Mavlink FTP implementation List command

qgroundcontrol.pro

@@ -186,16 +186,21 @@ DebugBuild {
         src/qgcunittest/MockUASManager.h \
         src/qgcunittest/MockUAS.h \
         src/qgcunittest/MockQGCUASParamManager.h \
+        src/qgcunittest/MockMavlinkInterface.h \
+        src/qgcunittest/MockMavlinkFileServer.h \
         src/qgcunittest/MultiSignalSpy.h \
-        src/qgcunittest/FlightModeConfigTest.h
+        src/qgcunittest/FlightModeConfigTest.h \
+        src/qgcunittest/QGCUASFileManagerTest.h
 
     SOURCES += \
         src/qgcunittest/UASUnitTest.cc \
         src/qgcunittest/MockUASManager.cc \
         src/qgcunittest/MockUAS.cc \
         src/qgcunittest/MockQGCUASParamManager.cc \
+        src/qgcunittest/MockMavlinkFileServer.cc \
         src/qgcunittest/MultiSignalSpy.cc \
-        src/qgcunittest/FlightModeConfigTest.cc
+        src/qgcunittest/FlightModeConfigTest.cc \
+        src/qgcunittest/QGCUASFileManagerTest.cc
 }
 
 #

src/qgcunittest/MockMavlinkFileServer.cc

@@ -0,0 +1,148 @@
+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#include "MockMavlinkFileServer.h"
+
+void MockMavlinkFileServer::sendMessage(mavlink_message_t message)
+{
+    QGCUASFileManager::Request  ackResponse;
+    QString                     path;
+
+    Q_ASSERT(message.msgid == MAVLINK_MSG_ID_ENCAPSULATED_DATA);
+
+    mavlink_encapsulated_data_t requestEncapsulatedData;
+    mavlink_msg_encapsulated_data_decode(&message, &requestEncapsulatedData);
+    QGCUASFileManager::Request* request = (QGCUASFileManager::Request*)&requestEncapsulatedData.data[0];
+
+    // Validate CRC
+    if (request->hdr.crc32 != QGCUASFileManager::crc32(request)) {
+        _sendNak(QGCUASFileManager::kErrCrc);
+    }
+
+    switch (request->hdr.opcode) {
+        case QGCUASFileManager::kCmdTestNoAck:
+            // ignored, ack not sent back, for testing only
+            break;
+
+        case QGCUASFileManager::kCmdReset:
+            // terminates all sessions
+            // Fall through to send back Ack
+
+        case QGCUASFileManager::kCmdNone:
+            // ignored, always acked
+            ackResponse.hdr.magic = 'f';
+            ackResponse.hdr.opcode = QGCUASFileManager::kRspAck;
+            ackResponse.hdr.session = 0;
+            ackResponse.hdr.crc32 = 0;
+            ackResponse.hdr.size = 0;
+            _emitResponse(&ackResponse);
+            break;
+
+        case QGCUASFileManager::kCmdList:
+            // We only support root path
+            path = (char *)&request->data[0];
+            if (!path.isEmpty() && path != "/") {
+                _sendNak(QGCUASFileManager::kErrNotDir);
+                break;
+            }
+
+            if (request->hdr.offset > (uint32_t)_fileList.size()) {
+                _sendNak(QGCUASFileManager::kErrEOF);
+                break;
+            }
+
+            ackResponse.hdr.magic = 'f';
+            ackResponse.hdr.opcode = QGCUASFileManager::kRspAck;
+            ackResponse.hdr.session = 0;
+            ackResponse.hdr.size = 0;
+
+            if (request->hdr.offset == 0) {
+                // Requesting first batch of file names
+                Q_ASSERT(_fileList.size());
+                char *bufPtr = (char *)&ackResponse.data[0];
+                for (int i=0; i<_fileList.size(); i++) {
+                    const char *filename = _fileList[i].toStdString().c_str();
+                    size_t cchFilename = strlen(filename);
+                    strcpy(bufPtr, filename);
+                    ackResponse.hdr.size += cchFilename + 1;
+                    bufPtr += cchFilename + 1;
+                }
+
+                // Final double termination
+                *bufPtr = 0;
+                ackResponse.hdr.size++;
+
+            } else {
+                // All filenames fit in first ack, send final null terminated ack
+                ackResponse.data[0] = 0;
+                ackResponse.hdr.size = 1;
+            }
+
+            _emitResponse(&ackResponse);
+
+            break;
+
+        // Remainder of commands are NYI
+
+        case QGCUASFileManager::kCmdTerminate:
+            // releases sessionID, closes file
+        case QGCUASFileManager::kCmdOpen:
+            // opens <path> for reading, returns <session>
+        case QGCUASFileManager::kCmdRead:
+            // reads <size> bytes from <offset> in <session>
+        case QGCUASFileManager::kCmdCreate:
+            // creates <path> for writing, returns <session>
+        case QGCUASFileManager::kCmdWrite:
+            // appends <size> bytes at <offset> in <session>
+        case QGCUASFileManager::kCmdRemove:
+            // remove file (only if created by server?)
+        default:
+            // nack for all NYI opcodes
+            _sendNak(QGCUASFileManager::kErrUnknownCommand);
+            break;
+    }
+}
+
+void MockMavlinkFileServer::_sendNak(QGCUASFileManager::ErrorCode error)
+{
+    QGCUASFileManager::Request nakResponse;
+
+    nakResponse.hdr.magic = 'f';
+    nakResponse.hdr.opcode = QGCUASFileManager::kRspNak;
+    nakResponse.hdr.session = 0;
+    nakResponse.hdr.size = sizeof(nakResponse.data[0]);
+    nakResponse.data[0] = error;
+
+    _emitResponse(&nakResponse);
+}
+
+void MockMavlinkFileServer::_emitResponse(QGCUASFileManager::Request* request)
+{
+    mavlink_message_t   mavlinkMessage;
+
+    request->hdr.crc32 = QGCUASFileManager::crc32(request);
+
+    mavlink_msg_encapsulated_data_pack(250, 0, &mavlinkMessage, 0 /*_encdata_seq*/, (uint8_t*)request);
+
+    emit messageReceived(NULL, mavlinkMessage);
+}

src/qgcunittest/MockMavlinkFileServer.h

@@ -0,0 +1,52 @@
+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#ifndef MOCKMAVLINKFILESERVER_H
+#define MOCKMAVLINKFILESERVER_H
+
+#include "MockMavlinkInterface.h"
+#include "QGCUASFileManager.h"
+
+
+#include <QStringList>
+
+class MockMavlinkFileServer : public MockMavlinkInterface
+{
+    Q_OBJECT
+
+public:
+    MockMavlinkFileServer(void) { };
+
+    void setFileList(QStringList& fileList) { _fileList = fileList; }
+
+    // From MockMavlinkInterface
+    virtual void sendMessage(mavlink_message_t message);
+
+private:
+    void _sendNak(QGCUASFileManager::ErrorCode error);
+    void _emitResponse(QGCUASFileManager::Request* request);
+
+    QStringList _fileList;
+};
+
+#endif

src/qgcunittest/MockMavlinkInterface.cc

@@ -0,0 +1,9 @@
+//
+//  MockMavlinkInterface.cc
+//  QGroundControl
+//
+//  Created by Donald Gagne on 6/19/14.
+//  Copyright (c) 2014 Donald Gagne. All rights reserved.
+//
+
+#include "MockMavlinkInterface.h"

src/qgcunittest/MockMavlinkInterface.h

@@ -0,0 +1,44 @@
+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#include <QObject>
+
+#include "QGCMAVLink.h"
+#include "LinkInterface.h"
+
+#ifndef MOCKMAVLINKINTERFACE_H
+#define MOCKMAVLINKINTERFACE_H
+
+class MockMavlinkInterface : public QObject
+{
+    Q_OBJECT
+
+public:
+    virtual void sendMessage(mavlink_message_t message) = 0;
+
+signals:
+    // link argument will always be NULL
+    void messageReceived(LinkInterface* link, mavlink_message_t message);
+};
+
+#endif

src/qgcunittest/MockUAS.cc

@@ -27,7 +27,8 @@ QString MockUAS::_bogusStaticString;
 
 MockUAS::MockUAS(void) :
     _systemType(MAV_TYPE_QUADROTOR),
-    _systemId(1)
+    _systemId(1),
+    _mavlinkPlugin(NULL)
 {
 
 }
@@ -41,4 +42,15 @@ void MockUAS::setMockParametersAndSignal(MockQGCUASParamManager::ParamMap_t& map
         i.next();
         emit parameterChanged(_systemId, 0, i.key(), i.value());
     }
+}
+
+void MockUAS::sendMessage(mavlink_message_t message)
+{
+    Q_UNUSED(link);
+
+    if (!_mavlinkPlugin) {
+        Q_ASSERT(false);
+    }
+
+    _mavlinkPlugin->sendMessage(message);
 }

src/qgcunittest/MockUAS.h

@@ -26,6 +26,7 @@
 
 #include "UASInterface.h"
 #include "MockQGCUASParamManager.h"
+#include "MockMavlinkInterface.h"
 
 #include <limits>
 
@@ -50,6 +51,9 @@ class MockUAS : public UASInterface
     virtual int getUASID(void) const { return _systemId; }
     virtual QGCUASParamManagerInterface* getParamManager() { return &_paramManager; };
 
+    // sendMessage is only supported if a mavlink plugin is installed.
+    virtual void sendMessage(mavlink_message_t message);
+
 public:
     // MockUAS methods
     MockUAS(void);
@@ -63,12 +67,15 @@ class MockUAS : public UASInterface
     /// allows you to simulate parameter input and validate parameter setting
     MockQGCUASParamManager* getMockQGCUASParamManager(void) { return &_paramManager; }
 
-    /// Sets the parameter map into the mock QGCUASParamManager and signals parameterChanged for
+    /// @brief Sets the parameter map into the mock QGCUASParamManager and signals parameterChanged for
     /// each param
     void setMockParametersAndSignal(MockQGCUASParamManager::ParamMap_t& map);
 
     void emitRemoteControlChannelRawChanged(int channel, float raw) { emit remoteControlChannelRawChanged(channel, raw); }
 
+    /// @brief Installs a mavlink plugin. Only a single mavlink plugin is supported at a time.
+    void setMockMavlinkPlugin(MockMavlinkInterface* mavlinkPlugin) { _mavlinkPlugin = mavlinkPlugin; };
+
 public:
     // Unimplemented UASInterface overrides
     virtual QString getUASName() const { Q_ASSERT(false); return _bogusString; };
@@ -112,9 +119,7 @@ class MockUAS : public UASInterface
     virtual QGCUASFileManager* getFileManager() {Q_ASSERT(false); return NULL; }
 
     /** @brief Send a message over this link (to this or to all UAS on this link) */
-    virtual void sendMessage(LinkInterface* link, mavlink_message_t message){Q_ASSERT(false);}
-    /** @brief Send a message over all links this UAS can be reached with (!= all links) */
-    virtual void sendMessage(mavlink_message_t message) {Q_ASSERT(false);}
+    virtual void sendMessage(LinkInterface* link, mavlink_message_t message){ Q_UNUSED(link); Q_UNUSED(message); Q_ASSERT(false); }
     virtual QString getAutopilotTypeName() { Q_ASSERT(false); return _bogusString; };
     virtual void setAutopilotType(int apType) { Q_UNUSED(apType); Q_ASSERT(false); };
     virtual QMap<int, QString> getComponents() { Q_ASSERT(false); return _bogusMapIntQString; };
@@ -182,6 +187,8 @@ public slots:
     int                 _systemId;
 
     MockQGCUASParamManager _paramManager;
+
+    MockMavlinkInterface* _mavlinkPlugin;   ///< Mock Mavlink plugin, NULL for none
 
     // Bogus variables used for return types of NYI methods
     QString             _bogusString;