIdKey, incrementVehicleId());
    settings.setValue(_failureModeKey, failureMode());
    settings.setValue(_cameraCaptureVideoKey, cameraCaptureVideo());
    settings.setValue(_cameraCaptureImageKey, cameraCaptureImage());
    settings.setValue(_cameraHasModesKey, cameraHasModes());
    settings.setValue(_cameraHasVideoStreamKey, cameraHasVideoStream());
    settings.setValue(_cameraCanCaptureImageInVideoModeKey, cameraCanCaptureImageInVideoMode());
    settings.setValue(_cameraCanCaptureVideoInImageModeKey, cameraCanCaptureVideoInImageMode());
    settings.setValue(_cameraHasBasicZoomKey, cameraHasBasicZoom());
    settings.setValue(_cameraHasTrackingPointKey, cameraHasTrackingPoint());
    settings.setValue(_cameraHasTrackingRectangleKey, cameraHasTrackingRectangle());
    settings.setValue(_videoStreamTypeKey, videoStreamType());
    settings.setValue(_homeLocationKey, homeLocation());
    settings.setValue(_gimbalHasRollAxisKey, gimbalHasRollAxis());
    settings.setValue(_gimbalHasPitchAxisKey, gimbalHasPitchAxis());
    settings.setValue(_gimbalHasYawAxisKey, gimbalHasYawAxis());
    settings.setValue(_gimbalHasYawFollowKey, gimbalHasYawFollow());
    settings.setValue(_gimbalHasYawLockKey, gimbalHasYawLock());
    settings.setValue(_gimbalHasRetractKey, gimbalHasRetract());
    settings.setValue(_gimbalHasNeutralKey, gimbalHasNeutral());
    settings.setValue(_gimbalDeviceIdKey, gimbalDeviceId());
 
    settings.endGroup();
}
 
QGeoCoordinate MockConfiguration::homeCoordinate(HomeLocation location)
{
    switch (location) {
        case HomeLocationArduPilotSITL:
            // CMAC entry in ArduPilot Tools/autotest/locations.txt
            return QGeoCoordinate(-35.363261, 149.165230, 584.0);
        case HomeLocationTerrainTest:
            return QGeoCoordinate(47.6305111, -122.0863806, 9.26);
        case HomeLocationPX4SITL:
            break;
    }
 
    return QGeoCoordinate(47.397, 8.5455, 488.056);
}