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Commit b485d7f6 authored by Lorenz Meier's avatar Lorenz Meier
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Merge branch 'master' of github.com:mavlink/qgroundcontrol

parents 03ced70a a1cc1b5e
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files/flightgear/Aircraft/arducopter/arducopter.xml
View file @ b485d7f6
......@@ -103,11 +103,11 @@
</ground_reactions>
<!-- the front and rear motors spin clockwise, and the left and right motors spin counter-clockwise. -->
<propulsion>
<engine file="a2830-12" name="front">
<engine file="a2830-12" name="right">
<location unit="M">
<x> -0.283 </x>
<y> 0.00 </y>
<z> 0.00 </z>
<x> 0.000 </x>
<y> 0.283 </y>
<z> 0.000 </z>
</location>
<orient unit="DEG">
<pitch> 90.00 </pitch>
......@@ -117,8 +117,8 @@
<feed>0</feed>
<thruster file="prop10x4.5">
<location unit="M">
<x> -0.283 </x>
<y> 0.00 </y>
<x> 0.000 </x>
<y> 0.283 </y>
<z> 0.125 </z>
</location>
<orient unit="DEG">
......@@ -130,11 +130,12 @@
<p_factor> 10 </p_factor>
</thruster>
</engine>
<engine file="a2830-12" name="rear">
<engine file="a2830-12" name="left">
<location unit="M">
<x> 0.283 </x>
<y> 0.000 </y>
<z> 0.000 </z>
<x> 0.00 </x>
<y> -0.283 </y>
<z> 0.00 </z>
</location>
<orient unit="DEG">
<pitch> 90.00 </pitch>
......@@ -144,8 +145,8 @@
<feed>0</feed>
<thruster file="prop10x4.5">
<location unit="M">
<x> 0.283 </x>
<y> 0.000 </y>
<x> 0.00 </x>
<y> -0.283 </y>
<z> 0.125 </z>
</location>
<orient unit="DEG">
......@@ -157,11 +158,12 @@
<p_factor> 10 </p_factor>
</thruster>
</engine>
<engine file="a2830-12" name="left">
<engine file="a2830-12" name="front">
<location unit="M">
<x> 0.00 </x>
<y> 0.283 </y>
<z> 0.00 </z>
<x> -0.283 </x>
<y> 0.00 </y>
<z> 0.00 </z>
</location>
<orient unit="DEG">
<pitch> 90.00 </pitch>
......@@ -171,8 +173,8 @@
<feed>0</feed>
<thruster file="prop10x4.5">
<location unit="M">
<x> 0.00 </x>
<y> 0.283 </y>
<x> -0.283 </x>
<y> 0.00 </y>
<z> 0.125 </z>
</location>
<orient unit="DEG">
......@@ -184,10 +186,11 @@
<p_factor> 10 </p_factor>
</thruster>
</engine>
<engine file="a2830-12" name="right">
<engine file="a2830-12" name="rear">
<location unit="M">
<x> 0.000 </x>
<y> -0.283 </y>
<x> 0.283 </x>
<y> 0.000 </y>
<z> 0.000 </z>
</location>
<orient unit="DEG">
......@@ -198,8 +201,8 @@
<feed>0</feed>
<thruster file="prop10x4.5">
<location unit="M">
<x> 0.000 </x>
<y> -0.283 </y>
<x> 0.283 </x>
<y> 0.000 </y>
<z> 0.125 </z>
</location>
<orient unit="DEG">
......@@ -211,6 +214,7 @@
<p_factor> 10 </p_factor>
</thruster>
</engine>
<tank type="FUEL" number="0">
<location unit="M">
<x> 0.00 </x>
......@@ -222,6 +226,7 @@
<contents unit="KG"> 0.0 </contents>
</tank>
</propulsion>
<aerodynamics>
<axis name="LIFT">
</axis>
......
files/flightgear/Protocol/qgroundcontrol-quadrotor.xml
View file @ b485d7f6
......@@ -6,7 +6,7 @@
<output>
<line_separator>newline</line_separator>
<var_separator>tab</var_separator>
<chunk>
<name>time (sec)</name>
<type>float</type>
......@@ -46,7 +46,7 @@
<node>/orientation/roll-deg</node>
<factor>0.01745329251994329576</factor> <!-- degrees to radians -->
</chunk>
<chunk>
<name>pitch angle (rad)</name>
<type>float</type>
......@@ -54,7 +54,7 @@
<node>/orientation/pitch-deg</node>
<factor>0.01745329251994329576</factor> <!-- degrees to radians -->
</chunk>
<chunk>
<name>yaw angle</name>
<type>float</type>
......@@ -109,7 +109,7 @@
</chunk>
<!-- Velocities -->
<chunk>
<name>Velocity North ("vn" mps)</name>
<type>float</type>
......@@ -141,7 +141,42 @@
<node>/velocities/airspeed-kt</node>
<factor>0.514444444444444</factor> <!-- knots to mps -->
</chunk>
<!-- Magnetometer -->
<chunk>
<name>Magnetic Variation (rad)</name>
<type>float</type>
<format>%.8f</format>
<node>/environment/magnetic-variation-deg</node>
<factor>0.01745329251994329576</factor> <!-- degrees to radians -->
</chunk>
<chunk>
<name>Magnetic Dip (rad)</name>
<type>float</type>
<format>%.8f</format>
<node>/environment/magnetic-dip-deg</node>
<factor>0.01745329251994329576</factor> <!-- degrees to radians -->
</chunk>
<!-- Temperature -->
<chunk>
<name>Temperature (deg C)</name>
<type>float</type>
<format>%.8f</format>
<node>/environment/temperature-degc</node>
<factor>1</factor>
</chunk>
<!-- Pressure -->
<chunk>
<name>Pressure (hPa)</name>
<type>float</type>
<format>%.8f</format>
<node>/environment/pressure-inhg</node>
<factor>33.86389</factor> <!-- inhg to hpa -->
</chunk>
</output>
<input>
......@@ -152,28 +187,33 @@
<!-- motors, in range 0.0 to 1.0 -->
<chunk>
<name>throttle0</name>
<type>double</type>
<type>float</type>
<node>/controls/engines/engine[0]/throttle</node>
</chunk>
</chunk>
<chunk>
<name>throttle1</name>
<type>double</type>
<type>float</type>
<node>/controls/engines/engine[1]/throttle</node>
</chunk>
</chunk>
<chunk>
<name>throttle2</name>
<type>double</type>
<type>float</type>
<node>/controls/engines/engine[2]/throttle</node>
</chunk>
</chunk>
<chunk>
<name>running</name>
<type>bool</type>
<node>/engines/engine/running</node>
</chunk>
<chunk>
<name>throttle3</name>
<type>double</type>
<type>float</type>
<node>/controls/engines/engine[3]/throttle</node>
</chunk>
</chunk>
</input>
</generic>
</PropertyList>
\ No newline at end of file
</PropertyList>
libs/mavlink/include/mavlink/v1.0/checksum.h
View file @ b485d7f6
......@@ -73,7 +73,7 @@ static inline uint16_t crc_calculate(const uint8_t* pBuffer, uint16_t length)
* @param data new bytes to hash
* @param crcAccum the already accumulated checksum
**/
static inline void crc_accumulate_buffer(uint16_t *crcAccum, const char *pBuffer, uint8_t length)
static inline void crc_accumulate_buffer(uint16_t *crcAccum, const char *pBuffer, uint16_t length)
{
const uint8_t *p = (const uint8_t *)pBuffer;
while (length--) {
......
libs/mavlink/include/mavlink/v1.0/common/common.h
View file @ b485d7f6
......@@ -5,6 +5,10 @@
#ifndef COMMON_H
#define COMMON_H
#ifndef MAVLINK_H
#error Wrong include order: common.h MUST NOT BE DIRECTLY USED. Include mavlink.h from the same directory instead or set all defines from mavlink.h manually.
#endif
#ifdef __cplusplus
extern "C" {
#endif
......
libs/mavlink/include/mavlink/v1.0/mavlink_helpers.h
View file @ b485d7f6
......@@ -73,7 +73,6 @@ MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, ui
#endif
{
// This code part is the same for all messages;
uint16_t checksum;
msg->magic = MAVLINK_STX;
msg->len = length;
msg->sysid = system_id;
......@@ -81,12 +80,13 @@ MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, ui
// One sequence number per component
msg->seq = mavlink_get_channel_status(chan)->current_tx_seq;
mavlink_get_channel_status(chan)->current_tx_seq = mavlink_get_channel_status(chan)->current_tx_seq+1;
checksum = crc_calculate((uint8_t*)&msg->len, length + MAVLINK_CORE_HEADER_LEN);
msg->checksum = crc_calculate(((const uint8_t*)(msg)) + 3, MAVLINK_CORE_HEADER_LEN);
crc_accumulate_buffer(&msg->checksum, _MAV_PAYLOAD(msg), msg->len);
#if MAVLINK_CRC_EXTRA
crc_accumulate(crc_extra, &checksum);
crc_accumulate(crc_extra, &msg->checksum);
#endif
mavlink_ck_a(msg) = (uint8_t)(checksum & 0xFF);
mavlink_ck_b(msg) = (uint8_t)(checksum >> 8);
mavlink_ck_a(msg) = (uint8_t)(msg->checksum & 0xFF);
mavlink_ck_b(msg) = (uint8_t)(msg->checksum >> 8);
return length + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
......@@ -133,7 +133,7 @@ MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint
buf[4] = mavlink_system.compid;
buf[5] = msgid;
status->current_tx_seq++;
checksum = crc_calculate((uint8_t*)&buf[1], MAVLINK_CORE_HEADER_LEN);
checksum = crc_calculate((const uint8_t*)&buf[1], MAVLINK_CORE_HEADER_LEN);
crc_accumulate_buffer(&checksum, packet, length);
#if MAVLINK_CRC_EXTRA
crc_accumulate(crc_extra, &checksum);
......@@ -158,6 +158,7 @@ MAVLINK_HELPER void _mavlink_resend_uart(mavlink_channel_t chan, const mavlink_m
ck[0] = (uint8_t)(msg->checksum & 0xFF);
ck[1] = (uint8_t)(msg->checksum >> 8);
// XXX use the right sequence here
MAVLINK_START_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + msg->len);
_mavlink_send_uart(chan, (const char *)&msg->magic, MAVLINK_NUM_HEADER_BYTES);
......@@ -172,7 +173,13 @@ MAVLINK_HELPER void _mavlink_resend_uart(mavlink_channel_t chan, const mavlink_m
*/
MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg)
{
memcpy(buffer, (const uint8_t *)&msg->magic, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len);
memcpy(buffer, (const uint8_t *)&msg->magic, MAVLINK_NUM_HEADER_BYTES + (uint16_t)msg->len);
uint8_t *ck = buffer + (MAVLINK_NUM_HEADER_BYTES + (uint16_t)msg->len);
ck[0] = (uint8_t)(msg->checksum & 0xFF);
ck[1] = (uint8_t)(msg->checksum >> 8);
return MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len;
}
......
libs/mavlink/include/mavlink/v1.0/mavlink_types.h
View file @ b485d7f6
......@@ -28,6 +28,7 @@
#define MAVLINK_MAX_EXTENDED_PAYLOAD_LEN (MAVLINK_MAX_EXTENDED_PACKET_LEN - MAVLINK_EXTENDED_HEADER_LEN - MAVLINK_NUM_NON_PAYLOAD_BYTES)
#pragma pack(push, 1)
typedef struct param_union {
union {
float param_float;
......@@ -62,13 +63,12 @@ typedef struct __mavlink_message {
uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
} mavlink_message_t;
typedef struct __mavlink_extended_message {
mavlink_message_t base_msg;
int32_t extended_payload_len; ///< Length of extended payload if any
uint8_t extended_payload[MAVLINK_MAX_EXTENDED_PAYLOAD_LEN];
} mavlink_extended_message_t;
#pragma pack(pop)
typedef enum {
MAVLINK_TYPE_CHAR = 0,
......
qgroundcontrol.pro
View file @ b485d7f6
......@@ -186,22 +186,27 @@ 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/FlightGearTest.h \
src/qgcunittest/TCPLinkTest.h \
src/qgcunittest/TCPLoopBackServer.h
src/qgcunittest/TCPLoopBackServer.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/FlightGearTest.cc \
src/qgcunittest/TCPLinkTest.cc \
src/qgcunittest/TCPLoopBackServer.cc
src/qgcunittest/TCPLoopBackServer.cc \
src/qgcunittest/QGCUASFileManagerTest.cc
}
#
......@@ -296,6 +301,7 @@ FORMS += \
src/ui/designer/QGCCommandButton.ui \
src/ui/QGCMAVLinkLogPlayer.ui \
src/ui/QGCWaypointListMulti.ui \
src/ui/QGCUASFileViewMulti.ui \
src/ui/QGCUDPLinkConfiguration.ui \
src/ui/QGCTCPLinkConfiguration.ui \
src/ui/QGCSettingsWidget.ui \
......@@ -373,7 +379,8 @@ FORMS += \
src/ui/px4_configuration/QGCPX4AirframeConfig.ui \
src/ui/px4_configuration/QGCPX4MulticopterConfig.ui \
src/ui/px4_configuration/QGCPX4SensorCalibration.ui \
src/ui/designer/QGCXYPlot.ui
src/ui/designer/QGCXYPlot.ui \
src/ui/QGCUASFileView.ui
HEADERS += \
src/MG.h \
......@@ -461,6 +468,7 @@ HEADERS += \
src/comm/MAVLinkSimulationMAV.h \
src/uas/QGCMAVLinkUASFactory.h \
src/ui/QGCWaypointListMulti.h \
src/ui/QGCUASFileViewMulti.h \
src/ui/QGCUDPLinkConfiguration.h \
src/ui/QGCTCPLinkConfiguration.h \
src/ui/QGCSettingsWidget.h \
......@@ -567,6 +575,8 @@ HEADERS += \
src/ui/menuactionhelper.h \
src/uas/UASManagerInterface.h \
src/uas/QGCUASParamManagerInterface.h \
src/uas/QGCUASFileManager.h \
src/ui/QGCUASFileView.h \
src/uas/QGCUASWorker.h \
src/CmdLineOptParser.h \
src/uas/QGXPX4UAS.h
......@@ -651,6 +661,7 @@ SOURCES += \
src/comm/MAVLinkSimulationMAV.cc \
src/uas/QGCMAVLinkUASFactory.cc \
src/ui/QGCWaypointListMulti.cc \
src/ui/QGCUASFileViewMulti.cc \
src/ui/QGCUDPLinkConfiguration.cc \
src/ui/QGCTCPLinkConfiguration.cc \
src/ui/QGCSettingsWidget.cc \
......@@ -753,6 +764,8 @@ SOURCES += \
src/ui/px4_configuration/QGCPX4SensorCalibration.cc \
src/ui/designer/QGCXYPlot.cc \
src/ui/menuactionhelper.cpp \
src/uas/QGCUASFileManager.cc \
src/ui/QGCUASFileView.cc \
src/uas/QGCUASWorker.cc \
src/CmdLineOptParser.cc \
src/uas/QGXPX4UAS.cc
src/qgcunittest/MockMavlinkFileServer.cc 0 → 100644
View file @ b485d7f6
/*=====================================================================
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"
const MockMavlinkFileServer::FileTestCase MockMavlinkFileServer::rgFileTestCases[MockMavlinkFileServer::cFileTestCases] = {
// File fits one Read Ack packet, partially filling data
{ "partial.qgc", sizeof(((QGCUASFileManager::Request*)0)->data) - 1 },
// File fits one Read Ack packet, exactly filling all data
{ "exact.qgc", sizeof(((QGCUASFileManager::Request*)0)->data) },
// File is larger than a single Read Ack packets, requires multiple Reads
{ "multi.qgc", sizeof(((QGCUASFileManager::Request*)0)->data) + 1 },
};
// We only support a single fixed session
const uint8_t MockMavlinkFileServer::_sessionId = 1;
MockMavlinkFileServer::MockMavlinkFileServer(void)
{
}
/// @brief Handles List command requests. Only supports root folder paths.
/// File list returned is set using the setFileList method.
void MockMavlinkFileServer::_listCommand(QGCUASFileManager::Request* request)
{
// FIXME: Does not support directories that span multiple packets
QGCUASFileManager::Request ackResponse;
QString path;
// We only support root path
path = (char *)&request->data[0];
if (!path.isEmpty() && path != "/") {
_sendNak(QGCUASFileManager::kErrNotDir);
return;
}
// Offset requested is past the end of the list
if (request->hdr.offset > (uint32_t)_fileList.size()) {
_sendNak(QGCUASFileManager::kErrEOF);
return;
}
ackResponse.hdr.magic = 'f';
ackResponse.hdr.opcode = QGCUASFileManager::kRspAck;
ackResponse.hdr.session = 0;
ackResponse.hdr.offset = request->hdr.offset;
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++) {
strcpy(bufPtr, _fileList[i].toStdString().c_str());
size_t cchFilename = strlen(bufPtr);
Q_ASSERT(cchFilename);
ackResponse.hdr.size += cchFilename + 1;
bufPtr += cchFilename + 1;
}
_emitResponse(&ackResponse);
} else {
// FIXME: Does not support directories that span multiple packets
_sendNak(QGCUASFileManager::kErrEOF);
}
}
/// @brief Handles Open command requests.
void MockMavlinkFileServer::_openCommand(QGCUASFileManager::Request* request)
{
QGCUASFileManager::Request response;
QString path;
size_t cchPath = strnlen((char *)request->data, sizeof(request->data));
Q_ASSERT(cchPath != sizeof(request->data));
path = (char *)request->data;
// Check path against one of our known test cases
bool found = false;
for (size_t i=0; i<cFileTestCases; i++) {
if (path == rgFileTestCases[i].filename) {
found = true;
_readFileLength = rgFileTestCases[i].length;
break;
}
}
if (!found) {
_sendNak(QGCUASFileManager::kErrNotFile);
return;
}
response.hdr.magic = 'f';
response.hdr.opcode = QGCUASFileManager::kRspAck;
response.hdr.session = _sessionId;
response.hdr.size = 0;
_emitResponse(&response);
}
/// @brief Handles Read command requests.
void MockMavlinkFileServer::_readCommand(QGCUASFileManager::Request* request)
{
QGCUASFileManager::Request response;
if (request->hdr.session != _sessionId) {
_sendNak(QGCUASFileManager::kErrNoSession);
return;
}
uint32_t readOffset = request->hdr.offset; // offset into file for reading
uint8_t cDataBytes = 0; // current number of data bytes used
if (readOffset >= _readFileLength) {
_sendNak(QGCUASFileManager::kErrEOF);
return;
}
// Write length byte if needed
if (readOffset == 0) {
response.data[0] = _readFileLength;
readOffset++;
cDataBytes++;
}
// Write file bytes. Data is a repeating sequence of 0x00, 0x01, .. 0xFF.
for (; cDataBytes < sizeof(response.data) && readOffset < _readFileLength; readOffset++, cDataBytes++) {
// Subtract one from readOffset to take into account length byte and start file data a 0x00
response.data[cDataBytes] = (readOffset - 1) & 0xFF;
}
// We should always have written something, otherwise there is something wrong with the code above
Q_ASSERT(cDataBytes);
response.hdr.magic = 'f';
response.hdr.session = _sessionId;
response.hdr.size = cDataBytes;
response.hdr.offset = request->hdr.offset;
response.hdr.opcode = QGCUASFileManager::kRspAck;
_emitResponse(&response);
}
/// @brief Handles Terminate commands
void MockMavlinkFileServer::_terminateCommand(QGCUASFileManager::Request* request)
{
if (request->hdr.session != _sessionId) {
_sendNak(QGCUASFileManager::kErrNoSession);
return;
}
_sendAck();
// Let our test harness know that we got a terminate command. This is used to validate the a Terminate is correctly
// sent after an Open.
emit terminateCommandReceived();
}
/// @brief Handles messages sent to the FTP server.
void MockMavlinkFileServer::sendMessage(mavlink_message_t message)
{
QGCUASFileManager::Request ackResponse;
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:
_listCommand(request);
break;
case QGCUASFileManager::kCmdOpen:
_openCommand(request);
break;
case QGCUASFileManager::kCmdRead:
_readCommand(request);
break;
case QGCUASFileManager::kCmdTerminate:
_terminateCommand(request);
break;
// Remainder of commands are NYI
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;
}
}
/// @brief Sends an Ack
void MockMavlinkFileServer::_sendAck(void)
{
QGCUASFileManager::Request ackResponse;
ackResponse.hdr.magic = 'f';
ackResponse.hdr.opcode = QGCUASFileManager::kRspAck;
ackResponse.hdr.session = 0;
ackResponse.hdr.size = 0;
_emitResponse(&ackResponse);
}
/// @brief Sends a Nak with the specified error code.
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 = 1;
nakResponse.data[0] = error;
_emitResponse(&nakResponse);
}
/// @brief Emits a Request through the messageReceived signal.
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);
}
\ No newline at end of file
src/qgcunittest/MockMavlinkFileServer.h 0 → 100644
View file @ b485d7f6
/*=====================================================================
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"
/// @file
/// @brief Mock implementation of Mavlink FTP server. Used as mavlink plugin to MockUAS.
/// Only root directory access is supported.
///
/// @author Don Gagne <don@thegagnes.com>
#include <QStringList>
class MockMavlinkFileServer : public MockMavlinkInterface
{
Q_OBJECT
public:
MockMavlinkFileServer(void);
/// @brief Sets the list of files returned by the List command. Prepend names with F or D
/// to indicate (F)ile or (D)irectory.
void setFileList(QStringList& fileList) { _fileList = fileList; }
// From MockMavlinkInterface
virtual void sendMessage(mavlink_message_t message);
struct FileTestCase {
const char* filename;
uint8_t length;
};
static const size_t cFileTestCases = 3;
static const FileTestCase rgFileTestCases[cFileTestCases];
signals:
void terminateCommandReceived(void);
private:
void _sendAck(void);
void _sendNak(QGCUASFileManager::ErrorCode error);
void _emitResponse(QGCUASFileManager::Request* request);
void _listCommand(QGCUASFileManager::Request* request);
void _openCommand(QGCUASFileManager::Request* request);
void _readCommand(QGCUASFileManager::Request* request);
void _terminateCommand(QGCUASFileManager::Request* request);
QStringList _fileList; ///< List of files returned by List command
static const uint8_t _sessionId;
uint8_t _readFileLength; ///< Length of active file being read
};
#endif
src/qgcunittest/MockMavlinkInterface.cc 0 → 100644
View file @ b485d7f6
//
// 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 → 100644
View file @ b485d7f6
/*=====================================================================
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
View file @ b485d7f6
......@@ -27,7 +27,8 @@ QString MockUAS::_bogusStaticString;
MockUAS::MockUAS(void) :
_systemType(MAV_TYPE_QUADROTOR),
_systemId(1)
_systemId(1),
_mavlinkPlugin(NULL)
{
}
......@@ -41,4 +42,13 @@ void MockUAS::setMockParametersAndSignal(MockQGCUASParamManager::ParamMap_t& map
i.next();
emit parameterChanged(_systemId, 0, i.key(), i.value());
}
}
void MockUAS::sendMessage(mavlink_message_t message)
{
if (!_mavlinkPlugin) {
Q_ASSERT(false);
}
_mavlinkPlugin->sendMessage(message);
}
\ No newline at end of file
src/qgcunittest/MockUAS.h
View file @ b485d7f6
......@@ -26,6 +26,7 @@
#include "UASInterface.h"
#include "MockQGCUASParamManager.h"
#include "MockMavlinkInterface.h"
#include <limits>
......@@ -50,6 +51,9 @@ public:
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 @@ public:
/// 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; };
......@@ -109,6 +116,10 @@ public:
virtual bool systemCanReverse() const { Q_ASSERT(false); return false; };
virtual QString getSystemTypeName() { Q_ASSERT(false); return _bogusString; };
virtual int getAutopilotType() { Q_ASSERT(false); return 0; };
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_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; };
......@@ -176,6 +187,8 @@ private:
int _systemId;
MockQGCUASParamManager _paramManager;
MockMavlinkInterface* _mavlinkPlugin; ///< Mock Mavlink plugin, NULL for none
// Bogus variables used for return types of NYI methods
QString _bogusString;
......
src/qgcunittest/QGCUASFileManagerTest.cc 0 → 100644
View file @ b485d7f6
/*=====================================================================
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 "QGCUASFileManagerTest.h"
/// @file
/// @brief QGCUASFileManager unit test. Note: All code here assumes all work between
/// the unit test, mack mavlink file server and file manager is happening on
/// the same thread.
///
/// @author Don Gagne <don@thegagnes.com>
QGCUASFileManagerUnitTest::QGCUASFileManagerUnitTest(void) :
_fileManager(NULL),
_multiSpy(NULL)
{
}
// Called once before all test cases are run
void QGCUASFileManagerUnitTest::initTestCase(void)
{
_mockUAS.setMockMavlinkPlugin(&_mockFileServer);
}
// Called before every test case
void QGCUASFileManagerUnitTest::init(void)
{
Q_ASSERT(_multiSpy == NULL);
_fileManager = new QGCUASFileManager(NULL, &_mockUAS);
Q_CHECK_PTR(_fileManager);
bool connected = connect(&_mockFileServer, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), _fileManager, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
Q_ASSERT(connected);
connected = connect(_fileManager, SIGNAL(statusMessage(const QString&)), this, SLOT(statusMessage(const QString&)));
Q_ASSERT(connected);
_rgSignals[statusMessageSignalIndex] = SIGNAL(statusMessage(const QString&));
_rgSignals[errorMessageSignalIndex] = SIGNAL(errorMessage(const QString&));
_rgSignals[resetStatusMessagesSignalIndex] = SIGNAL(resetStatusMessages(void));
_multiSpy = new MultiSignalSpy();
Q_CHECK_PTR(_multiSpy);
QCOMPARE(_multiSpy->init(_fileManager, _rgSignals, _cSignals), true);
}
// Called after every test case
void QGCUASFileManagerUnitTest::cleanup(void)
{
Q_ASSERT(_multiSpy);
Q_ASSERT(_fileManager);
delete _fileManager;
delete _multiSpy;
_fileManager = NULL;
_multiSpy = NULL;
}
/// @brief Connected to QGCUASFileManager statusMessage signal in order to catch list command output
void QGCUASFileManagerUnitTest::statusMessage(const QString& msg)
{
// Keep a list of all names received so we can test it for correctness
_fileListReceived += msg;
}
void QGCUASFileManagerUnitTest::_ackTest(void)
{
Q_ASSERT(_fileManager);
Q_ASSERT(_multiSpy);
Q_ASSERT(_multiSpy->checkNoSignals() == true);
// If the file manager doesn't receive an ack it will timeout and emit an error. So make sure
// we don't get any error signals.
QVERIFY(_fileManager->_sendCmdTestAck());
QVERIFY(_multiSpy->checkNoSignals());
}
void QGCUASFileManagerUnitTest::_noAckTest(void)
{
Q_ASSERT(_fileManager);
Q_ASSERT(_multiSpy);
Q_ASSERT(_multiSpy->checkNoSignals() == true);
// This should not get the ack back and timeout.
QVERIFY(_fileManager->_sendCmdTestNoAck());
QTest::qWait(2000); // Let the file manager timeout, magic number 2 secs must be larger than file manager ack timeout
QCOMPARE(_multiSpy->checkOnlySignalByMask(errorMessageSignalMask), true);
}
void QGCUASFileManagerUnitTest::_resetTest(void)
{
Q_ASSERT(_fileManager);
Q_ASSERT(_multiSpy);
Q_ASSERT(_multiSpy->checkNoSignals() == true);
// Send a reset command
// We should not get any signals back from this
QVERIFY(_fileManager->_sendCmdReset());
QVERIFY(_multiSpy->checkNoSignals());
}
void QGCUASFileManagerUnitTest::_listTest(void)
{
Q_ASSERT(_fileManager);
Q_ASSERT(_multiSpy);
Q_ASSERT(_multiSpy->checkNoSignals() == true);
// Send a bogus path
// We should get a single resetStatusMessages signal
// We should get a single errorMessage signal
_fileManager->listDirectory("/bogus");
QCOMPARE(_multiSpy->checkOnlySignalByMask(errorMessageSignalMask | resetStatusMessagesSignalMask), true);
_multiSpy->clearAllSignals();
// Send a list command at the root of the directory tree
// We should get back a single resetStatusMessages signal
// We should not get back an errorMessage signal
// We should get back one or more statusMessage signals
// The returned list should match out inputs
QStringList fileList;
fileList << "Ddir" << "Ffoo" << "Fbar";
_mockFileServer.setFileList(fileList);
_fileListReceived.clear();
_fileManager->listDirectory("/");
QCOMPARE(_multiSpy->checkSignalByMask(resetStatusMessagesSignalMask), true); // We should be told to reset status messages
QCOMPARE(_multiSpy->checkNoSignalByMask(errorMessageSignalMask), true); // We should not get an error signals
QVERIFY(_fileListReceived == fileList);
}
void QGCUASFileManagerUnitTest::_validateFileContents(const QString& filePath, uint8_t length)
{
QFile file(filePath);
// Make sure file size is correct
QCOMPARE(file.size(), (qint64)length);
// Read data
QVERIFY(file.open(QIODevice::ReadOnly));
QByteArray bytes = file.readAll();
file.close();
// Validate length byte
QCOMPARE((uint8_t)bytes[0], length);
// Validate file contents:
// Repeating 0x00, 0x01 .. 0xFF until file is full
for (uint8_t i=1; i<bytes.length(); i++) {
QCOMPARE((uint8_t)bytes[i], (uint8_t)((i-1) & 0xFF));
}
}
void QGCUASFileManagerUnitTest::_openTest(void)
{
Q_ASSERT(_fileManager);
Q_ASSERT(_multiSpy);
Q_ASSERT(_multiSpy->checkNoSignals() == true);
// Send a bogus path
// We should get a single resetStatusMessages signal
// We should get a single errorMessage signal
_fileManager->downloadPath("bogus", QDir::temp());
QCOMPARE(_multiSpy->checkOnlySignalByMask(errorMessageSignalMask | resetStatusMessagesSignalMask), true);
_multiSpy->clearAllSignals();
// Clean previous downloads
for (size_t i=0; i<MockMavlinkFileServer::cFileTestCases; i++) {
QString filePath = QDir::temp().absoluteFilePath(MockMavlinkFileServer::rgFileTestCases[i].filename);
if (QFile::exists(filePath)) {
Q_ASSERT(QFile::remove(filePath));
}
}
// Run through the set of file test cases
// We setup a spy on the terminate command signal so that we can determine that a Terminate command was
// correctly sent after the Open/Read commands complete.
QSignalSpy terminateSpy(&_mockFileServer, SIGNAL(terminateCommandReceived()));
for (size_t i=0; i<MockMavlinkFileServer::cFileTestCases; i++) {
_fileManager->downloadPath(MockMavlinkFileServer::rgFileTestCases[i].filename, QDir::temp());
// We should get a single resetStatusMessages signal
// We should get a single statusMessage signal, which indicated download completion
QCOMPARE(_multiSpy->checkOnlySignalByMask(statusMessageSignalMask | resetStatusMessagesSignalMask), true);
_multiSpy->clearAllSignals();
// We should get a single Terminate command
QCOMPARE(terminateSpy.count(), 1);
terminateSpy.clear();
QString filePath = QDir::temp().absoluteFilePath(MockMavlinkFileServer::rgFileTestCases[i].filename);
_validateFileContents(filePath, MockMavlinkFileServer::rgFileTestCases[i].length);
}
}
src/qgcunittest/QGCUASFileManagerTest.h 0 → 100644
View file @ b485d7f6
/*=====================================================================
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 QGCUASFILEMANAGERTEST_H
#define QGCUASFILEMANAGERTEST_H
#include <QObject>
#include <QtTest/QtTest>
#include "AutoTest.h"
#include "MockUAS.h"
#include "MockMavlinkFileServer.h"
#include "QGCUASFileManager.h"
#include "MultiSignalSpy.h"
/// @file
/// @brief QGCUASFileManager unit test
///
/// @author Don Gagne <don@thegagnes.com>
class QGCUASFileManagerUnitTest : public QObject
{
Q_OBJECT
public:
QGCUASFileManagerUnitTest(void);
private slots:
// Test case initialization
void initTestCase(void);
void init(void);
void cleanup(void);
// Test cases
void _ackTest(void);
void _noAckTest(void);
void _resetTest(void);
void _listTest(void);
void _openTest(void);
// Connected to QGCUASFileManager statusMessage signal
void statusMessage(const QString&);
private:
void _validateFileContents(const QString& filePath, uint8_t length);
enum {
statusMessageSignalIndex = 0,
errorMessageSignalIndex,
resetStatusMessagesSignalIndex,
maxSignalIndex
};
enum {
statusMessageSignalMask = 1 << statusMessageSignalIndex,
errorMessageSignalMask = 1 << errorMessageSignalIndex,
resetStatusMessagesSignalMask = 1 << resetStatusMessagesSignalIndex,
};
MockUAS _mockUAS;
MockMavlinkFileServer _mockFileServer;
QGCUASFileManager* _fileManager;
MultiSignalSpy* _multiSpy;
static const size_t _cSignals = maxSignalIndex;
const char* _rgSignals[_cSignals];
QStringList _fileListReceived;
};
DECLARE_TEST(QGCUASFileManagerUnitTest)
#endif
src/uas/QGCMAVLinkUASFactory.cc
View file @ b485d7f6
......@@ -35,6 +35,7 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
// Connect this robot to the UAS object
connect(mavlink, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
connect(mavlink, SIGNAL(messageReceived(LinkInterface*,mavlink_message_t)), mav->getFileManager(), SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
#ifdef QGC_PROTOBUF_ENABLED
connect(mavlink, SIGNAL(extendedMessageReceived(LinkInterface*, std::tr1::shared_ptr<google::protobuf::Message>)), mav, SLOT(receiveExtendedMessage(LinkInterface*, std::tr1::shared_ptr<google::protobuf::Message>)));
#endif
......
src/uas/QGCUASFileManager.cc 0 → 100644
View file @ b485d7f6
/*=====================================================================
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 "QGCUASFileManager.h"
#include "QGC.h"
#include "MAVLinkProtocol.h"
#include <QFile>
#include <QDir>
#include <string>
static const quint32 crctab[] =
{
0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
};
QGCUASFileManager::QGCUASFileManager(QObject* parent, UASInterface* uas) :
QObject(parent),
_currentOperation(kCOIdle),
_mav(uas),
_encdata_seq(0),
_activeSession(0)
{
bool connected = connect(&_ackTimer, SIGNAL(timeout()), this, SLOT(_ackTimeout()));
Q_ASSERT(connected);
Q_UNUSED(connected); // Silence retail unused variable error
}
/// @brief Calculates a 32 bit CRC for the specified request.
/// @param request Request to calculate CRC for. request->size must be set correctly.
/// @param state previous crc state
/// @return Calculated CRC
quint32 QGCUASFileManager::crc32(Request* request, unsigned state)
{
uint8_t* data = (uint8_t*)request;
size_t cbData = sizeof(RequestHeader) + request->hdr.size;
// Always calculate CRC with 0 initial CRC value
quint32 crcSave = request->hdr.crc32;
request->hdr.crc32 = 0;
for (size_t i=0; i < cbData; i++)
state = crctab[(state ^ data[i]) & 0xff] ^ (state >> 8);
request->hdr.crc32 = crcSave;
return state;
}
/// @brief Respond to the Ack associated with the Open command with the next Read command.
void QGCUASFileManager::_openAckResponse(Request* openAck)
{
_currentOperation = kCORead;
_activeSession = openAck->hdr.session;
_readOffset = 0; // Start reading at beginning of file
_readFileAccumulator.clear(); // Start with an empty file
Request request;
request.hdr.magic = 'f';
request.hdr.session = _activeSession;
request.hdr.opcode = kCmdRead;
request.hdr.offset = _readOffset;
request.hdr.size = sizeof(request.data);
_sendRequest(&request);
}
/// @brief Closes out a read session by writing the file and doing cleanup.
/// @param success true: successful download completion, false: error during download
void QGCUASFileManager::_closeReadSession(bool success)
{
if (success) {
QString downloadFilePath = _readFileDownloadDir.absoluteFilePath(_readFileDownloadFilename);
QFile file(downloadFilePath);
if (!file.open(QIODevice::WriteOnly | QIODevice::Truncate)) {
_emitErrorMessage(tr("Unable to open local file for writing (%1)").arg(downloadFilePath));
return;
}
qint64 bytesWritten = file.write((const char *)_readFileAccumulator, _readFileAccumulator.length());
if (bytesWritten != _readFileAccumulator.length()) {
file.close();
_emitErrorMessage(tr("Unable to write data to local file (%1)").arg(downloadFilePath));
return;
}
file.close();
_emitStatusMessage(tr("Download complete '%1'").arg(downloadFilePath));
}
// Close the open session
_sendTerminateCommand();
}
/// @brief Respond to the Ack associated with the Read command.
void QGCUASFileManager::_readAckResponse(Request* readAck)
{
if (readAck->hdr.session != _activeSession) {
_currentOperation = kCOIdle;
_readFileAccumulator.clear();
_emitErrorMessage(tr("Read: Incorrect session returned"));
return;
}
if (readAck->hdr.offset != _readOffset) {
_currentOperation = kCOIdle;
_readFileAccumulator.clear();
_emitErrorMessage(tr("Read: Offset returned (%1) differs from offset requested (%2)").arg(readAck->hdr.offset).arg(_readOffset));
return;
}
_readFileAccumulator.append((const char*)readAck->data, readAck->hdr.size);
if (readAck->hdr.size == sizeof(readAck->data)) {
// Possibly still more data to read, send next read request
_currentOperation = kCORead;
_readOffset += readAck->hdr.size;
Request request;
request.hdr.magic = 'f';
request.hdr.session = _activeSession;
request.hdr.opcode = kCmdRead;
request.hdr.offset = _readOffset;
_sendRequest(&request);
} else {
// We only receieved a partial buffer back. These means we are at EOF
_currentOperation = kCOIdle;
_closeReadSession(true /* success */);
}
}
/// @brief Respond to the Ack associated with the List command.
void QGCUASFileManager::_listAckResponse(Request* listAck)
{
if (listAck->hdr.offset != _listOffset) {
_currentOperation = kCOIdle;
_emitErrorMessage(tr("List: Offset returned (%1) differs from offset requested (%2)").arg(listAck->hdr.offset).arg(_listOffset));
return;
}
uint8_t offset = 0;
uint8_t cListEntries = 0;
uint8_t cBytes = listAck->hdr.size;
// parse filenames out of the buffer
while (offset < cBytes) {
const char * ptr = ((const char *)listAck->data) + offset;
// get the length of the name
uint8_t cBytesLeft = cBytes - offset;
size_t nlen = strnlen(ptr, cBytesLeft);
if (nlen < 2) {
_currentOperation = kCOIdle;
_emitErrorMessage(tr("Incorrectly formed list entry: '%1'").arg(ptr));
return;
} else if (nlen == cBytesLeft) {
_currentOperation = kCOIdle;
_emitErrorMessage(tr("Missing NULL termination in list entry"));
return;
}
// Returned names are prepended with D for directory, F for file, U for unknown
if (*ptr == 'F' || *ptr == 'D') {
// put it in the view
_emitStatusMessage(ptr);
}
// account for the name + NUL
offset += nlen + 1;
cListEntries++;
}
if (listAck->hdr.size == 0) {
// Directory is empty, we're done
Q_ASSERT(listAck->hdr.opcode == kRspAck);
_currentOperation = kCOIdle;
emit listComplete();
} else {
// Possibly more entries to come, need to keep trying till we get EOF
_currentOperation = kCOList;
_listOffset += cListEntries;
_sendListCommand();
}
}
void QGCUASFileManager::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
Q_UNUSED(link);
if (message.msgid != MAVLINK_MSG_ID_ENCAPSULATED_DATA) {
// wtf, not for us
return;
}
_clearAckTimeout();
mavlink_encapsulated_data_t data;
mavlink_msg_encapsulated_data_decode(&message, &data);
Request* request = (Request*)&data.data[0];
// FIXME: Check CRC
if (request->hdr.opcode == kRspAck) {
switch (_currentOperation) {
case kCOIdle:
// we should not be seeing anything here.. shut the other guy up
_sendCmdReset();
break;
case kCOAck:
// We are expecting an ack back
_currentOperation = kCOIdle;
break;
case kCOList:
_listAckResponse(request);
break;
case kCOOpen:
_openAckResponse(request);
break;
case kCORead:
_readAckResponse(request);
break;
default:
_emitErrorMessage("Ack received in unexpected state");
break;
}
} else if (request->hdr.opcode == kRspNak) {
Q_ASSERT(request->hdr.size == 1); // Should only have one byte of error code
OperationState previousOperation = _currentOperation;
uint8_t errorCode = request->data[0];
_currentOperation = kCOIdle;
if (previousOperation == kCOList && errorCode == kErrEOF) {
// This is not an error, just the end of the read loop
emit listComplete();
return;
} else if (previousOperation == kCORead && errorCode == kErrEOF) {
// This is not an error, just the end of the read loop
_closeReadSession(true /* success */);
return;
} else {
// Generic Nak handling
if (previousOperation == kCORead) {
// Nak error during read loop, download failed
_closeReadSession(false /* failure */);
}
_emitErrorMessage(tr("Nak received, error: %1").arg(errorString(request->data[0])));
}
} else {
// Note that we don't change our operation state. If something goes wrong beyond this, the operation
// will time out.
_emitErrorMessage(tr("Unknown opcode returned from server: %1").arg(request->hdr.opcode));
}
}
void QGCUASFileManager::listDirectory(const QString& dirPath)
{
if (_currentOperation != kCOIdle) {
_emitErrorMessage(tr("Command not sent. Waiting for previous command to complete."));
return;
}
// clear the text widget
emit resetStatusMessages();
// initialise the lister
_listPath = dirPath;
_listOffset = 0;
_currentOperation = kCOList;
// and send the initial request
_sendListCommand();
}
void QGCUASFileManager::_fillRequestWithString(Request* request, const QString& str)
{
strncpy((char *)&request->data[0], str.toStdString().c_str(), sizeof(request->data));
request->hdr.size = strnlen((const char *)&request->data[0], sizeof(request->data));
}
void QGCUASFileManager::_sendListCommand(void)
{
Request request;
request.hdr.magic = 'f';
request.hdr.session = 0;
request.hdr.opcode = kCmdList;
request.hdr.offset = _listOffset;
_fillRequestWithString(&request, _listPath);
_sendRequest(&request);
}
/// @brief Downloads the specified file.
/// @param from File to download from UAS, fully qualified path
/// @param downloadDir Local directory to download file to
void QGCUASFileManager::downloadPath(const QString& from, const QDir& downloadDir)
{
if (from.isEmpty()) {
return;
}
_readFileDownloadDir.setPath(downloadDir.absolutePath());
// We need to strip off the file name from the fully qualified path. We can't use the usual QDir
// routines because this path does not exist locally.
int i;
for (i=from.size()-1; i>=0; i--) {
if (from[i] == '/') {
break;
}
}
i++; // move past slash
_readFileDownloadFilename = from.right(from.size() - i);
emit resetStatusMessages();
_currentOperation = kCOOpen;
Request request;
request.hdr.magic = 'f';
request.hdr.session = 0;
request.hdr.opcode = kCmdOpen;
request.hdr.offset = 0;
_fillRequestWithString(&request, from);
_sendRequest(&request);
}
QString QGCUASFileManager::errorString(uint8_t errorCode)
{
switch(errorCode) {
case kErrNone:
return QString("no error");
case kErrNoRequest:
return QString("bad request");
case kErrNoSession:
return QString("bad session");
case kErrSequence:
return QString("bad sequence number");
case kErrNotDir:
return QString("not a directory");
case kErrNotFile:
return QString("not a file");
case kErrEOF:
return QString("read beyond end of file");
case kErrNotAppend:
return QString("write not at end of file");
case kErrTooBig:
return QString("file too big");
case kErrIO:
return QString("device I/O error");
case kErrPerm:
return QString("permission denied");
case kErrUnknownCommand:
return QString("unknown command");
case kErrCrc:
return QString("bad crc");
default:
return QString("unknown error code");
}
}
/// @brief Sends a command which only requires an opcode and no additional data
/// @param opcode Opcode to send
/// @param newOpState State to put state machine into
/// @return TRUE: command sent, FALSE: command not sent, waiting for previous command to finish
bool QGCUASFileManager::_sendOpcodeOnlyCmd(uint8_t opcode, OperationState newOpState)
{
if (_currentOperation != kCOIdle) {
// Can't have multiple commands in play at the same time
return false;
}
Request request;
request.hdr.magic = 'f';
request.hdr.session = 0;
request.hdr.opcode = opcode;
request.hdr.offset = 0;
request.hdr.size = 0;
_currentOperation = newOpState;
_sendRequest(&request);
return TRUE;
}
/// @brief Starts the ack timeout timer
void QGCUASFileManager::_setupAckTimeout(void)
{
Q_ASSERT(!_ackTimer.isActive());
_ackTimer.setSingleShot(true);
_ackTimer.start(_ackTimerTimeoutMsecs);
}
/// @brief Clears the ack timeout timer
void QGCUASFileManager::_clearAckTimeout(void)
{
Q_ASSERT(_ackTimer.isActive());
_ackTimer.stop();
}
/// @brief Called when ack timeout timer fires
void QGCUASFileManager::_ackTimeout(void)
{
// Make sure to set _currentOperation state before emitting error message. Code may respond
// to error message signal by sending another command, which will fail if state is not back
// to idle. FileView UI works this way with the List command.
switch (_currentOperation) {
case kCORead:
_currentOperation = kCOAck;
_emitErrorMessage(tr("Timeout waiting for ack: Sending Terminate command"));
_sendTerminateCommand();
break;
default:
_currentOperation = kCOIdle;
_emitErrorMessage(tr("Timeout waiting for ack"));
break;
}
}
void QGCUASFileManager::_sendTerminateCommand(void)
{
Request request;
request.hdr.magic = 'f';
request.hdr.session = _activeSession;
request.hdr.opcode = kCmdTerminate;
_sendRequest(&request);
}
void QGCUASFileManager::_emitErrorMessage(const QString& msg)
{
qDebug() << "QGCUASFileManager: Error" << msg;
emit errorMessage(msg);
}
void QGCUASFileManager::_emitStatusMessage(const QString& msg)
{
qDebug() << "QGCUASFileManager: Status" << msg;
emit statusMessage(msg);
}
/// @brief Sends the specified Request out to the UAS.
void QGCUASFileManager::_sendRequest(Request* request)
{
mavlink_message_t message;
_setupAckTimeout();
request->hdr.crc32 = crc32(request);
// FIXME: Send correct system id instead of harcoded 250
mavlink_msg_encapsulated_data_pack(250, 0, &message, _encdata_seq, (uint8_t*)request);
_mav->sendMessage(message);
}
src/uas/QGCUASFileManager.h 0 → 100644
View file @ b485d7f6
/*=====================================================================
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 QGCUASFILEMANAGER_H
#define QGCUASFILEMANAGER_H
#include <QObject>
#include <QDir>
#include "UASInterface.h"
class QGCUASFileManager : public QObject
{
Q_OBJECT
public:
QGCUASFileManager(QObject* parent, UASInterface* uas);
/// These methods are only used for testing purposes.
bool _sendCmdTestAck(void) { return _sendOpcodeOnlyCmd(kCmdNone, kCOAck); };
bool _sendCmdTestNoAck(void) { return _sendOpcodeOnlyCmd(kCmdTestNoAck, kCOAck); };
bool _sendCmdReset(void) { return _sendOpcodeOnlyCmd(kCmdReset, kCOAck); };
signals:
void statusMessage(const QString& msg);
void resetStatusMessages();
void errorMessage(const QString& msg);
void listComplete(void);
public slots:
void receiveMessage(LinkInterface* link, mavlink_message_t message);
void listDirectory(const QString& dirPath);
void downloadPath(const QString& from, const QDir& downloadDir);
protected:
struct RequestHeader
{
uint8_t magic; ///> Magic byte 'f' to idenitfy FTP protocol
uint8_t session; ///> Session id for read and write commands
uint8_t opcode; ///> Command opcode
uint8_t size; ///> Size of data
uint32_t crc32; ///> CRC for entire Request structure, with crc32 set to 0
uint32_t offset; ///> Offsets for List and Read commands
};
struct Request
{
struct RequestHeader hdr;
// The entire Request must fit into the data member of the mavlink_encapsulated_data_t structure. We use as many leftover bytes
// after we use up space for the RequestHeader for the data portion of the Request.
uint8_t data[sizeof(((mavlink_encapsulated_data_t*)0)->data) - sizeof(RequestHeader)];
};
enum Opcode
{
// Commands
kCmdNone, ///> ignored, always acked
kCmdTerminate, ///> releases sessionID, closes file
kCmdReset, ///> terminates all sessions
kCmdList, ///> list files in <path> from <offset>
kCmdOpen, ///> opens <path> for reading, returns <session>
kCmdRead, ///> reads <size> bytes from <offset> in <session>
kCmdCreate, ///> creates <path> for writing, returns <session>
kCmdWrite, ///> appends <size> bytes at <offset> in <session>
kCmdRemove, ///> remove file (only if created by server?)
// Responses
kRspAck, ///> positive acknowledgement of previous command
kRspNak, ///> negative acknowledgement of previous command
// Used for testing only, not part of protocol
kCmdTestNoAck, // ignored, ack not sent back, should timeout waiting for ack
};
enum ErrorCode
{
kErrNone,
kErrNoRequest,
kErrNoSession,
kErrSequence,
kErrNotDir,
kErrNotFile,
kErrEOF,
kErrNotAppend,
kErrTooBig,
kErrIO,
kErrPerm,
kErrUnknownCommand,
kErrCrc
};
enum OperationState
{
kCOIdle, // not doing anything
kCOAck, // waiting for an Ack
kCOList, // waiting for List response
kCOOpen, // waiting for Open response
kCORead, // waiting for Read response
};
protected slots:
void _ackTimeout(void);
protected:
bool _sendOpcodeOnlyCmd(uint8_t opcode, OperationState newOpState);
void _setupAckTimeout(void);
void _clearAckTimeout(void);
void _emitErrorMessage(const QString& msg);
void _emitStatusMessage(const QString& msg);
void _sendRequest(Request* request);
void _fillRequestWithString(Request* request, const QString& str);
void _openAckResponse(Request* openAck);
void _readAckResponse(Request* readAck);
void _listAckResponse(Request* listAck);
void _sendListCommand(void);
void _sendTerminateCommand(void);
void _closeReadSession(bool success);
static quint32 crc32(Request* request, unsigned state = 0);
static QString errorString(uint8_t errorCode);
OperationState _currentOperation; ///> Current operation of state machine
QTimer _ackTimer; ///> Used to signal a timeout waiting for an ack
static const int _ackTimerTimeoutMsecs = 1000; ///> Timeout in msecs for ack timer
UASInterface* _mav;
quint16 _encdata_seq;
unsigned _listOffset; ///> offset for the current List operation
QString _listPath; ///> path for the current List operation
uint8_t _activeSession; ///> currently active session, 0 for none
uint32_t _readOffset; ///> current read offset
QByteArray _readFileAccumulator; ///> Holds file being downloaded
QDir _readFileDownloadDir; ///> Directory to download file to
QString _readFileDownloadFilename; ///> Filename (no path) for download file
// We give MockMavlinkFileServer friend access so that it can use the data structures and opcodes
// to build a mock mavlink file server for testing.
friend class MockMavlinkFileServer;
};
#endif // QGCUASFILEMANAGER_H
src/uas/UAS.cc
View file @ b485d7f6
......@@ -139,6 +139,7 @@ UAS::UAS(MAVLinkProtocol* protocol, QThread* thread, int id) : UASInterface(),
airSpeed(std::numeric_limits<double>::quiet_NaN()),
groundSpeed(std::numeric_limits<double>::quiet_NaN()),
waypointManager(this),
fileManager(this, this),
attitudeKnown(false),
attitudeStamped(false),
......@@ -148,6 +149,8 @@ UAS::UAS(MAVLinkProtocol* protocol, QThread* thread, int id) : UASInterface(),
pitch(0.0),
yaw(0.0),
imagePackets(0), // We must initialize to 0, otherwise extended data packets maybe incorrectly thought to be images
blockHomePositionChanges(false),
receivedMode(false),
......@@ -175,6 +178,8 @@ UAS::UAS(MAVLinkProtocol* protocol, QThread* thread, int id) : UASInterface(),
componentMulti[i] = false;
}
connect(mavlink, SIGNAL(messageReceived(LinkInterface*,mavlink_message_t)), &fileManager, SLOT(receiveMessage(LinkInterface*,mavlink_message_t)));
// Store a list of available actions for this UAS.
// Basically everything exposed as a SLOT with no return value or arguments.
......@@ -1368,6 +1373,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
// NO VALID TRANSACTION - ABORT
// Restart statemachine
imagePacketsArrived = 0;
break;
}
for (int i = 0; i < imagePayload; ++i)
......@@ -1381,9 +1387,11 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
++imagePacketsArrived;
// emit signal if all packets arrived
if ((imagePacketsArrived >= imagePackets))
if (imagePacketsArrived >= imagePackets)
{
// Restart statemachine
imagePackets = 0;
imagePacketsArrived = 0;
emit imageReady(this);
//qDebug() << "imageReady emitted. all packets arrived";
}
......@@ -2194,13 +2202,15 @@ QImage UAS::getImage()
if (!image.loadFromData(imageRecBuffer))
{
qDebug() << __FILE__ << __LINE__ << "Loading data from image buffer failed!";
return QImage();
}
}
// Restart statemachine
imagePacketsArrived = 0;
//imageRecBuffer.clear();
imagePackets = 0;
imageRecBuffer.clear();
return image;
}
void UAS::requestImage()
......
src/uas/UAS.h
View file @ b485d7f6
......@@ -42,6 +42,7 @@ This file is part of the QGROUNDCONTROL project
#include "QGCJSBSimLink.h"
#include "QGCXPlaneLink.h"
#include "QGCUASParamManager.h"
#include "QGCUASFileManager.h"
/**
......@@ -370,6 +371,7 @@ public:
#endif
friend class UASWaypointManager;
friend class QGCUASFileManager;
protected: //COMMENTS FOR TEST UNIT
/// LINK ID AND STATUS
......@@ -472,6 +474,7 @@ protected: //COMMENTS FOR TEST UNIT
double groundSpeed; ///< Groundspeed
double bearingToWaypoint; ///< Bearing to next waypoint
UASWaypointManager waypointManager;
QGCUASFileManager fileManager;
/// ATTITUDE
bool attitudeKnown; ///< True if attitude was received, false else
......@@ -554,6 +557,10 @@ public:
return &paramMgr;
}
virtual QGCUASFileManager* getFileManager() {
return &fileManager;
}
/** @brief Get the HIL simulation */
QGCHilLink* getHILSimulation() const {
return simulation;
......
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