FileManager.cc 29.9 KB
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/****************************************************************************
 *
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 * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/
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#include "FileManager.h"
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#include "QGC.h"
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#include "MAVLinkProtocol.h"
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#include "Vehicle.h"
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#include "QGCApplication.h"
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#include <QFile>
#include <QDir>
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#include <string>
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QGC_LOGGING_CATEGORY(FileManagerLog, "FileManagerLog")
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FileManager::FileManager(QObject* parent, Vehicle* vehicle)
    : QObject(parent)
    , _currentOperation(kCOIdle)
    , _vehicle(vehicle)
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    , _dedicatedLink(nullptr)
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    , _activeSession(0)
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    , _missingDownloadedBytes(0)
    , _downloadingMissingParts(false)
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    , _systemIdQGC(0)
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{
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    connect(&_ackTimer, &QTimer::timeout, this, &FileManager::_ackTimeout);
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    _lastOutgoingRequest.hdr.seqNumber = 0;

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    _systemIdServer = _vehicle->id();
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    // Make sure we don't have bad structure packing
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    Q_ASSERT(sizeof(RequestHeader) == 12);
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}

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/// Respond to the Ack associated with the Open command with the next read command.
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void FileManager::_openAckResponse(Request* openAck)
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{
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    qCDebug(FileManagerLog) << QString("_openAckResponse: _currentOperation(%1) _readFileLength(%2)").arg(_currentOperation).arg(openAck->openFileLength);
    
	Q_ASSERT(_currentOperation == kCOOpenRead || _currentOperation == kCOOpenBurst);
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	_currentOperation = _currentOperation == kCOOpenRead ? kCORead : kCOBurst;
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    _activeSession = openAck->hdr.session;
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    // File length comes back in data
    Q_ASSERT(openAck->hdr.size == sizeof(uint32_t));
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    _downloadFileSize = openAck->openFileLength;
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    // Start the sequence of read commands
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    _downloadOffset = 0;            // Start reading at beginning of file
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    _readFileAccumulator.clear();   // Start with an empty file
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    _missingDownloadedBytes = 0;
    _downloadingMissingParts = false;
    _missingData.clear();
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    Request request;
    request.hdr.session = _activeSession;
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	Q_ASSERT(_currentOperation == kCORead || _currentOperation == kCOBurst);
	request.hdr.opcode = _currentOperation == kCORead ? kCmdReadFile : kCmdBurstReadFile;
    request.hdr.offset = _downloadOffset;
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    request.hdr.size = sizeof(request.data);
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    _sendRequest(&request);
}

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/// request the next missing part of a (partially) downloaded file
void FileManager::_requestMissingData()
{
    if (_missingData.empty()) {
        _downloadingMissingParts = false;
        _missingDownloadedBytes = 0;
        // there might be more data missing at the end
        if ((uint32_t)_readFileAccumulator.length() != _downloadFileSize) {
            _downloadOffset = _readFileAccumulator.length();
            qCDebug(FileManagerLog) << QString("_requestMissingData: missing parts done, downloadOffset(%1) downloadFileSize(%2)")
                    .arg(_downloadOffset).arg(_downloadFileSize);
        } else {
            _closeDownloadSession(true);
            return;
        }
    } else {
        qCDebug(FileManagerLog) << QString("_requestMissingData: offset(%1) size(%2)").arg(_missingData.head().offset).arg(_missingData.head().size);

        _downloadOffset = _missingData.head().offset;
    }

    Request request;
    _currentOperation = kCORead;
    request.hdr.session = _activeSession;
    request.hdr.opcode = kCmdReadFile;
    request.hdr.offset = _downloadOffset;
    request.hdr.size = sizeof(request.data);

    _sendRequest(&request);
}

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/// Closes out a download session by writing the file and doing cleanup.
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///     @param success true: successful download completion, false: error during download
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void FileManager::_closeDownloadSession(bool success)
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{
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    qCDebug(FileManagerLog) << QString("_closeDownloadSession: success(%1) missingBytes(%2)").arg(success).arg(_missingDownloadedBytes);
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    _currentOperation = kCOIdle;
    
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    if (success) {
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        if (_missingDownloadedBytes > 0 || (uint32_t)_readFileAccumulator.length() < _downloadFileSize) {
            // we're not done yet: request the missing parts individually (either we had missing parts or
            // the last (few) packets right before the EOF got dropped)
            _downloadingMissingParts = true;
            _requestMissingData();
            return;
        }

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        QString downloadFilePath = _readFileDownloadDir.absoluteFilePath(_readFileDownloadFilename);
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        QFile file(downloadFilePath);
        if (!file.open(QIODevice::WriteOnly | QIODevice::Truncate)) {
            _emitErrorMessage(tr("Unable to open local file for writing (%1)").arg(downloadFilePath));
            return;
        }
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        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();
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        emit commandComplete();
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    }
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    _readFileAccumulator.clear();
    
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    // Close the open session
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    _sendResetCommand();
}

/// Closes out an upload session doing cleanup.
///     @param success true: successful upload completion, false: error during download
void FileManager::_closeUploadSession(bool success)
{
    qCDebug(FileManagerLog) << QString("_closeUploadSession: success(%1)").arg(success);
    
    _currentOperation = kCOIdle;
    _writeFileAccumulator.clear();
    _writeFileSize = 0;
    
    if (success) {
        emit commandComplete();
    }
    
    // Close the open session
    _sendResetCommand();
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}

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/// Respond to the Ack associated with the Read or Stream commands.
///		@param readFile: true: read file, false: stream file
void FileManager::_downloadAckResponse(Request* readAck, bool readFile)
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{
    if (readAck->hdr.session != _activeSession) {
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        _closeDownloadSession(false /* failure */);
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        _emitErrorMessage(tr("Download: Incorrect session returned"));
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        return;
    }
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    if (readAck->hdr.offset != _downloadOffset) {
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        if (readFile) {
            _closeDownloadSession(false /* failure */);
            _emitErrorMessage(tr("Download: Offset returned (%1) differs from offset requested/expected (%2)").arg(readAck->hdr.offset).arg(_downloadOffset));
            return;
        } else { // burst
            if (readAck->hdr.offset < _downloadOffset) { // old data: ignore it
                _setupAckTimeout();
                return;
            }
            // keep track of missing data chunks
            MissingData missingData;
            missingData.offset = _downloadOffset;
            missingData.size = readAck->hdr.offset - _downloadOffset;
            _missingData.push_back(missingData);
            _missingDownloadedBytes += readAck->hdr.offset - _downloadOffset;
            qCDebug(FileManagerLog) << QString("_downloadAckResponse: missing data: offset(%1) size(%2)").arg(missingData.offset).arg(missingData.size);
            _downloadOffset = readAck->hdr.offset;
            _readFileAccumulator.resize(_downloadOffset); // placeholder for the missing data
        }
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    }
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    qCDebug(FileManagerLog) << QString("_downloadAckResponse: offset(%1) size(%2) burstComplete(%3)").arg(readAck->hdr.offset).arg(readAck->hdr.size).arg(readAck->hdr.burstComplete);
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    if (_downloadingMissingParts) {
        Q_ASSERT(_missingData.head().offset == _downloadOffset);
        _missingDownloadedBytes -= readAck->hdr.size;
        _readFileAccumulator.replace(_downloadOffset, readAck->hdr.size, (const char*)readAck->data, readAck->hdr.size);
        if (_missingData.head().size <= readAck->hdr.size) {
            _missingData.pop_front();
        } else {
            _missingData.head().size -= readAck->hdr.size;
            _missingData.head().offset += readAck->hdr.size;
        }
    } else {
        _downloadOffset += readAck->hdr.size;
        _readFileAccumulator.append((const char*)readAck->data, readAck->hdr.size);
    }
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    if (_downloadFileSize != 0) {
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        emit commandProgress(100 * ((float)(_readFileAccumulator.length() - _missingDownloadedBytes) / (float)_downloadFileSize));
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    }
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    if (_downloadingMissingParts) {
        _requestMissingData();
    } else if (readFile || readAck->hdr.burstComplete) {
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        // Possibly still more data to read, send next read request
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        Request request;
        request.hdr.session = _activeSession;
        request.hdr.opcode = readFile ? kCmdReadFile : kCmdBurstReadFile;
        request.hdr.offset = _downloadOffset;
        request.hdr.size = 0;
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        _sendRequest(&request);
    } else if (!readFile) {
        // Streaming, so next ack should come automatically
        _setupAckTimeout();
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    }
}

/// @brief Respond to the Ack associated with the List command.
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void FileManager::_listAckResponse(Request* listAck)
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{
    if (listAck->hdr.offset != _listOffset) {
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        // this is a real error (directory listing is synchronous), no need to retransmit
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        _currentOperation = kCOIdle;
        _emitErrorMessage(tr("List: Offset returned (%1) differs from offset requested (%2)").arg(listAck->hdr.offset).arg(_listOffset));
        return;
    }
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    uint8_t offset = 0;
    uint8_t cListEntries = 0;
    uint8_t cBytes = listAck->hdr.size;
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    // parse filenames out of the buffer
    while (offset < cBytes) {
        const char * ptr = ((const char *)listAck->data) + offset;
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        // get the length of the name
        uint8_t cBytesLeft = cBytes - offset;
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        uint8_t nlen = static_cast<uint8_t>(strnlen(ptr, cBytesLeft));
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        if ((*ptr == 'S' && nlen > 1) || (*ptr != 'S' && nlen < 2)) {
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            _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;
        }
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        // Returned names are prepended with D for directory, F for file, S for skip
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        if (*ptr == 'F' || *ptr == 'D') {
            // put it in the view
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            _emitListEntry(ptr);
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        } else if (*ptr == 'S') {
            // do nothing
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        } else {
            qDebug() << "unknown entry" << ptr;
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        }
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        // account for the name + NUL
        offset += nlen + 1;
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        cListEntries++;
    }

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    if (listAck->hdr.size == 0 || cListEntries == 0) {
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        // Directory is empty, we're done
        Q_ASSERT(listAck->hdr.opcode == kRspAck);
        _currentOperation = kCOIdle;
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        emit commandComplete();
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    } else {
        // Possibly more entries to come, need to keep trying till we get EOF
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        _currentOperation = kCOList;
        _listOffset += cListEntries;
        _sendListCommand();
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    }
}

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/// @brief Respond to the Ack associated with the create command.
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void FileManager::_createAckResponse(Request* createAck)
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{
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    qCDebug(FileManagerLog) << "_createAckResponse";
    
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    _currentOperation = kCOWrite;
    _activeSession = createAck->hdr.session;

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    // Start the sequence of write commands from the beginning of the file
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    _writeOffset = 0;
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    _writeSize = 0;
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    _writeFileDatablock();
}

/// @brief Respond to the Ack associated with the write command.
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void FileManager::_writeAckResponse(Request* writeAck)
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{
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    if(_writeOffset + _writeSize >= _writeFileSize){
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        _closeUploadSession(true /* success */);
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        return;
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    }

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    if (writeAck->hdr.session != _activeSession) {
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        _closeUploadSession(false /* failure */);
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        _emitErrorMessage(tr("Write: Incorrect session returned"));
        return;
    }

    if (writeAck->hdr.offset != _writeOffset) {
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        _closeUploadSession(false /* failure */);
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        _emitErrorMessage(tr("Write: Offset returned (%1) differs from offset requested (%2)").arg(writeAck->hdr.offset).arg(_writeOffset));
        return;
    }

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    if (writeAck->hdr.size != sizeof(uint32_t)) {
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        _closeUploadSession(false /* failure */);
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        _emitErrorMessage(tr("Write: Returned invalid size of write size data"));
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        return;
    }

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    if( writeAck->writeFileLength !=_writeSize) {
        _closeUploadSession(false /* failure */);
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        _emitErrorMessage(tr("Write: Size returned (%1) differs from size requested (%2)").arg(writeAck->writeFileLength).arg(_writeSize));
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        return;
    }

    _writeFileDatablock();
}

/// @brief Send next write file data block.
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void FileManager::_writeFileDatablock(void)
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{
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    if (_writeOffset + _writeSize >= _writeFileSize){
        _closeUploadSession(true /* success */);
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        return;
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    }

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    _writeOffset += _writeSize;

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    Request request;
    request.hdr.session = _activeSession;
    request.hdr.opcode = kCmdWriteFile;
    request.hdr.offset = _writeOffset;

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    if(_writeFileSize -_writeOffset > sizeof(request.data) )
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        _writeSize = sizeof(request.data);
    else
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        _writeSize = _writeFileSize - _writeOffset;
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    request.hdr.size = _writeSize;

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    memcpy(request.data, &_writeFileAccumulator.data()[_writeOffset], _writeSize);
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    _sendRequest(&request);
}

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void FileManager::receiveMessage(mavlink_message_t message)
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{
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    // receiveMessage is signalled will all mavlink messages so we need to filter everything else out but ours.
    if (message.msgid != MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL) {
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        return;
    }
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    mavlink_file_transfer_protocol_t data;
    mavlink_msg_file_transfer_protocol_decode(&message, &data);
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    // Make sure we are the target system
    if (data.target_system != _systemIdQGC) {
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        qDebug() << "Received MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL with incorrect target_system:" <<  data.target_system << "expected:" << _systemIdQGC;
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        return;
    }
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    Request* request = (Request*)&data.payload[0];
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    uint16_t incomingSeqNumber = request->hdr.seqNumber;
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    // Make sure we have a good sequence number
    uint16_t expectedSeqNumber = _lastOutgoingRequest.hdr.seqNumber + 1;

    // ignore old/reordered packets (handle wrap-around properly)
    if ((uint16_t)((expectedSeqNumber - 1) - incomingSeqNumber) < (std::numeric_limits<uint16_t>::max()/2)) {
        qDebug() << "Received old packet: expected seq:" << expectedSeqNumber << "got:" << incomingSeqNumber;
        return;
    }

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    _clearAckTimeout();
    
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	qCDebug(FileManagerLog) << "receiveMessage" << request->hdr.opcode;
	
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    if (incomingSeqNumber != expectedSeqNumber) {
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        bool doAbort = true;
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        switch (_currentOperation) {
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            case kCOBurst: // burst download drops are handled in _downloadAckResponse()
                doAbort = false;
                break;
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            case kCORead:
                _closeDownloadSession(false /* failure */);
                break;
            
            case kCOWrite:
                _closeUploadSession(false /* failure */);
                break;
                
            case kCOOpenRead:
            case kCOOpenBurst:
            case kCOCreate:
                // We could have an open session hanging around
                _currentOperation = kCOIdle;
                _sendResetCommand();
                break;
                
            default:
                // Don't need to do anything special
                _currentOperation = kCOIdle;
                break;
        }
        
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        if (doAbort) {
            _emitErrorMessage(tr("Bad sequence number on received message: expected(%1) received(%2)").arg(expectedSeqNumber).arg(incomingSeqNumber));
            return;
        }
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    }
    
    // Move past the incoming sequence number for next request
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    _lastOutgoingRequest.hdr.seqNumber = incomingSeqNumber;
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    if (request->hdr.opcode == kRspAck) {
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        switch (request->hdr.req_opcode) {
			case kCmdListDirectory:
				_listAckResponse(request);
				break;
				
			case kCmdOpenFileRO:
            case kCmdOpenFileWO:
				_openAckResponse(request);
				break;
				
			case kCmdReadFile:
				_downloadAckResponse(request, true /* read file */);
				break;
				
			case kCmdBurstReadFile:
				_downloadAckResponse(request, false /* stream file */);
				break;
				
            case kCmdCreateFile:
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                _createAckResponse(request);
                break;
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            case kCmdWriteFile:
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                _writeAckResponse(request);
                break;
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			default:
				// Ack back from operation which does not require additional work
				_currentOperation = kCOIdle;
				break;
		}
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    } else if (request->hdr.opcode == kRspNak) {
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        uint8_t errorCode = request->data[0];
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        // Nak's normally have 1 byte of data for error code, except for kErrFailErrno which has additional byte for errno
        Q_ASSERT((errorCode == kErrFailErrno && request->hdr.size == 2) || request->hdr.size == 1);
        
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        _currentOperation = kCOIdle;
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        if (request->hdr.req_opcode == kCmdListDirectory && errorCode == kErrEOF) {
            // This is not an error, just the end of the list loop
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            emit commandComplete();
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            return;
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        } else if ((request->hdr.req_opcode == kCmdReadFile || request->hdr.req_opcode == kCmdBurstReadFile) && errorCode == kErrEOF) {
            // This is not an error, just the end of the download loop
            _closeDownloadSession(true /* success */);
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            return;
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        } else if (request->hdr.req_opcode == kCmdCreateFile) {
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            _emitErrorMessage(tr("Nak received creating file, error: %1").arg(errorString(request->data[0])));
            return;
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        } else if (request->hdr.req_opcode == kCmdCreateDirectory) {
            _emitErrorMessage(tr("Nak received creating directory, error: %1").arg(errorString(request->data[0])));
            return;
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        } else {
            // Generic Nak handling
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            if (request->hdr.req_opcode == kCmdReadFile || request->hdr.req_opcode == kCmdBurstReadFile) {
                // Nak error during download loop, download failed
                _closeDownloadSession(false /* failure */);
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            } else if (request->hdr.req_opcode == kCmdWriteFile) {
                // Nak error during upload loop, upload failed
                _closeUploadSession(false /* failure */);
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            }
            _emitErrorMessage(tr("Nak received, error: %1").arg(errorString(request->data[0])));
        }
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    } else {
        // Note that we don't change our operation state. If something goes wrong beyond this, the operation
        // will time out.
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        _emitErrorMessage(tr("Unknown opcode returned from server: %1").arg(request->hdr.opcode));
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    }
}

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void FileManager::listDirectory(const QString& dirPath)
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{
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    if (_currentOperation != kCOIdle) {
        _emitErrorMessage(tr("Command not sent. Waiting for previous command to complete."));
        return;
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    }

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    _dedicatedLink = _vehicle->priorityLink();
    if (!_dedicatedLink) {
        _emitErrorMessage(tr("Command not sent. No Vehicle links."));
        return;
    }

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    // initialise the lister
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    _listPath = dirPath;
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    _listOffset = 0;
    _currentOperation = kCOList;
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    // and send the initial request
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    _sendListCommand();
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}

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void FileManager::_fillRequestWithString(Request* request, const QString& str)
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{
    strncpy((char *)&request->data[0], str.toStdString().c_str(), sizeof(request->data));
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    request->hdr.size = static_cast<uint8_t>(strnlen((const char *)&request->data[0], sizeof(request->data)));
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}

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void FileManager::_sendListCommand(void)
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{
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    Request request;
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    request.hdr.session = 0;
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    request.hdr.opcode = kCmdListDirectory;
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    request.hdr.offset = _listOffset;
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    request.hdr.size = 0;
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    _fillRequestWithString(&request, _listPath);
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    qCDebug(FileManagerLog) << "listDirectory: path:" << _listPath << "offset:" <<  _listOffset;
    
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    _sendRequest(&request);
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}

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void FileManager::downloadPath(const QString& from, const QDir& downloadDir)
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{
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    if (_currentOperation != kCOIdle) {
        _emitErrorMessage(tr("Command not sent. Waiting for previous command to complete."));
        return;
    }
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    _dedicatedLink = _vehicle->priorityLink();
    if (!_dedicatedLink) {
        _emitErrorMessage(tr("Command not sent. No Vehicle links."));
        return;
    }
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	qCDebug(FileManagerLog) << "downloadPath from:" << from << "to:" << downloadDir;
	_downloadWorker(from, downloadDir, true /* read file */);
}
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void FileManager::streamPath(const QString& from, const QDir& downloadDir)
{
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    if (_currentOperation != kCOIdle) {
        _emitErrorMessage(tr("Command not sent. Waiting for previous command to complete."));
        return;
    }
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    _dedicatedLink = _vehicle->priorityLink();
    if (!_dedicatedLink) {
        _emitErrorMessage(tr("Command not sent. No Vehicle links."));
        return;
    }
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	qCDebug(FileManagerLog) << "streamPath from:" << from << "to:" << downloadDir;
	_downloadWorker(from, downloadDir, false /* stream file */);
}
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void FileManager::_downloadWorker(const QString& from, const QDir& downloadDir, bool readFile)
{
	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);
	
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	_currentOperation = readFile ? kCOOpenRead : kCOOpenBurst;
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	Request request;
	request.hdr.session = 0;
	request.hdr.opcode = kCmdOpenFileRO;
	request.hdr.offset = 0;
	request.hdr.size = 0;
	_fillRequestWithString(&request, from);
	_sendRequest(&request);
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}
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/// @brief Uploads the specified file.
///     @param toPath File in UAS to upload to, fully qualified path
///     @param uploadFile Local file to upload from
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void FileManager::uploadPath(const QString& toPath, const QFileInfo& uploadFile)
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{
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    if(_currentOperation != kCOIdle){
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        _emitErrorMessage(tr("UAS File manager busy. Try again later"));
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        return;
    }

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    _dedicatedLink = _vehicle->priorityLink();
    if (!_dedicatedLink) {
        _emitErrorMessage(tr("Command not sent. No Vehicle links."));
        return;
    }

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    if (toPath.isEmpty()) {
        return;
    }

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    if (!uploadFile.isReadable()){
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        _emitErrorMessage(tr("File (%1) is not readable for upload").arg(uploadFile.path()));
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        return;
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    }

    QFile file(uploadFile.absoluteFilePath());
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    if (!file.open(QIODevice::ReadOnly)) {
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            _emitErrorMessage(tr("Unable to open local file for upload (%1)").arg(uploadFile.absoluteFilePath()));
            return;
        }

    _writeFileAccumulator = file.readAll();
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    _writeFileSize = _writeFileAccumulator.size();
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    file.close();

    if (_writeFileAccumulator.size() == 0) {
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        _emitErrorMessage(tr("Unable to read data from local file (%1)").arg(uploadFile.absoluteFilePath()));
        return;
    }

    _currentOperation = kCOCreate;

    Request request;
    request.hdr.session = 0;
    request.hdr.opcode = kCmdCreateFile;
    request.hdr.offset = 0;
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    request.hdr.size = 0;
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    _fillRequestWithString(&request, toPath + "/" + uploadFile.fileName());
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    _sendRequest(&request);
}

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void FileManager::createDirectory(const QString& directory)
{
    if(_currentOperation != kCOIdle){
        _emitErrorMessage(tr("UAS File manager busy. Try again later"));
        return;
    }

    _currentOperation = kCOCreateDir;

    Request request;
    request.hdr.session = 0;
    request.hdr.opcode = kCmdCreateDirectory;
    request.hdr.offset = 0;
    request.hdr.size = 0;
    _fillRequestWithString(&request, directory);
    _sendRequest(&request);
}

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QString FileManager::errorString(uint8_t errorCode)
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{
    switch(errorCode) {
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        case kErrNone:
            return QString("no error");
        case kErrFail:
            return QString("unknown error");
        case kErrEOF:
            return QString("read beyond end of file");
        case kErrUnknownCommand:
            return QString("unknown command");
        case kErrFailErrno:
            return QString("command failed");
        case kErrInvalidDataSize:
            return QString("invalid data size");
        case kErrInvalidSession:
            return QString("invalid session");
        case kErrNoSessionsAvailable:
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            return QString("no sessions available");
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        case kErrFailFileExists:
            return QString("File already exists on target");
        case kErrFailFileProtected:
            return QString("File is write protected");
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        default:
            return QString("unknown error code");
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    }
}
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/// @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
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bool FileManager::_sendOpcodeOnlyCmd(uint8_t opcode, OperationState newOpState)
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{
    if (_currentOperation != kCOIdle) {
        // Can't have multiple commands in play at the same time
        return false;
    }
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    Request request;
    request.hdr.session = 0;
    request.hdr.opcode = opcode;
    request.hdr.offset = 0;
    request.hdr.size = 0;
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    _currentOperation = newOpState;
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    _sendRequest(&request);
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    return true;
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}

/// @brief Starts the ack timeout timer
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void FileManager::_setupAckTimeout(void)
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{
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	qCDebug(FileManagerLog) << "_setupAckTimeout";

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    Q_ASSERT(!_ackTimer.isActive());
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    _ackNumTries = 0;
    _ackTimer.setSingleShot(false);
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    _ackTimer.start(ackTimerTimeoutMsecs);
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}

/// @brief Clears the ack timeout timer
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void FileManager::_clearAckTimeout(void)
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{
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	qCDebug(FileManagerLog) << "_clearAckTimeout";
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    _ackTimer.stop();
}

/// @brief Called when ack timeout timer fires
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void FileManager::_ackTimeout(void)
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{
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    qCDebug(FileManagerLog) << "_ackTimeout";
    
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    if (++_ackNumTries <= ackTimerMaxRetries) {
        qCDebug(FileManagerLog) << "ack timeout - retrying";
        if (_currentOperation == kCOBurst) {
            // for burst downloads try to initiate a new burst
            Request request;
            request.hdr.session = _activeSession;
            request.hdr.opcode = kCmdBurstReadFile;
            request.hdr.offset = _downloadOffset;
            request.hdr.size = 0;
            request.hdr.seqNumber = ++_lastOutgoingRequest.hdr.seqNumber;

            _sendRequestNoAck(&request);
        } else {
            _sendRequestNoAck(&_lastOutgoingRequest);
        }
        return;
    }

    _clearAckTimeout();

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    // 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.
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    switch (_currentOperation) {
        case kCORead:
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        case kCOBurst:
            _closeDownloadSession(false /* failure */);
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            _emitErrorMessage(tr("Timeout waiting for ack: Download failed"));
            break;
            
        case kCOOpenRead:
        case kCOOpenBurst:
            _currentOperation = kCOIdle;
            _emitErrorMessage(tr("Timeout waiting for ack: Download failed"));
            _sendResetCommand();
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            break;
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        case kCOCreate:
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            _currentOperation = kCOIdle;
            _emitErrorMessage(tr("Timeout waiting for ack: Upload failed"));
            _sendResetCommand();
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            break;
            
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        case kCOWrite:
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            _closeUploadSession(false /* failure */);
            _emitErrorMessage(tr("Timeout waiting for ack: Upload failed"));
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            break;
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        default:
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        {
            OperationState currentOperation = _currentOperation;
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            _currentOperation = kCOIdle;
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            _emitErrorMessage(QString("Timeout waiting for ack: Command failed (%1)").arg(currentOperation));
        }
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            break;
    }
}

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void FileManager::_sendResetCommand(void)
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{
    Request request;
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    request.hdr.opcode = kCmdResetSessions;
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    request.hdr.size = 0;
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    _sendRequest(&request);
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}

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void FileManager::_emitErrorMessage(const QString& msg)
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{
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	qCDebug(FileManagerLog) << "Error:" << msg;
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    emit commandError(msg);
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}

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void FileManager::_emitListEntry(const QString& entry)
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{
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    qCDebug(FileManagerLog) << "_emitListEntry" << entry;
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    emit listEntry(entry);
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}

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/// @brief Sends the specified Request out to the UAS.
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void FileManager::_sendRequest(Request* request)
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{
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    _setupAckTimeout();
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    request->hdr.seqNumber = ++_lastOutgoingRequest.hdr.seqNumber;
    // store the current request
    if (request->hdr.size <= sizeof(request->data)) {
        memcpy(&_lastOutgoingRequest, request, sizeof(RequestHeader) + request->hdr.size);
    } else {
        qCCritical(FileManagerLog) << "request length too long:" << request->hdr.size;
    }
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    qCDebug(FileManagerLog) << "_sendRequest opcode:" << request->hdr.opcode << "seqNumber:" << request->hdr.seqNumber;
    
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    if (_systemIdQGC == 0) {
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        _systemIdQGC = qgcApp()->toolbox()->mavlinkProtocol()->getSystemId();
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    }
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    _sendRequestNoAck(request);
}

/// @brief Sends the specified Request out to the UAS, without ack timeout handling
void FileManager::_sendRequestNoAck(Request* request)
{
    mavlink_message_t message;
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    // Unit testing code can end up here without _dedicateLink set since it tests inidividual commands.
    LinkInterface* link;
    if (_dedicatedLink) {
        link = _dedicatedLink;
    } else {
        link = _vehicle->priorityLink();
    }
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    mavlink_msg_file_transfer_protocol_pack_chan(_systemIdQGC,       // QGC System ID
                                                 0,                  // QGC Component ID
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                                                 link->mavlinkChannel(),
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                                                 &message,           // Mavlink Message to pack into
                                                 0,                  // Target network
                                                 _systemIdServer,    // Target system
                                                 0,                  // Target component
                                                 (uint8_t*)request); // Payload
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    _vehicle->sendMessageOnLink(link, message);
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}