MockLink Class Reference

#include <MockLink.h>

Inheritance diagram for MockLink:

Collaboration diagram for MockLink:

Public Types
enum	RequestMessageFailureMode_t { FailRequestMessageNone , FailRequestMessageCommandAcceptedMsgNotSent , FailRequestMessageCommandUnsupported , FailRequestMessageCommandNoResponse }
enum	ParamSetFailureMode_t { FailParamSetNone , FailParamSetNoAck , FailParamSetFirstAttemptNoAck , FailParamSetParamError }
enum	ParamRequestReadFailureMode_t { FailParamRequestReadNone , FailParamRequestReadNoResponse , FailParamRequestReadFirstAttemptNoResponse , FailParamRequestReadParamError }

Signals
void	writeBytesQueuedSignal (const QByteArray &bytes)
void	highLatencyTransmissionEnabledChanged (bool highLatencyTransmissionEnabled)
Signals inherited from LinkInterface
void	bytesReceived (LinkInterface *link, const QByteArray &data)
void	bytesSent (LinkInterface *link, const QByteArray &data)
void	connected ()
void	disconnected ()
void	communicationError (const QString &title, const QString &error)

Public Member Functions
	MockLink (SharedLinkConfigurationPtr &config, QObject *parent=nullptr)
virtual	~MockLink ()
void	run1HzTasks ()
void	run10HzTasks ()
void	run500HzTasks ()
void	sendStatusTextMessages ()
bool	shouldSendStatusText () const
bool	isConnected () const final
void	disconnect () final
Q_INVOKABLE void	setCommLost (bool commLost)
Q_INVOKABLE void	simulateConnectionRemoved ()
int	vehicleId () const
MAV_AUTOPILOT	getFirmwareType () const
double	vehicleLatitude () const
double	vehicleLongitude () const
double	vehicleAltitudeAMSL () const
QGeoCoordinate	homeCoordinate () const
	Configured home position, before the per-vehicle offset applied to the vehicle position.
bool	signingEnabled () const
void	respondWithMavlinkMessage (const mavlink_message_t &msg)
	Sends the specified mavlink message to QGC.
void	sendStatusTextMessage (uint8_t severity, const QString &text)
void	setCalibrationPose (MockLinkPX4Calibration::Pose pose) const
	Test API: places the simulated vehicle into the given pose during calibration.
MockLinkFTP *	mockLinkFTP () const
MockLinkGimbal *	mockLinkGimbal () const
void	setVehicleAttitudeOverrideDeg (float rollDeg, float pitchDeg, float yawDeg)
void	clearVehicleAttitudeOverride ()
void	setArmed (bool armed)
	Set the armed state of the simulated vehicle.
bool	armed () const
void	setMissionItemFailureMode (MockLinkMissionItemHandler::FailureMode_t failureMode, MAV_MISSION_RESULT failureAckResult) const
void	sendUnexpectedMissionAck (MAV_MISSION_RESULT ackType) const
	Called to send a MISSION_ACK message while the MissionManager is in idle state.
void	sendUnexpectedMissionItem () const
	Called to send a MISSION_ITEM message while the MissionManager is in idle state.
void	sendUnexpectedMissionRequest () const
	Called to send a MISSION_REQUEST message while the MissionManager is in idle state.
void	sendUnexpectedCommandAck (MAV_CMD command, MAV_RESULT ackResult)
void	resetMissionItemHandler () const
	Reset the state of the MissionItemHandler to no items, no transactions in progress.
void	loadSimpleMultirotorMission () const
	Test-only: seeds a simple multirotor mission (takeoff, waypoint, RTL) onto the simulated vehicle.
QString	logDownloadFile () const
	Returns the filename for the simulated log file. Only available after a download is requested.
uint8_t	outgoingMavlinkChannel () const
	Vehicle-side channel used to encode outgoing (mock vehicle -> QGC) messages. Signing state lives here.
void	clearReceivedMavCommandCounts ()
int	receivedMavCommandCount (MAV_CMD command) const
int	receivedMavCommandCount (MAV_CMD command, int compId) const
int	receivedRequestMessageCount (int compId, int messageId) const
void	clearReceivedRequestMessageCounts ()
int	receivedRequestMessageCount (uint32_t messageId) const
void	clearReceivedMavlinkMessageCounts ()
int	receivedMavlinkMessageCount (uint32_t messageId) const
bool	lastReceivedMavlinkMessage (uint32_t messageId, mavlink_message_t &message) const
	Returns the last received message with the given id. Returns false if none received.
int	receivedMissionRequestListCount (MAV_MISSION_TYPE type) const
void	bumpAvailableModesMonitorSequence ()
void	setDuplicateResponses (bool duplicate)
	Unit test support: sends every vehicle->QGC message twice, as when two links receive the same traffic.
void	setRequestMessageFailureMode (RequestMessageFailureMode_t failureMode)
void	setRequestMessageNoResponse (uint32_t messageId, bool noResponse=true)
void	setParamSetFailureMode (ParamSetFailureMode_t mode)
void	setParamRequestReadFailureMode (ParamRequestReadFailureMode_t mode)
void	setHashCheckNoResponse (bool noResponse)
void	setResetSysAutostartOnParamReset (bool reset)
int	hashCheckRequestCount () const
	Returns the number of standalone PARAM_REQUEST_READ requests for _HASH_CHECK received.
QList< QPair< int, int > >	paramRequestReadIndexLog () const
	Index-based PARAM_REQUEST_READs received, in arrival order: (componentId, paramIndex)
void	setMockParamValue (int componentId, const QString &paramName, float value)
	Change a float parameter value directly on MockLink (for testing cache invalidation)
void	startAPMStaleFailedMagCalReportStreaming ()
bool	apmStaleFailedMagCalReportStreamingActive () const
	Returns true while the stale failed MAG_CAL_REPORT stream is active.
void	setAPMMagCalStartFailureMode (bool fail)
void	setInt32ParamValue (int componentId, const QString &paramName, int32_t value)
QVariant	paramValue (int componentId, const QString &paramName) const
void	setRemoteIDArmStatus (uint8_t status, const QString &error)
void	servedVideoStream (MockConfiguration::VideoStreamType &type, QString &uri) const
MockConfiguration::VideoStreamType	requestedVideoStreamType () const
	Video stream type the configuration requested (immutable after construction).
Public Member Functions inherited from LinkInterface
virtual	~LinkInterface ()
virtual bool	isLogReplay () const
virtual bool	isSecureConnection () const
virtual bool	isRadioLink () const
void	reportRadioStatusReceived ()
SharedLinkConfigurationPtr	linkConfiguration ()
const SharedLinkConfigurationPtr	linkConfiguration () const
uint8_t	mavlinkChannel () const
bool	mavlinkChannelIsSet () const
bool	decodedFirstMavlinkPacket () const
void	setDecodedFirstMavlinkPacket (bool decodedFirstMavlinkPacket)
void	writeBytesThreadSafe (const char *bytes, int length)
void	sendMessageThreadSafe (mavlink_message_t &message)
void	addVehicleReference ()
void	removeVehicleReference ()
void	reportMavlinkV1Traffic ()
void	reportMavlinkV2Traffic ()
	Called when a v2 message is received: permanently suppresses the v1-only warning for this link.
bool	mavlinkV1TrafficReported () const
SigningController *	signing ()
	Per-link signing state and confirmation state machine. Non-null after channel allocation.
const SigningController *	signing () const

Static Public Member Functions
static MockLink *	startPX4MockLink (MockConfiguration::Options options=MockConfiguration::OptionNone, MockConfiguration::FailureMode_t failureMode=MockConfiguration::FailNone, MockConfiguration::VideoStreamType videoStreamType=MockConfiguration::VideoStreamNone)
static MockLink *	startMockLink (MockConfiguration *mockConfig)
	Starts a MockLink from a fully caller-configured MockConfiguration (ownership transfers to LinkManager)
static MockLink *	startPX4MockLinkWithMission (MockConfiguration::Options options=MockConfiguration::OptionNone, MockConfiguration::FailureMode_t failureMode=MockConfiguration::FailNone)
static MockLink *	startGenericMockLink (MockConfiguration::Options options=MockConfiguration::OptionNone, MockConfiguration::FailureMode_t failureMode=MockConfiguration::FailNone, MockConfiguration::VideoStreamType videoStreamType=MockConfiguration::VideoStreamNone)
static MockLink *	startNoInitialConnectMockLink (MockConfiguration::Options options=MockConfiguration::OptionNone, MockConfiguration::FailureMode_t failureMode=MockConfiguration::FailNone)
static MockLink *	startAPMArduCopterMockLink (MockConfiguration::Options options=MockConfiguration::OptionNone, MockConfiguration::FailureMode_t failureMode=MockConfiguration::FailNone, MockConfiguration::VideoStreamType videoStreamType=MockConfiguration::VideoStreamNone)
static MockLink *	startAPMArduPlaneMockLink (MockConfiguration::Options options=MockConfiguration::OptionNone, MockConfiguration::FailureMode_t failureMode=MockConfiguration::FailNone, MockConfiguration::VideoStreamType videoStreamType=MockConfiguration::VideoStreamNone)
static MockLink *	startAPMArduSubMockLink (MockConfiguration::Options options=MockConfiguration::OptionNone, MockConfiguration::FailureMode_t failureMode=MockConfiguration::FailNone, MockConfiguration::VideoStreamType videoStreamType=MockConfiguration::VideoStreamNone)
static MockLink *	startAPMArduRoverMockLink (MockConfiguration::Options options=MockConfiguration::OptionNone, MockConfiguration::FailureMode_t failureMode=MockConfiguration::FailNone, MockConfiguration::VideoStreamType videoStreamType=MockConfiguration::VideoStreamNone)
Static Public Member Functions inherited from LinkInterface
static void	setMavlinkV1TrafficGraceMsecs (int msecs)

Static Public Attributes
static constexpr MAV_CMD	MAV_CMD_MOCKLINK_ALWAYS_RESULT_ACCEPTED = MAV_CMD_USER_1
static constexpr MAV_CMD	MAV_CMD_MOCKLINK_ALWAYS_RESULT_FAILED = MAV_CMD_USER_2
static constexpr MAV_CMD	MAV_CMD_MOCKLINK_SECOND_ATTEMPT_RESULT_ACCEPTED = MAV_CMD_USER_3
static constexpr MAV_CMD	MAV_CMD_MOCKLINK_SECOND_ATTEMPT_RESULT_FAILED = MAV_CMD_USER_4
static constexpr MAV_CMD	MAV_CMD_MOCKLINK_NO_RESPONSE = MAV_CMD_USER_5
static constexpr MAV_CMD	MAV_CMD_MOCKLINK_NO_RESPONSE_NO_RETRY = static_cast<MAV_CMD>(MAV_CMD_USER_5 + 1)
static constexpr MAV_CMD	MAV_CMD_MOCKLINK_RESULT_IN_PROGRESS_ACCEPTED = static_cast<MAV_CMD>(MAV_CMD_USER_5 + 2)
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)
Static Public Attributes inherited from LinkInterface
static constexpr int	kMavlinkV1TrafficGraceMsecsDefault = 10000

Friends
class	MockLinkFTP
class	StandardModesTest

Additional Inherited Members
Protected Member Functions inherited from LinkInterface
	LinkInterface (SharedLinkConfigurationPtr &config, QObject *parent=nullptr)
	Links are only created by LinkManager so constructor is not public.
void	_connectionRemoved ()
void	_shutdownWorkerThread (QThread *thread, const QLoggingCategory &category, bool allowTerminate=true)
Protected Attributes inherited from LinkInterface
SharedLinkConfigurationPtr	_config

Detailed Description

Definition at line 30 of file MockLink.h.

Member Enumeration Documentation

ParamRequestReadFailureMode_t

enum MockLink::ParamRequestReadFailureMode_t

Enumerator
FailParamRequestReadNone	Normal behavior.
FailParamRequestReadNoResponse	Do not respond to PARAM_REQUEST_READ.
FailParamRequestReadFirstAttemptNoResponse	Skip response on first attempt, respond to retry.
FailParamRequestReadParamError	Respond with PARAM_ERROR (DOES_NOT_EXIST) instead of PARAM_VALUE.

Definition at line 170 of file MockLink.h.

ParamSetFailureMode_t

enum MockLink::ParamSetFailureMode_t

Enumerator
FailParamSetNone	Normal behavior.
FailParamSetNoAck	Do not send PARAM_VALUE ack.
FailParamSetFirstAttemptNoAck	Skip ack on first attempt, respond to retry.
FailParamSetParamError	Respond with PARAM_ERROR (VALUE_OUT_OF_RANGE) instead of PARAM_VALUE.

Definition at line 159 of file MockLink.h.

RequestMessageFailureMode_t

enum MockLink::RequestMessageFailureMode_t

Enumerator
FailRequestMessageNone
FailRequestMessageCommandAcceptedMsgNotSent
FailRequestMessageCommandUnsupported
FailRequestMessageCommandNoResponse

Definition at line 140 of file MockLink.h.

Constructor & Destructor Documentation

MockLink()

MockLink::MockLink ( SharedLinkConfigurationPtr &  config, QObject *  parent = nullptr  )

explicit

Definition at line 160 of file MockLink.cc.

References MockLinkMissionItemHandler::loadSimpleMultirotorMission(), LinkConfiguration::name(), MockConfiguration::preloadMission(), setArmed(), MockConfiguration::startArmed(), MockLinkWorker::startWork(), and writeBytesQueuedSignal().

~MockLink()

MockLink::~MockLink ( )

virtual

Definition at line 246 of file MockLink.cc.

References disconnect().

Member Function Documentation

apmStaleFailedMagCalReportStreamingActive()

bool MockLink::apmStaleFailedMagCalReportStreamingActive

(

)

const

Returns true while the stale failed MAG_CAL_REPORT stream is active.

Definition at line 3522 of file MockLink.cc.

armed()

bool MockLink::armed ( ) const

inline

Definition at line 85 of file MockLink.h.

Referenced by setArmed().

bumpAvailableModesMonitorSequence()

void MockLink::bumpAvailableModesMonitorSequence ( )

inline

Unit test support: bumps the AVAILABLE_MODES_MONITOR sequence number, which unlocks the delayed flight mode and causes QGC to re-query standard modes.

Definition at line 135 of file MockLink.h.

clearReceivedMavCommandCounts()

void MockLink::clearReceivedMavCommandCounts ( )

inline

Definition at line 115 of file MockLink.h.

clearReceivedMavlinkMessageCounts()

void MockLink::clearReceivedMavlinkMessageCounts ( )

inline

Definition at line 121 of file MockLink.h.

References MockLinkMissionItemHandler::clearRequestListCounts().

clearReceivedRequestMessageCounts()

void MockLink::clearReceivedRequestMessageCounts ( )

inline

Definition at line 119 of file MockLink.h.

clearVehicleAttitudeOverride()

void MockLink::clearVehicleAttitudeOverride

(

)

Definition at line 3416 of file MockLink.cc.

disconnect()

void MockLink::disconnect ( )

finalvirtual

Implements LinkInterface.

Definition at line 293 of file MockLink.cc.

References LinkInterface::disconnected(), mavlink_get_channel_status(), and MockLinkMissionItemHandler::shutdown().

Referenced by QGroundControlQmlGlobal::stopOneMockLink(), and ~MockLink().

getFirmwareType()

MAV_AUTOPILOT MockLink::getFirmwareType ( ) const

inline

Definition at line 54 of file MockLink.h.

hashCheckRequestCount()

int MockLink::hashCheckRequestCount ( ) const

inline

Returns the number of standalone PARAM_REQUEST_READ requests for _HASH_CHECK received.

Definition at line 189 of file MockLink.h.

highLatencyTransmissionEnabledChanged

void MockLink::highLatencyTransmissionEnabledChanged ( bool  highLatencyTransmissionEnabled )

signal

homeCoordinate()

QGeoCoordinate MockLink::homeCoordinate ( ) const

inline

Configured home position, before the per-vehicle offset applied to the vehicle position.

Definition at line 61 of file MockLink.h.

Referenced by MockLinkMissionItemHandler::loadSimpleMultirotorMission().

isConnected()

bool MockLink::isConnected ( ) const

inlinefinalvirtual

Implements LinkInterface.

Definition at line 47 of file MockLink.h.

lastReceivedMavlinkMessage()

bool MockLink::lastReceivedMavlinkMessage ( uint32_t  messageId, mavlink_message_t &  message  ) const

inline

Returns the last received message with the given id. Returns false if none received.

Definition at line 124 of file MockLink.h.

loadSimpleMultirotorMission()

void MockLink::loadSimpleMultirotorMission ( ) const

inline

Test-only: seeds a simple multirotor mission (takeoff, waypoint, RTL) onto the simulated vehicle.

Definition at line 107 of file MockLink.h.

References MockLinkMissionItemHandler::loadSimpleMultirotorMission().

logDownloadFile()

QString MockLink::logDownloadFile ( ) const

inline

Returns the filename for the simulated log file. Only available after a download is requested.

Definition at line 110 of file MockLink.h.

mockLinkFTP()

MockLinkFTP * MockLink::mockLinkFTP

(

)

const

Definition at line 3402 of file MockLink.cc.

mockLinkGimbal()

MockLinkGimbal * MockLink::mockLinkGimbal ( ) const

inline

Definition at line 76 of file MockLink.h.

outgoingMavlinkChannel()

uint8_t MockLink::outgoingMavlinkChannel ( ) const

inline

Vehicle-side channel used to encode outgoing (mock vehicle -> QGC) messages. Signing state lives here.

Definition at line 113 of file MockLink.h.

Referenced by MockLinkCamera::sendCameraHeartbeats().

paramRequestReadIndexLog()

QList< QPair< int, int > > MockLink::paramRequestReadIndexLog ( ) const

inline

Index-based PARAM_REQUEST_READs received, in arrival order: (componentId, paramIndex)

Definition at line 191 of file MockLink.h.

paramValue()

QVariant MockLink::paramValue ( int  componentId, const QString &  paramName  ) const

inline

Returns the current MockLink-side value of a parameter. Used by unit tests to verify that PARAM_SET writes reached the simulated firmware.

Definition at line 214 of file MockLink.h.

receivedMavCommandCount() [1/2]

int MockLink::receivedMavCommandCount ( MAV_CMD  command ) const

inline

Definition at line 116 of file MockLink.h.

receivedMavCommandCount() [2/2]

int MockLink::receivedMavCommandCount ( MAV_CMD  command, int  compId  ) const

inline

Definition at line 117 of file MockLink.h.

receivedMavlinkMessageCount()

int MockLink::receivedMavlinkMessageCount ( uint32_t  messageId ) const

inline

Definition at line 122 of file MockLink.h.

receivedMissionRequestListCount()

int MockLink::receivedMissionRequestListCount ( MAV_MISSION_TYPE  type ) const

inline

Definition at line 131 of file MockLink.h.

References MockLinkMissionItemHandler::requestListCount().

receivedRequestMessageCount() [1/2]

int MockLink::receivedRequestMessageCount ( int  compId, int  messageId  ) const

inline

Definition at line 118 of file MockLink.h.

receivedRequestMessageCount() [2/2]

int MockLink::receivedRequestMessageCount ( uint32_t  messageId ) const

inline

Definition at line 120 of file MockLink.h.

requestedVideoStreamType()

MockConfiguration::VideoStreamType MockLink::requestedVideoStreamType ( ) const

inline

Video stream type the configuration requested (immutable after construction).

Definition at line 238 of file MockLink.h.

resetMissionItemHandler()

void MockLink::resetMissionItemHandler ( ) const

inline

Reset the state of the MissionItemHandler to no items, no transactions in progress.

Definition at line 104 of file MockLink.h.

References MockLinkMissionItemHandler::reset().

respondWithMavlinkMessage()

void MockLink::respondWithMavlinkMessage

(

const mavlink_message_t &

msg

)

Sends the specified mavlink message to QGC.

Definition at line 1102 of file MockLink.cc.

References LinkInterface::bytesReceived().

Referenced by MockLinkFTP::mavlinkMessageReceived(), MockLinkCamera::sendCameraHeartbeats(), sendStatusTextMessage(), and sendUnexpectedCommandAck().

run10HzTasks()

void MockLink::run10HzTasks

(

)

Definition at line 457 of file MockLink.cc.

References LinkInterface::linkConfiguration(), LinkInterface::mavlinkChannelIsSet(), MockLinkCamera::run10HzTasks(), MockLinkPX4Calibration::run10HzTasks(), and QGC::runningUnitTests().

run1HzTasks()

void MockLink::run1HzTasks

(

)

Definition at line 403 of file MockLink.cc.

References LinkInterface::linkConfiguration(), LinkInterface::mavlinkChannelIsSet(), MockLinkGimbal::run1HzTasks(), QGC::runningUnitTests(), and MockLinkCamera::sendCameraHeartbeats().

run500HzTasks()

void MockLink::run500HzTasks

(

)

Definition at line 491 of file MockLink.cc.

References LinkInterface::linkConfiguration(), LinkInterface::mavlinkChannelIsSet(), and QGC::runningUnitTests().

sendStatusTextMessage()

void MockLink::sendStatusTextMessage	(	uint8_t	severity,
		const QString &	text
	)

Sends a STATUSTEXT message to QGC

Parameters

severity

MAV_SEVERITY value

Definition at line 2898 of file MockLink.cc.

References respondWithMavlinkMessage().

Referenced by MockLinkPX4Calibration::cancel(), and MockLinkPX4Calibration::run10HzTasks().

sendStatusTextMessages()

void MockLink::sendStatusTextMessages

(

)

Definition at line 513 of file MockLink.cc.

sendUnexpectedCommandAck()

void MockLink::sendUnexpectedCommandAck	(	MAV_CMD	command,
		MAV_RESULT	ackResult
	)

Definition at line 2366 of file MockLink.cc.

References respondWithMavlinkMessage().

sendUnexpectedMissionAck()

void MockLink::sendUnexpectedMissionAck ( MAV_MISSION_RESULT  ackType ) const

inline

Called to send a MISSION_ACK message while the MissionManager is in idle state.

Definition at line 93 of file MockLink.h.

References MockLinkMissionItemHandler::sendUnexpectedMissionAck().

sendUnexpectedMissionItem()

void MockLink::sendUnexpectedMissionItem ( ) const

inline

Called to send a MISSION_ITEM message while the MissionManager is in idle state.

Definition at line 96 of file MockLink.h.

References MockLinkMissionItemHandler::sendUnexpectedMissionItem().

sendUnexpectedMissionRequest()

void MockLink::sendUnexpectedMissionRequest ( ) const

inline

Called to send a MISSION_REQUEST message while the MissionManager is in idle state.

Definition at line 99 of file MockLink.h.

References MockLinkMissionItemHandler::sendUnexpectedMissionRequest().

servedVideoStream()

void MockLink::servedVideoStream	(	MockConfiguration::VideoStreamType &	type,
		QString &	uri
	)		const

Thread-safe snapshot of the video stream actually being served (VideoStreamNone/empty when none is served). Safe to call from the worker thread while _connect()/disconnect() mutate the served state on the main thread. MockLinkCamera advertises VIDEO_STREAM_INFORMATION consistent with this snapshot.

Definition at line 396 of file MockLink.cc.

setAPMMagCalStartFailureMode()

void MockLink::setAPMMagCalStartFailureMode ( bool  fail )

inline

When enabled, MAV_CMD_DO_START_MAG_CAL is rejected with MAV_RESULT_FAILED instead of starting the compass cal simulation.

Definition at line 206 of file MockLink.h.

setArmed()

void MockLink::setArmed ( bool  armed )

inline

Set the armed state of the simulated vehicle.

Definition at line 84 of file MockLink.h.

References armed().

Referenced by MockLink().

setCalibrationPose()

void MockLink::setCalibrationPose ( MockLinkPX4Calibration::Pose  pose ) const

inline

Test API: places the simulated vehicle into the given pose during calibration.

Definition at line 73 of file MockLink.h.

References MockLinkPX4Calibration::setPose().

setCommLost()

Q_INVOKABLE void MockLink::setCommLost ( bool  commLost )

inline

Definition at line 50 of file MockLink.h.

setDuplicateResponses()

void MockLink::setDuplicateResponses ( bool  duplicate )

inline

Unit test support: sends every vehicle->QGC message twice, as when two links receive the same traffic.

Definition at line 138 of file MockLink.h.

setHashCheckNoResponse()

void MockLink::setHashCheckNoResponse ( bool  noResponse )

inline

Definition at line 181 of file MockLink.h.

setInt32ParamValue()

void MockLink::setInt32ParamValue ( int  componentId, const QString &  paramName, int32_t  value  )

inline

Change an int32 parameter value directly on MockLink. Used to simulate the firmware storing calibration results (e.g. CAL_MAG0_ID).

Definition at line 210 of file MockLink.h.

Referenced by MockLinkPX4Calibration::run10HzTasks().

setMissionItemFailureMode()

void MockLink::setMissionItemFailureMode ( MockLinkMissionItemHandler::FailureMode_t  failureMode, MAV_MISSION_RESULT  failureAckResult  ) const

inline

Sets a failure mode for unit testing

Parameters

failureMode	Type of failure to simulate
failureAckResult	Error to send if one the ack error modes

Definition at line 90 of file MockLink.h.

References MockLinkMissionItemHandler::setFailureMode().

setMockParamValue()

void MockLink::setMockParamValue	(	int	componentId,
		const QString &	paramName,
		float	value
	)

Change a float parameter value directly on MockLink (for testing cache invalidation)

Definition at line 1533 of file MockLink.cc.

setParamRequestReadFailureMode()

void MockLink::setParamRequestReadFailureMode ( ParamRequestReadFailureMode_t  mode )

inline

Definition at line 176 of file MockLink.h.

References FailParamRequestReadFirstAttemptNoResponse.

setParamSetFailureMode()

void MockLink::setParamSetFailureMode ( ParamSetFailureMode_t  mode )

inline

Definition at line 165 of file MockLink.h.

References FailParamSetFirstAttemptNoAck.

setRemoteIDArmStatus()

void MockLink::setRemoteIDArmStatus	(	uint8_t	status,
		const QString &	error
	)

Override the OPEN_DRONE_ID_ARM_STATUS the simulated RID device sends at 1Hz. status is a MAV_ODID_ARM_STATUS value.

Definition at line 3295 of file MockLink.cc.

References error.

setRequestMessageFailureMode()

void MockLink::setRequestMessageFailureMode ( RequestMessageFailureMode_t  failureMode )

inline

Definition at line 146 of file MockLink.h.

setRequestMessageNoResponse()

void MockLink::setRequestMessageNoResponse ( uint32_t  messageId, bool  noResponse = true  )

inline

Block or unblock REQUEST_MESSAGE responses for a specific message ID. When blocked, MockLink silently drops the request (no ACK, no message).

Definition at line 150 of file MockLink.h.

setResetSysAutostartOnParamReset()

void MockLink::setResetSysAutostartOnParamReset ( bool  reset )

inline

Controls whether SYS_AUTOSTART is also reset when a MAV_CMD_PREFLIGHT_STORAGE param1=2 (reset params to defaults) command is received. Defaults to false so the simulated airframe doesn't change.

Definition at line 186 of file MockLink.h.

setVehicleAttitudeOverrideDeg()

void MockLink::setVehicleAttitudeOverrideDeg	(	float	rollDeg,
		float	pitchDeg,
		float	yawDeg
	)

Test API: pins the simulated vehicle attitude (degrees) in place of the default sinusoid. Heading reported by Vehicle::heading() is truncated to whole degrees, so pass integral yaw.

Definition at line 3407 of file MockLink.cc.

shouldSendStatusText()

bool MockLink::shouldSendStatusText ( ) const

inline

Definition at line 45 of file MockLink.h.

Referenced by MockLinkWorker::startWork().

signingEnabled()

bool MockLink::signingEnabled ( ) const

inline

Definition at line 63 of file MockLink.h.

simulateConnectionRemoved()

void MockLink::simulateConnectionRemoved

(

)

Definition at line 3396 of file MockLink.cc.

References LinkInterface::_connectionRemoved().

startAPMArduCopterMockLink()

MockLink * MockLink::startAPMArduCopterMockLink ( MockConfiguration::Options  options = MockConfiguration::OptionNone, MockConfiguration::FailureMode_t  failureMode = MockConfiguration::FailNone, MockConfiguration::VideoStreamType  videoStreamType = MockConfiguration::VideoStreamNone  )

static

Definition at line 2807 of file MockLink.cc.

startAPMArduPlaneMockLink()

MockLink * MockLink::startAPMArduPlaneMockLink ( MockConfiguration::Options  options = MockConfiguration::OptionNone, MockConfiguration::FailureMode_t  failureMode = MockConfiguration::FailNone, MockConfiguration::VideoStreamType  videoStreamType = MockConfiguration::VideoStreamNone  )

static

Definition at line 2812 of file MockLink.cc.

startAPMArduRoverMockLink()

MockLink * MockLink::startAPMArduRoverMockLink ( MockConfiguration::Options  options = MockConfiguration::OptionNone, MockConfiguration::FailureMode_t  failureMode = MockConfiguration::FailNone, MockConfiguration::VideoStreamType  videoStreamType = MockConfiguration::VideoStreamNone  )

static

Definition at line 2822 of file MockLink.cc.

startAPMArduSubMockLink()

MockLink * MockLink::startAPMArduSubMockLink ( MockConfiguration::Options  options = MockConfiguration::OptionNone, MockConfiguration::FailureMode_t  failureMode = MockConfiguration::FailNone, MockConfiguration::VideoStreamType  videoStreamType = MockConfiguration::VideoStreamNone  )

static

Definition at line 2817 of file MockLink.cc.

startAPMStaleFailedMagCalReportStreaming()

void MockLink::startAPMStaleFailedMagCalReportStreaming

(

)

Simulates ArduPilot streaming MAG_CAL_REPORT(MAG_CAL_FAILED) after a failed onboard compass cal. Like real ArduPilot, the failed report keeps streaming until MAV_CMD_DO_CANCEL_MAG_CAL is received; MAV_CMD_DO_START_MAG_CAL does not stop it.

Definition at line 3515 of file MockLink.cc.

startGenericMockLink()

MockLink * MockLink::startGenericMockLink ( MockConfiguration::Options  options = MockConfiguration::OptionNone, MockConfiguration::FailureMode_t  failureMode = MockConfiguration::FailNone, MockConfiguration::VideoStreamType  videoStreamType = MockConfiguration::VideoStreamNone  )

static

Definition at line 2797 of file MockLink.cc.

startMockLink()

static MockLink * MockLink::startMockLink ( MockConfiguration *  mockConfig )

inlinestatic

Starts a MockLink from a fully caller-configured MockConfiguration (ownership transfers to LinkManager)

Definition at line 222 of file MockLink.h.

Referenced by QGroundControlQmlGlobal::startMockLink().

startNoInitialConnectMockLink()

MockLink * MockLink::startNoInitialConnectMockLink ( MockConfiguration::Options  options = MockConfiguration::OptionNone, MockConfiguration::FailureMode_t  failureMode = MockConfiguration::FailNone  )

static

Definition at line 2802 of file MockLink.cc.

startPX4MockLink()

MockLink * MockLink::startPX4MockLink ( MockConfiguration::Options  options = MockConfiguration::OptionNone, MockConfiguration::FailureMode_t  failureMode = MockConfiguration::FailNone, MockConfiguration::VideoStreamType  videoStreamType = MockConfiguration::VideoStreamNone  )

static

Definition at line 2787 of file MockLink.cc.

startPX4MockLinkWithMission()

MockLink * MockLink::startPX4MockLinkWithMission ( MockConfiguration::Options  options = MockConfiguration::OptionNone, MockConfiguration::FailureMode_t  failureMode = MockConfiguration::FailNone  )

static

Definition at line 2792 of file MockLink.cc.

References MockConfiguration::OptionPreloadMission.

vehicleAltitudeAMSL()

double MockLink::vehicleAltitudeAMSL ( ) const

inline

Definition at line 58 of file MockLink.h.

vehicleId()

int MockLink::vehicleId ( ) const

inline

Definition at line 53 of file MockLink.h.

Referenced by MockLinkCamera::sendCameraHeartbeats().

vehicleLatitude()

double MockLink::vehicleLatitude ( ) const

inline

Definition at line 56 of file MockLink.h.

vehicleLongitude()

double MockLink::vehicleLongitude ( ) const

inline

Definition at line 57 of file MockLink.h.

writeBytesQueuedSignal

void MockLink::writeBytesQueuedSignal ( const QByteArray &  bytes )

signal

Referenced by MockLink().

Friends And Related Symbol Documentation

MockLinkFTP

friend class MockLinkFTP

friend

Definition at line 33 of file MockLink.h.

StandardModesTest

friend class StandardModesTest

friend

Definition at line 34 of file MockLink.h.

Member Data Documentation

MAV_CMD_MOCKLINK_ALWAYS_RESULT_ACCEPTED

constexpr MAV_CMD MockLink::MAV_CMD_MOCKLINK_ALWAYS_RESULT_ACCEPTED = MAV_CMD_USER_1

staticconstexpr

Definition at line 241 of file MockLink.h.

MAV_CMD_MOCKLINK_ALWAYS_RESULT_FAILED

constexpr MAV_CMD MockLink::MAV_CMD_MOCKLINK_ALWAYS_RESULT_FAILED = MAV_CMD_USER_2

staticconstexpr

Definition at line 242 of file MockLink.h.

MAV_CMD_MOCKLINK_NO_RESPONSE

constexpr MAV_CMD MockLink::MAV_CMD_MOCKLINK_NO_RESPONSE = MAV_CMD_USER_5

staticconstexpr

Definition at line 245 of file MockLink.h.

MAV_CMD_MOCKLINK_NO_RESPONSE_NO_RETRY

constexpr MAV_CMD MockLink::MAV_CMD_MOCKLINK_NO_RESPONSE_NO_RETRY = static_cast<MAV_CMD>(MAV_CMD_USER_5 + 1)

staticconstexpr

Definition at line 246 of file MockLink.h.

MAV_CMD_MOCKLINK_RESULT_IN_PROGRESS_ACCEPTED

constexpr MAV_CMD MockLink::MAV_CMD_MOCKLINK_RESULT_IN_PROGRESS_ACCEPTED = static_cast<MAV_CMD>(MAV_CMD_USER_5 + 2)

staticconstexpr

Definition at line 247 of file MockLink.h.

MAV_CMD_MOCKLINK_RESULT_IN_PROGRESS_FAILED

constexpr MAV_CMD MockLink::MAV_CMD_MOCKLINK_RESULT_IN_PROGRESS_FAILED = static_cast<MAV_CMD>(MAV_CMD_USER_5 + 3)

staticconstexpr

Definition at line 248 of file MockLink.h.

MAV_CMD_MOCKLINK_RESULT_IN_PROGRESS_NO_ACK

constexpr MAV_CMD MockLink::MAV_CMD_MOCKLINK_RESULT_IN_PROGRESS_NO_ACK = static_cast<MAV_CMD>(MAV_CMD_USER_5 + 4)

staticconstexpr

Definition at line 249 of file MockLink.h.

MAV_CMD_MOCKLINK_SECOND_ATTEMPT_RESULT_ACCEPTED

constexpr MAV_CMD MockLink::MAV_CMD_MOCKLINK_SECOND_ATTEMPT_RESULT_ACCEPTED = MAV_CMD_USER_3

staticconstexpr

Definition at line 243 of file MockLink.h.

MAV_CMD_MOCKLINK_SECOND_ATTEMPT_RESULT_FAILED

constexpr MAV_CMD MockLink::MAV_CMD_MOCKLINK_SECOND_ATTEMPT_RESULT_FAILED = MAV_CMD_USER_4

staticconstexpr

Definition at line 244 of file MockLink.h.

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The documentation for this class was generated from the following files:

• src/Comms/MockLink/MockLink.h
• src/Comms/MockLink/MockLink.cc