MockLinkMissionItemHandler.h

Go to the documentation of this file.

#pragma once
 
#include <QtCore/QLoggingCategory>
#include <QtCore/QMap>
#include <QtCore/QObject>
#include <QtCore/QTimer>
 
#include "MAVLinkLib.h"
 
class MockLink;
 
Q_DECLARE_LOGGING_CATEGORY(MockLinkMissionItemHandlerLog)
 
class MockLinkMissionItemHandler : public QObject
{
    Q_OBJECT
 
public:
    MockLinkMissionItemHandler(MockLink *mockLink);
    ~MockLinkMissionItemHandler();
 
    // Prepares for destruction on correct thread
    void shutdown();
 
    bool handleMavlinkMessage(const mavlink_message_t &msg);
 
    enum FailureMode_t {
        FailNone,                           // No failures
        FailReadRequestListNoResponse,      // Don't send MISSION_COUNT in response to MISSION_REQUEST_LIST
        FailReadRequestListFirstResponse,   // Don't send MISSION_COUNT in response to first MISSION_REQUEST_LIST, allow subsequent to go through
        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
        FailReadRequest1FirstResponse,      // Don't send MISSION_ITEM in response to MISSION_REQUEST item 1 on first try, allow subsequent request to go through
        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
        FailWriteMissionCountNoResponse,    // Don't respond to MISSION_COUNT with MISSION_REQUEST 0
        FailWriteMissionCountFirstResponse, // Don't respond to first MISSION_COUNT with MISSION_REQUEST 0, respond to subsequent MISSION_COUNT requests
        FailWriteRequest1NoResponse,        // Don't respond to MISSION_ITEM 0 with MISSION_REQUEST 1
        FailWriteRequest0IncorrectSequence, // Item 0 MISSION_REQUEST sent has wrong sequence number
        FailWriteRequest1IncorrectSequence, // Item 1 MISSION_REQUEST sent has wrong sequence number
        FailWriteRequest0ErrorAck,          // Instead of sending MISSION_REQUEST 0, send MISSION_ACK error
        FailWriteRequest1ErrorAck,          // Instead of sending MISSION_REQUEST 1, send 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
    };
 
    void setFailureMode(FailureMode_t failureMode, MAV_MISSION_RESULT failureAckResult);
 
    void sendUnexpectedMissionAck(MAV_MISSION_RESULT ackType);
 
    void sendUnexpectedMissionItem();
 
    void sendUnexpectedMissionRequest();
 
    void reset() { _missionItems.clear(); }
 
    void setSendHomePositionOnEmptyList(bool sendHomePositionOnEmptyList) { _sendHomePositionOnEmptyList = sendHomePositionOnEmptyList; }
 
private slots:
    void _missionItemResponseTimeout();
 
private:
    void _handleMissionRequestList(const mavlink_message_t &msg);
    void _handleMissionRequest(const mavlink_message_t &msg);
    void _handleMissionItem(const mavlink_message_t &msg);
    void _handleMissionCount(const mavlink_message_t &msg);
    void _handleMissionClearAll(const mavlink_message_t &msg);
    void _requestNextMissionItem(int sequenceNumber);
    void _sendAck(MAV_MISSION_RESULT ackType) const;
    void _startMissionItemResponseTimer();
 
    MockLink *_mockLink = nullptr;
 
    int _writeSequenceCount = 0;    
    int _writeSequenceIndex = 0;    
 
    typedef QMap<uint16_t, mavlink_mission_item_int_t> MissionItemList_t;
 
    MAV_MISSION_TYPE _requestType = MAV_MISSION_TYPE_MISSION;
    MissionItemList_t _missionItems;
    MissionItemList_t _fenceItems;
    MissionItemList_t _rallyItems;
 
    QTimer _missionItemResponseTimer;
    FailureMode_t _failureMode = FailNone;
    MAV_MISSION_RESULT _failureAckResult;
    bool _sendHomePositionOnEmptyList = false;
    bool _failReadRequestListFirstResponse = true;
    bool _failReadRequest1FirstResponse = true;
    bool _failWriteMissionCountFirstResponse = true;
};