qgroundcontrol.pro

@@ -498,6 +498,8 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory { APMFirmwarePlugin {
         src/qgcunittest/TCPLinkTest.h \
         src/qgcunittest/TCPLoopBackServer.h \
         src/qgcunittest/UnitTest.h \
+        src/Vehicle/FTPManagerTest.h \
+        src/Vehicle/InitialConnectTest.h \
         src/Vehicle/RequestMessageTest.h \
         src/Vehicle/SendMavCommandWithHandlerTest.h \
         src/Vehicle/SendMavCommandWithSignallingTest.h \
@@ -543,6 +545,8 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory { APMFirmwarePlugin {
         src/qgcunittest/TCPLoopBackServer.cc \
         src/qgcunittest/UnitTest.cc \
         src/qgcunittest/UnitTestList.cc \
+        src/Vehicle/FTPManagerTest.cc \
+        src/Vehicle/InitialConnectTest.cc \
         src/Vehicle/RequestMessageTest.cc \
         src/Vehicle/SendMavCommandWithHandlerTest.cc \
         src/Vehicle/SendMavCommandWithSignallingTest.cc \
@@ -679,9 +683,9 @@ HEADERS += \
     src/Terrain/TerrainQuery.h \
     src/TerrainTile.h \
     src/Vehicle/ComponentInformationManager.h \
+    src/Vehicle/FTPManager.h \
     src/Vehicle/GPSRTKFactGroup.h \
     src/Vehicle/InitialConnectStateMachine.h \
-    src/Vehicle/MAVLinkFTPManager.h \
     src/Vehicle/MAVLinkLogManager.h \
     src/Vehicle/MultiVehicleManager.h \
     src/Vehicle/StateMachine.h \
@@ -705,7 +709,6 @@ HEADERS += \
     src/uas/UASMessageHandler.h \
     src/AnalyzeView/GeoTagController.h \
     src/AnalyzeView/ExifParser.h \
-    src/uas/FileManager.h \
 
 contains (DEFINES, QGC_ENABLE_PAIRING) {
     HEADERS += \
@@ -720,7 +723,7 @@ HEADERS += \
 DebugBuild {
 HEADERS += \
     src/comm/MockLink.h \
-    src/comm/MockLinkFileServer.h \
+    src/comm/MockLinkFTP.h \
     src/comm/MockLinkMissionItemHandler.h \
 }
 
@@ -895,9 +898,9 @@ SOURCES += \
     src/Terrain/TerrainQuery.cc \
     src/TerrainTile.cc\
     src/Vehicle/ComponentInformationManager.cc \
+    src/Vehicle/FTPManager.cc \
     src/Vehicle/GPSRTKFactGroup.cc \
     src/Vehicle/InitialConnectStateMachine.cc \
-    src/Vehicle/MAVLinkFTPManager.cc \
     src/Vehicle/MAVLinkLogManager.cc \
     src/Vehicle/MultiVehicleManager.cc \
     src/Vehicle/StateMachine.cc \
@@ -921,7 +924,6 @@ SOURCES += \
     src/uas/UASMessageHandler.cc \
     src/AnalyzeView/GeoTagController.cc \
     src/AnalyzeView/ExifParser.cc \
-    src/uas/FileManager.cc \
 
 contains (DEFINES, QGC_ENABLE_PAIRING) {
     SOURCES += \
@@ -931,7 +933,7 @@ contains (DEFINES, QGC_ENABLE_PAIRING) {
 DebugBuild {
 SOURCES += \
     src/comm/MockLink.cc \
-    src/comm/MockLinkFileServer.cc \
+    src/comm/MockLinkFTP.cc \
     src/comm/MockLinkMissionItemHandler.cc \
 }
 

src/QGCTemporaryFile.cc

@@ -28,30 +28,43 @@ QGCTemporaryFile::QGCTemporaryFile(const QString& fileTemplate, QObject* parent)
 
 }
 
+QGCTemporaryFile::~QGCTemporaryFile()
+{
+    if (_autoRemove) {
+        remove();
+    }
+}
+
 bool QGCTemporaryFile::open(QFile::OpenMode openMode)
 {
-    QDir tempDir(QStandardPaths::writableLocation(QStandardPaths::TempLocation));
+    setFileName(_newTempFileFullyQualifiedName(_template));
     
+    return QFile::open(openMode);
+}
+
+QString QGCTemporaryFile::_newTempFileFullyQualifiedName(const QString& fileTemplate)
+{
+    QString nameTemplate = fileTemplate;
+    QDir tempDir(QStandardPaths::writableLocation(QStandardPaths::TempLocation));
+
     // Generate unique, non-existing filename
-    
+
     static const char rgDigits[] = "0123456789";
-    
+
     QString tempFilename;
-    
+
     do {
         QString uniqueStr;
         for (int i=0; i<6; i++) {
             uniqueStr += rgDigits[QRandomGenerator::global()->generate() % 10];
         }
-        
-        if (_template.contains("XXXXXX")) {
-            tempFilename = _template.replace("XXXXXX", uniqueStr, Qt::CaseSensitive);
+
+        if (fileTemplate.contains("XXXXXX")) {
+            tempFilename = nameTemplate.replace("XXXXXX", uniqueStr, Qt::CaseSensitive);
         } else {
-            tempFilename = _template + uniqueStr;
+            tempFilename = nameTemplate + uniqueStr;
         }
     } while (tempDir.exists(tempFilename));
 
-    setFileName(tempDir.filePath(tempFilename));
-    
-    return QFile::open(openMode);
+    return tempDir.filePath(tempFilename);
 }

src/QGCTemporaryFile.h

@@ -7,9 +7,7 @@
  *
  ****************************************************************************/
 
-
-#ifndef QGCTemporaryFile_H
-#define QGCTemporaryFile_H
+#pragma once
 
 #include <QFile>
 
@@ -30,13 +28,15 @@ public:
 	//							directory path, only file name.
     QGCTemporaryFile(const QString& fileTemplate, QObject* parent = nullptr);
 
-	/// @brief Opens the file in ReadWrite mode.
-	///		@returns false - open failed
+    ~QGCTemporaryFile();
+
 	bool open(OpenMode openMode = ReadWrite);
+
+    void setAutoRemove(bool autoRemove) { _autoRemove = autoRemove; }
     
 private:
+    static QString _newTempFileFullyQualifiedName(const QString& fileTemplate);
+
     QString _template;
+    bool    _autoRemove = false;
 };
-
-
-#endif

src/Vehicle/ComponentInformationManager.cc

@@ -9,6 +9,9 @@
 
 #include "ComponentInformationManager.h"
 #include "Vehicle.h"
+#include "FTPManager.h"
+
+#include <QStandardPaths>
 
 QGC_LOGGING_CATEGORY(ComponentInformationManagerLog, "ComponentInformationManagerLog")
 
@@ -22,6 +25,8 @@ int ComponentInformationManager::_cStates = sizeof(ComponentInformationManager::
 
 RequestMetaDataTypeStateMachine::StateFn RequestMetaDataTypeStateMachine::_rgStates[]= {
     RequestMetaDataTypeStateMachine::_stateRequestCompInfo,
+    RequestMetaDataTypeStateMachine::_stateRequestMetaDataJson,
+    RequestMetaDataTypeStateMachine::_stateRequestTranslationJson,
 };
 
 int RequestMetaDataTypeStateMachine::_cStates = sizeof(RequestMetaDataTypeStateMachine::_rgStates) / sizeof(RequestMetaDataTypeStateMachine::_rgStates[0]);
@@ -43,33 +48,6 @@ const ComponentInformationManager::StateFn* ComponentInformationManager::rgState
     return &_rgStates[0];
 }
 
-void ComponentInformationManager::_componentInformationReceived(const mavlink_message_t& message)
-{
-    mavlink_component_information_t componentInformation;
-    mavlink_msg_component_information_decode(&message, &componentInformation);
-
-    ComponentInformation_t* pCompInfo = nullptr;
-    switch (componentInformation.metadata_type) {
-    case COMP_METADATA_TYPE_VERSION:
-        qCDebug(ComponentInformationManagerLog) << "COMPONENT_INFORMATION COMP_METADATA_TYPE_VERSION received";
-        _versionCompInfoAvailable = true;
-        pCompInfo = &_versionCompInfo;
-        break;
-    case COMP_METADATA_TYPE_PARAMETER:
-        qCDebug(ComponentInformationManagerLog) << "COMPONENT_INFORMATION COMP_METADATA_TYPE_PARAMETER received";
-        _paramCompInfoAvailable = true;
-        pCompInfo = &_parameterCompInfo;
-        break;
-    }
-
-    if (pCompInfo) {
-        pCompInfo->metadataUID      = componentInformation.metadata_uid;
-        pCompInfo->metadataURI      = componentInformation.metadata_uri;
-        pCompInfo->translationUID   = componentInformation.translation_uid;
-        pCompInfo->translationURI   = componentInformation.translation_uri;
-    }
-}
-
 void ComponentInformationManager::requestAllComponentInformation(RequestAllCompleteFn requestAllCompletFn, void * requestAllCompleteFnData)
 {
     _requestAllCompleteFn       = requestAllCompletFn;
@@ -110,8 +88,9 @@ RequestMetaDataTypeStateMachine::RequestMetaDataTypeStateMachine(ComponentInform
 
 void RequestMetaDataTypeStateMachine::request(COMP_METADATA_TYPE type)
 {
-    _type       = type;
-    _stateIndex = -1;
+    _compInfoAvailable  = false;
+    _type               = type;
+    _stateIndex         = -1;
 
     start();
 }
@@ -136,12 +115,24 @@ QString RequestMetaDataTypeStateMachine::typeToString(void)
     return _type == COMP_METADATA_TYPE_VERSION ? "COMP_METADATA_TYPE_VERSION" : "COMP_METADATA_TYPE_PARAM";
 }
 
+void RequestMetaDataTypeStateMachine::handleComponentInformation(const mavlink_message_t& message)
+{
+    mavlink_component_information_t componentInformation;
+    mavlink_msg_component_information_decode(&message, &componentInformation);
+
+    _compInfo.metadataUID       = componentInformation.metadata_uid;
+    _compInfo.metadataURI       = componentInformation.metadata_uri;
+    _compInfo.translationUID    = componentInformation.translation_uid;
+    _compInfo.translationURI    = componentInformation.translation_uri;
+    _compInfoAvailable          = true;
+}
+
 static void _requestMessageResultHandler(void* resultHandlerData, MAV_RESULT result, Vehicle::RequestMessageResultHandlerFailureCode_t failureCode, const mavlink_message_t &message)
 {
     RequestMetaDataTypeStateMachine* requestMachine = static_cast<RequestMetaDataTypeStateMachine*>(resultHandlerData);
 
     if (result == MAV_RESULT_ACCEPTED) {
-        requestMachine->compMgr()->_componentInformationReceived(message);
+        requestMachine->handleComponentInformation(message);
     } else {
         switch (failureCode) {
         case Vehicle::RequestMessageFailureCommandError:
@@ -180,3 +171,63 @@ void RequestMetaDataTypeStateMachine::_stateRequestCompInfo(StateMachine* stateM
     }
 }
 
+void RequestMetaDataTypeStateMachine::_downloadComplete(const QString& file, const QString& errorMsg)
+{
+    qDebug() << "RequestMetaDataTypeStateMachine::_downloadComplete" << file << errorMsg;
+    advance();
+}
+
+void RequestMetaDataTypeStateMachine::_stateRequestMetaDataJson(StateMachine* stateMachine)
+{
+    RequestMetaDataTypeStateMachine*    requestMachine  = static_cast<RequestMetaDataTypeStateMachine*>(stateMachine);
+    Vehicle*                            vehicle         = requestMachine->_compMgr->vehicle();
+    FTPManager*                         ftpManager      = vehicle->ftpManager();
+
+    if (requestMachine->_compInfoAvailable) {
+        ComponentInformation_t& compInfo = requestMachine->_compInfo;
+
+        qCDebug(ComponentInformationManagerLog) << "Downloading metadata json" << compInfo.translationURI;
+        if (_uriIsFTP(compInfo.metadataURI)) {
+            connect(ftpManager, &FTPManager::downloadComplete, requestMachine, &RequestMetaDataTypeStateMachine::_downloadComplete);
+            ftpManager->download(compInfo.metadataURI, QStandardPaths::writableLocation(QStandardPaths::TempLocation));
+        } else {
+            // FIXME: NYI
+            qCDebug(ComponentInformationManagerLog) << "Skipping metadata json download. http download NYI";
+        }
+    } else {
+        qCDebug(ComponentInformationManagerLog) << "Skipping metadata json download. Component informatiom not available";
+        requestMachine->advance();
+    }
+}
+
+void RequestMetaDataTypeStateMachine::_stateRequestTranslationJson(StateMachine* stateMachine)
+{
+    RequestMetaDataTypeStateMachine*    requestMachine  = static_cast<RequestMetaDataTypeStateMachine*>(stateMachine);
+    Vehicle*                            vehicle         = requestMachine->_compMgr->vehicle();
+    FTPManager*                         ftpManager      = vehicle->ftpManager();
+
+    if (requestMachine->_compInfoAvailable) {
+        ComponentInformation_t& compInfo = requestMachine->_compInfo;
+        if (compInfo.translationURI.isEmpty()) {
+            qCDebug(ComponentInformationManagerLog) << "Skipping translation json download. No translation json specified";
+            requestMachine->advance();
+        } else {
+            qCDebug(ComponentInformationManagerLog) << "Downloading translation json" << compInfo.translationURI;
+            if (_uriIsFTP(compInfo.translationURI)) {
+                connect(ftpManager, &FTPManager::downloadComplete, requestMachine, &RequestMetaDataTypeStateMachine::_downloadComplete);
+                ftpManager->download(compInfo.metadataURI, QStandardPaths::writableLocation(QStandardPaths::TempLocation));
+            } else {
+                // FIXME: NYI
+                qCDebug(ComponentInformationManagerLog) << "Skipping translation json download. http download NYI";
+            }
+        }
+    } else {
+        qCDebug(ComponentInformationManagerLog) << "Skipping translation json download. Component informatiom not available";
+        requestMachine->advance();
+    }
+}
+
+bool RequestMetaDataTypeStateMachine::_uriIsFTP(const QString& uri)
+{
+    return uri.startsWith("mavlinkftp", Qt::CaseInsensitive);
+}

src/Vehicle/ComponentInformationManager.h

@@ -18,27 +18,44 @@ Q_DECLARE_LOGGING_CATEGORY(ComponentInformationManagerLog)
 class Vehicle;
 class ComponentInformationManager;
 
+typedef struct {
+    uint32_t        metadataUID;
+    QString         metadataURI;
+    uint32_t        translationUID;
+    QString         translationURI;
+} ComponentInformation_t;
+
 class RequestMetaDataTypeStateMachine : public StateMachine
 {
+    Q_OBJECT
+
 public:
     RequestMetaDataTypeStateMachine(ComponentInformationManager* compMgr);
 
-    void request(COMP_METADATA_TYPE type);
-    ComponentInformationManager* compMgr(void) { return _compMgr; }
-    QString typeToString(void);
+    void                            request                     (COMP_METADATA_TYPE type);
+    QString                         typeToString                (void);
+    ComponentInformationManager*    compMgr                     (void) { return _compMgr; }
+    void                            handleComponentInformation  (const mavlink_message_t& message);
 
     // Overrides from StateMachine
     int             stateCount      (void) const final;
     const StateFn*  rgStates        (void) const final;
     void            statesCompleted (void) const final;
 
+private slots:
+    void _downloadComplete(const QString& file, const QString& errorMsg);
+
 private:
     static void _stateRequestCompInfo           (StateMachine* stateMachine);
     static void _stateRequestMetaDataJson       (StateMachine* stateMachine);
     static void _stateRequestTranslationJson    (StateMachine* stateMachine);
+    static bool _uriIsFTP                       (const QString& uri);
+
 
     ComponentInformationManager*    _compMgr;
-    COMP_METADATA_TYPE              _type = COMP_METADATA_TYPE_VERSION;
+    COMP_METADATA_TYPE              _type               = COMP_METADATA_TYPE_VERSION;
+    bool                            _compInfoAvailable  = false;
+    ComponentInformation_t          _compInfo;
 
     static StateFn                  _rgStates[];
     static int                      _cStates;
@@ -46,30 +63,23 @@ private:
 
 class ComponentInformationManager : public StateMachine
 {
+    Q_OBJECT
+
 public:
     ComponentInformationManager(Vehicle* vehicle);
 
-    typedef struct {
-        uint32_t        metadataUID;
-        QString         metadataURI;
-        uint32_t        translationUID;
-        QString         translationURI;
-    } ComponentInformation_t;
-
     typedef void (*RequestAllCompleteFn)(void* requestAllCompleteFnData);
 
     void        requestAllComponentInformation  (RequestAllCompleteFn requestAllCompletFn, void * requestAllCompleteFnData);
     Vehicle*    vehicle                         (void) { return _vehicle; }
 
-    // These methods should only be called by RequestMetaDataTypeStateMachine
-    void _componentInformationReceived(const mavlink_message_t& message);
-    void _stateRequestCompInfoComplete(void);
-
     // Overrides from StateMachine
     int             stateCount  (void) const final;
     const StateFn*  rgStates    (void) const final;
 
 private:
+    void _stateRequestCompInfoComplete(void);
+
     static void _stateRequestCompInfoVersion        (StateMachine* stateMachine);
     static void _stateRequestCompInfoParam          (StateMachine* stateMachine);
     static void _stateRequestAllCompInfoComplete    (StateMachine* stateMachine);
@@ -86,4 +96,6 @@ private:
 
     static StateFn                  _rgStates[];
     static int                      _cStates;
+
+    friend class RequestMetaDataTypeStateMachine;
 };

src/uas/FileManager.cc → src/Vehicle/FTPManager.cc

@@ -8,7 +8,7 @@
  ****************************************************************************/
 
 
-#include "FileManager.h"
+#include "FTPManager.h"
 #include "QGC.h"
 #include "MAVLinkProtocol.h"
 #include "Vehicle.h"
@@ -18,224 +18,163 @@
 #include <QDir>
 #include <string>
 
-QGC_LOGGING_CATEGORY(FileManagerLog, "FileManagerLog")
-
-FileManager::FileManager(QObject* parent, Vehicle* vehicle)
-    : QObject(parent)
-    , _currentOperation(kCOIdle)
-    , _vehicle(vehicle)
-    , _dedicatedLink(nullptr)
-    , _activeSession(0)
-    , _missingDownloadedBytes(0)
-    , _downloadingMissingParts(false)
-    , _systemIdQGC(0)
+QGC_LOGGING_CATEGORY(FTPManagerLog, "FTPManagerLog")
+
+FTPManager::FTPManager(Vehicle* vehicle)
+    : QObject   (vehicle)
+    , _vehicle  (vehicle)
 {
-    connect(&_ackTimer, &QTimer::timeout, this, &FileManager::_ackTimeout);
+    connect(&_ackTimer, &QTimer::timeout, this, &FTPManager::_ackTimeout);
     
     _lastOutgoingRequest.hdr.seqNumber = 0;
-
-    _systemIdServer = _vehicle->id();
     
     // Make sure we don't have bad structure packing
-    Q_ASSERT(sizeof(RequestHeader) == 12);
+    Q_ASSERT(sizeof(MavlinkFTP::RequestHeader) == 12);
 }
 
-/// Respond to the Ack associated with the Open command with the next read command.
-void FileManager::_openAckResponse(Request* openAck)
+void FTPManager::_handlOpenFileROAck(MavlinkFTP::Request* ack)
 {
-    qCDebug(FileManagerLog) << QString("_openAckResponse: _currentOperation(%1) _readFileLength(%2)").arg(_currentOperation).arg(openAck->openFileLength);
-    
-	Q_ASSERT(_currentOperation == kCOOpenRead || _currentOperation == kCOOpenBurst);
-	_currentOperation = _currentOperation == kCOOpenRead ? kCORead : kCOBurst;
-    _activeSession = openAck->hdr.session;
+    qCDebug(FTPManagerLog) << QString("_openAckResponse: _waitState(%1) _openFileType(%2) _readFileLength(%3)").arg(MavlinkFTP::opCodeToString(_waitState)).arg(MavlinkFTP::opCodeToString(_openFileType)).arg(ack->openFileLength);
     
-    // File length comes back in data
-    Q_ASSERT(openAck->hdr.size == sizeof(uint32_t));
-    _downloadFileSize = openAck->openFileLength;
-    
-    // Start the sequence of read commands
+    if (_waitState != MavlinkFTP::kCmdOpenFileRO && _waitState != MavlinkFTP::kCmdBurstReadFile) {
+        qCDebug(FTPManagerLog) << "Received OpenFileRO Ack while not waiting for it. _waitState" << MavlinkFTP::opCodeToString(_waitState);
+        return;
+    }
 
-    _downloadOffset = 0;            // Start reading at beginning of file
-    _readFileAccumulator.clear();   // Start with an empty file
-    _missingDownloadedBytes = 0;
-    _downloadingMissingParts = false;
-    _missingData.clear();
+    if (ack->hdr.size != sizeof(uint32_t)) {
+        _downloadComplete(tr("Download failed: Invalid response to OpenFileRO command."));
+        return;
+    }
 
-    Request request;
-    request.hdr.session = _activeSession;
-	Q_ASSERT(_currentOperation == kCORead || _currentOperation == kCOBurst);
-	request.hdr.opcode = _currentOperation == kCORead ? kCmdReadFile : kCmdBurstReadFile;
-    request.hdr.offset = _downloadOffset;
-    request.hdr.size = sizeof(request.data);
+    _waitState                  = _openFileType;
+    _activeSession              = ack->hdr.session;
+    _downloadFileSize           = ack->openFileLength;
+    _requestedDownloadOffset    = 0;
+    _readFileAccumulator.clear();
 
-    _sendRequest(&request);
+    MavlinkFTP::Request request;
+    request.hdr.session = _activeSession;
+    request.hdr.opcode  = _waitState;
+    request.hdr.offset  = _requestedDownloadOffset;
+    request.hdr.size    = sizeof(request.data);
+    _sendRequestExpectAck(&request);
 }
 
 /// request the next missing part of a (partially) downloaded file
-void FileManager::_requestMissingData()
+void FTPManager::_requestMissingData()
 {
+#if 0
     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);
+            qCDebug(FTPManagerLog) << 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);
+        qCDebug(FTPManagerLog) << QString("_requestMissingData: offset(%1) size(%2)").arg(_missingData.head().offset).arg(_missingData.head().size);
 
         _downloadOffset = _missingData.head().offset;
     }
 
-    Request request;
+    MavlinkFTP::Request request;
     _currentOperation = kCORead;
     request.hdr.session = _activeSession;
-    request.hdr.opcode = kCmdReadFile;
+    request.hdr.opcode = MavlinkFTP::kCmdReadFile;
     request.hdr.offset = _downloadOffset;
     request.hdr.size = sizeof(request.data);
 
-    _sendRequest(&request);
+    _sendRequestExpectAck(&request);
+#endif
 }
 
 /// Closes out a download session by writing the file and doing cleanup.
 ///     @param success true: successful download completion, false: error during download
-void FileManager::_closeDownloadSession(bool success)
+void FTPManager::_downloadComplete(const QString& errorMsg)
 {
-    qCDebug(FileManagerLog) << QString("_closeDownloadSession: success(%1) missingBytes(%2)").arg(success).arg(_missingDownloadedBytes);
-    
-    _currentOperation = kCOIdle;
+    qCDebug(FTPManagerLog) << QString("_downloadComplete: errorMsg(%1)").arg(errorMsg);
     
-    if (success) {
-        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;
-        }
+    QString downloadFilePath    = _readFileDownloadDir.absoluteFilePath(_readFileDownloadFilename);
+    QString error               = errorMsg;
 
-        QString downloadFilePath = _readFileDownloadDir.absoluteFilePath(_readFileDownloadFilename);
+    _waitState = MavlinkFTP::kCmdNone;
 
+    if (error.isEmpty()) {
         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;
+        if (file.open(QIODevice::WriteOnly | QIODevice::Truncate)) {
+            qint64 bytesWritten = file.write((const char *)_readFileAccumulator, _readFileAccumulator.length());
+            if (bytesWritten != _readFileAccumulator.length()) {
+                error = tr("Download failed: Unable to write data to local file '%1'.").arg(downloadFilePath);
+            }
+        } else {
+            error = tr("Download failed: Unable to open local file '%1' for writing. Error: '%2'.").arg(downloadFilePath).arg(file.errorString());
         }
         file.close();
-
-        emit commandComplete();
     }
     
     _readFileAccumulator.clear();
-    
-    // Close the open session
-    _sendResetCommand();
+    _sendResetCommand(); // Close the open session
+    emit downloadComplete(downloadFilePath, error);
 }
 
 /// Closes out an upload session doing cleanup.
 ///     @param success true: successful upload completion, false: error during download
-void FileManager::_closeUploadSession(bool success)
+void FTPManager::_uploadComplete(const QString& errorMsg)
 {
-    qCDebug(FileManagerLog) << QString("_closeUploadSession: success(%1)").arg(success);
-    
-    _currentOperation = kCOIdle;
+    qCDebug(FTPManagerLog) << QString("_uploadComplete: errorMsg(%1)").arg(errorMsg);
+
+    _waitState      = MavlinkFTP::kCmdNone;
+    _writeFileSize  = 0;
     _writeFileAccumulator.clear();
-    _writeFileSize = 0;
-    
-    if (success) {
-        emit commandComplete();
-    }
-    
-    // Close the open session
     _sendResetCommand();
+    emit uploadComplete(errorMsg);
 }
 
-/// 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)
+void FTPManager::_handleReadFileAck(MavlinkFTP::Request* ack, bool burstReadFile)
 {
-    if (readAck->hdr.session != _activeSession) {
-        _closeDownloadSession(false /* failure */);
-        _emitErrorMessage(tr("Download: Incorrect session returned"));
+    if (ack->hdr.session != _activeSession) {
         return;
     }
 
-    if (readAck->hdr.offset != _downloadOffset) {
-        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
-        }
-    }
-    
-    qCDebug(FileManagerLog) << QString("_downloadAckResponse: offset(%1) size(%2) burstComplete(%3)").arg(readAck->hdr.offset).arg(readAck->hdr.size).arg(readAck->hdr.burstComplete);
-
-    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);
+    qCDebug(FTPManagerLog) << QString("_handleReadFileAck: burstReadFile(%1) offset(%2) size(%3) burstComplete(%4)").arg(burstReadFile).arg(ack->hdr.offset).arg(ack->hdr.size).arg(ack->hdr.burstComplete);
+
+    if (ack->hdr.offset != _requestedDownloadOffset) {
+        // FIXME: NYI deal with missing packets
+        _downloadComplete(tr("Download failed: Received incorrect offset: received:expected %1/%2").arg(ack->hdr.offset).arg(_requestedDownloadOffset));
+        return;
     }
+
+    _readFileAccumulator.append((const char*)ack->data, ack->hdr.size);
+
+    _requestedDownloadOffset += ack->hdr.size;
     
     if (_downloadFileSize != 0) {
-        emit commandProgress(100 * ((float)(_readFileAccumulator.length() - _missingDownloadedBytes) / (float)_downloadFileSize));
+        emit commandProgress(100 * ((float)(_readFileAccumulator.length()) / (float)_downloadFileSize));
     }
 
-    if (_downloadingMissingParts) {
-        _requestMissingData();
-    } else if (readFile || readAck->hdr.burstComplete) {
-        // Possibly still more data to read, send next read request
-
-        Request request;
+    if (!burstReadFile || ack->hdr.burstComplete) {
+        MavlinkFTP::Request request;
         request.hdr.session = _activeSession;
-        request.hdr.opcode = readFile ? kCmdReadFile : kCmdBurstReadFile;
-        request.hdr.offset = _downloadOffset;
-        request.hdr.size = 0;
-
-        _sendRequest(&request);
-    } else if (!readFile) {
-        // Streaming, so next ack should come automatically
+        request.hdr.opcode  = _waitState;
+        request.hdr.offset  = _requestedDownloadOffset;
+        request.hdr.size    = 0;
+        _sendRequestExpectAck(&request);
+    } else if (burstReadFile) {
+        // Burst read, next ack should come without having to request it
         _setupAckTimeout();
     }
 }
 
 /// @brief Respond to the Ack associated with the List command.
-void FileManager::_listAckResponse(Request* listAck)
+void FTPManager::_listAckResponse(MavlinkFTP::Request* listAck)
 {
+#if 0
     if (listAck->hdr.offset != _listOffset) {
         // this is a real error (directory listing is synchronous), no need to retransmit
         _currentOperation = kCOIdle;
@@ -282,7 +221,7 @@ void FileManager::_listAckResponse(Request* listAck)
 
     if (listAck->hdr.size == 0 || cListEntries == 0) {
         // Directory is empty, we're done
-        Q_ASSERT(listAck->hdr.opcode == kRspAck);
+        Q_ASSERT(listAck->hdr.opcode == MavlinkFTP::kRspAck);
         _currentOperation = kCOIdle;
         emit commandComplete();
     } else {
@@ -291,12 +230,14 @@ void FileManager::_listAckResponse(Request* listAck)
         _listOffset += cListEntries;
         _sendListCommand();
     }
+#endif
 }
 
 /// @brief Respond to the Ack associated with the create command.
-void FileManager::_createAckResponse(Request* createAck)
+void FTPManager::_createAckResponse(MavlinkFTP::Request* createAck)
 {
-    qCDebug(FileManagerLog) << "_createAckResponse";
+#if 0
+    qCDebug(FTPManagerLog) << "_createAckResponse";
     
     _currentOperation = kCOWrite;
     _activeSession = createAck->hdr.session;
@@ -307,11 +248,13 @@ void FileManager::_createAckResponse(Request* createAck)
     _writeSize = 0;
     
     _writeFileDatablock();
+#endif
 }
 
 /// @brief Respond to the Ack associated with the write command.
-void FileManager::_writeAckResponse(Request* writeAck)
+void FTPManager::_writeAckResponse(MavlinkFTP::Request* writeAck)
 {
+#if 0
     if(_writeOffset + _writeSize >= _writeFileSize){
         _closeUploadSession(true /* success */);
         return;
@@ -343,11 +286,13 @@ void FileManager::_writeAckResponse(Request* writeAck)
     }
 
     _writeFileDatablock();
+#endif
 }
 
 /// @brief Send next write file data block.
-void FileManager::_writeFileDatablock(void)
+void FTPManager::_writeFileDatablock(void)
 {
+#if 0
     if (_writeOffset + _writeSize >= _writeFileSize){
         _closeUploadSession(true /* success */);
         return;
@@ -355,9 +300,9 @@ void FileManager::_writeFileDatablock(void)
 
     _writeOffset += _writeSize;
 
-    Request request;
+    MavlinkFTP::Request request;
     request.hdr.session = _activeSession;
-    request.hdr.opcode = kCmdWriteFile;
+    request.hdr.opcode = MavlinkFTP::kCmdWriteFile;
     request.hdr.offset = _writeOffset;
 
     if(_writeFileSize -_writeOffset > sizeof(request.data) )
@@ -369,30 +314,28 @@ void FileManager::_writeFileDatablock(void)
 
     memcpy(request.data, &_writeFileAccumulator.data()[_writeOffset], _writeSize);
 
-    _sendRequest(&request);
+    _sendRequestExpectAck(&request);
+#endif
 }
 
-void FileManager::receiveMessage(mavlink_message_t message)
+void FTPManager::mavlinkMessageReceived(mavlink_message_t message)
 {
-    // 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) {
         return;
     }
 
     mavlink_file_transfer_protocol_t data;
     mavlink_msg_file_transfer_protocol_decode(&message, &data);
-	
+
     // Make sure we are the target system
-    if (data.target_system != _systemIdQGC) {
-        qDebug() << "Received MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL with incorrect target_system:" <<  data.target_system << "expected:" << _systemIdQGC;
+    int qgcId = qgcApp()->toolbox()->mavlinkProtocol()->getSystemId();
+    if (data.target_system != qgcId) {
         return;
     }
     
-    Request* request = (Request*)&data.payload[0];
+    MavlinkFTP::Request* request = (MavlinkFTP::Request*)&data.payload[0];
 
     uint16_t incomingSeqNumber = request->hdr.seqNumber;
-    
-    // Make sure we have a good sequence number
     uint16_t expectedSeqNumber = _lastOutgoingRequest.hdr.seqNumber + 1;
 
     // ignore old/reordered packets (handle wrap-around properly)
@@ -403,120 +346,109 @@ void FileManager::receiveMessage(mavlink_message_t message)
 
     _clearAckTimeout();
     
-	qCDebug(FileManagerLog) << "receiveMessage" << request->hdr.opcode;
-	
+    qCDebug(FTPManagerLog) << "mavlinkMessageReceived" << MavlinkFTP::opCodeToString(static_cast<MavlinkFTP::OpCode_t>(request->hdr.opcode)) <<  MavlinkFTP::opCodeToString(static_cast<MavlinkFTP::OpCode_t>(request->hdr.req_opcode));
+
     if (incomingSeqNumber != expectedSeqNumber) {
-        bool doAbort = true;
-        switch (_currentOperation) {
-            case kCOBurst: // burst download drops are handled in _downloadAckResponse()
-                doAbort = false;
-                break;
-            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;
-        }
-        
-        if (doAbort) {
-            _emitErrorMessage(tr("Bad sequence number on received message: expected(%1) received(%2)").arg(expectedSeqNumber).arg(incomingSeqNumber));
+        switch (_waitState) {
+        case MavlinkFTP::kCmdOpenFileRO:
+        case MavlinkFTP::kCmdReadFile:
+        case MavlinkFTP::kCmdBurstReadFile:
+            _downloadComplete(tr("Download failed: Unable to handle packet loss"));
             return;
+#if 0
+        case kCOWrite:
+            _closeUploadSession(false /* failure */);
+            break;
+
+        case kCOOpenRead:
+        case kCOOpenBurst:
+        case kCOCreate:
+            // We could have an open session hanging around
+            _currentOperation = kCOIdle;
+            _sendResetCommand();
+            break;
+#endif
+        default:
+            // Don't need to do anything special
+            _waitState = MavlinkFTP::kCmdNone;
+            break;
         }
     }
     
     // Move past the incoming sequence number for next request
     _lastOutgoingRequest.hdr.seqNumber = incomingSeqNumber;
 
-    if (request->hdr.opcode == kRspAck) {
+    if (request->hdr.opcode == MavlinkFTP::kRspAck) {
         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:
-                _createAckResponse(request);
-                break;
-                
-            case kCmdWriteFile:
-                _writeAckResponse(request);
-                break;
-                
-			default:
-				// Ack back from operation which does not require additional work
-				_currentOperation = kCOIdle;
-				break;
-		}
-    } else if (request->hdr.opcode == kRspNak) {
-        uint8_t errorCode = request->data[0];
-
-        // 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);
-        
-        _currentOperation = kCOIdle;
+        case MavlinkFTP::kCmdOpenFileRO:
+            _handlOpenFileROAck(request);
+            break;
+        case MavlinkFTP::kCmdReadFile:
+            _handleReadFileAck(request, false /* burstReadFile */);
+            break;
+        case MavlinkFTP::kCmdBurstReadFile:
+            _handleReadFileAck(request, true /*burstReadFile */);
+            break;
 
-        if (request->hdr.req_opcode == kCmdListDirectory && errorCode == kErrEOF) {
-            // This is not an error, just the end of the list loop
-            emit commandComplete();
-            return;
-        } 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 */);
-            return;
-        } else if (request->hdr.req_opcode == kCmdCreateFile) {
-            _emitErrorMessage(tr("Nak received creating file, error: %1").arg(errorString(request->data[0])));
-            return;
-        } else if (request->hdr.req_opcode == kCmdCreateDirectory) {
-            _emitErrorMessage(tr("Nak received creating directory, error: %1").arg(errorString(request->data[0])));
-            return;
+#if 0
+        case MavlinkFTP::kCmdListDirectory:
+            _listAckResponse(request);
+            break;
+
+        case MavlinkFTP::kCmdOpenFileRO:
+        case MavlinkFTP::kCmdOpenFileWO:
+            _handlOpenFileROAck(request);
+            break;
+
+        case MavlinkFTP::kCmdCreateFile:
+            _createAckResponse(request);
+            break;
+
+        case MavlinkFTP::kCmdWriteFile:
+            _writeAckResponse(request);
+            break;
+#endif
+        default:
+            // Ack back from operation which does not require additional work
+            _waitState = MavlinkFTP::kCmdNone;
+            break;
+        }
+    } else if (request->hdr.opcode == MavlinkFTP::kRspNak) {
+        QString                 errorMsg;
+        MavlinkFTP::OpCode_t    requestOpCode = static_cast<MavlinkFTP::OpCode_t>(request->hdr.req_opcode);
+        MavlinkFTP::ErrorCode_t errorCode = static_cast<MavlinkFTP::ErrorCode_t>(request->data[0]);
+
+        if (requestOpCode == MavlinkFTP::kCmdReadFile && errorCode == MavlinkFTP::kErrEOF && _readFileAccumulator.size() == _downloadFileSize) {
+            _downloadComplete(QString());
         } else {
-            // Generic Nak handling
-            if (request->hdr.req_opcode == kCmdReadFile || request->hdr.req_opcode == kCmdBurstReadFile) {
-                // Nak error during download loop, download failed
-                _closeDownloadSession(false /* failure */);
-            } else if (request->hdr.req_opcode == kCmdWriteFile) {
-                // Nak error during upload loop, upload failed
-                _closeUploadSession(false /* failure */);
+            // Nak's normally have 1 byte of data for error code, except for MavlinkFTP::kErrFailErrno which has additional byte for errno
+            if ((errorCode == MavlinkFTP::kErrFailErrno && request->hdr.size != 2) || ((errorCode != MavlinkFTP::kErrFailErrno) && request->hdr.size != 1)) {
+                errorMsg = tr("Invalid Nak format");
+            } else if (errorCode == MavlinkFTP::kErrFailErrno) {
+                errorMsg = tr("errno %1").arg(request->data[1]);
+            } else {
+                errorMsg = MavlinkFTP::errorCodeToString(errorCode);
+            }
+
+            _waitState = MavlinkFTP::kCmdNone;
+
+            switch (request->hdr.req_opcode) {
+            case MavlinkFTP::kCmdOpenFileRO:
+            case MavlinkFTP::kCmdReadFile:
+            case MavlinkFTP::kCmdBurstReadFile:
+                _downloadComplete(tr("Download failed: %1").arg(errorMsg));
+                break;
+            default:
+                // FIXME: Rest is NYI
+                break;
             }
-            _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 FileManager::listDirectory(const QString& dirPath)
+void FTPManager::listDirectory(const QString& dirPath)
 {
-    if (_currentOperation != kCOIdle) {
+    if (_waitState != MavlinkFTP::kCmdNone) {
         _emitErrorMessage(tr("Command not sent. Waiting for previous command to complete."));
         return;
     }
@@ -528,105 +460,102 @@ void FileManager::listDirectory(const QString& dirPath)
     }
 
     // initialise the lister
-    _listPath = dirPath;
-    _listOffset = 0;
-    _currentOperation = kCOList;
+    _listPath           = dirPath;
+    _listOffset         = 0;
+    _waitState   =      MavlinkFTP::kCmdListDirectory;
 
     // and send the initial request
     _sendListCommand();
 }
 
-void FileManager::_fillRequestWithString(Request* request, const QString& str)
+void FTPManager::_fillRequestWithString(MavlinkFTP::Request* request, const QString& str)
 {
     strncpy((char *)&request->data[0], str.toStdString().c_str(), sizeof(request->data));
     request->hdr.size = static_cast<uint8_t>(strnlen((const char *)&request->data[0], sizeof(request->data)));
 }
 
-void FileManager::_sendListCommand(void)
+void FTPManager::_sendListCommand(void)
 {
-    Request request;
+    MavlinkFTP::Request request;
 
     request.hdr.session = 0;
-    request.hdr.opcode = kCmdListDirectory;
+    request.hdr.opcode = MavlinkFTP::kCmdListDirectory;
     request.hdr.offset = _listOffset;
     request.hdr.size = 0;
 
     _fillRequestWithString(&request, _listPath);
 
-    qCDebug(FileManagerLog) << "listDirectory: path:" << _listPath << "offset:" <<  _listOffset;
+    qCDebug(FTPManagerLog) << "listDirectory: path:" << _listPath << "offset:" <<  _listOffset;
     
-    _sendRequest(&request);
+    _sendRequestExpectAck(&request);
 }
 
-void FileManager::downloadPath(const QString& from, const QDir& downloadDir)
+bool FTPManager::download(const QString& from, const QString& toDir)
 {
-    if (_currentOperation != kCOIdle) {
-        _emitErrorMessage(tr("Command not sent. Waiting for previous command to complete."));
-        return;
-    }
+    qCDebug(FTPManagerLog) << "download from:" << from << "to:" << toDir;
+    return _downloadWorker(from, toDir, false /* burstReadFile */);
+}
 
-    _dedicatedLink = _vehicle->priorityLink();
-    if (!_dedicatedLink) {
-        _emitErrorMessage(tr("Command not sent. No Vehicle links."));
-        return;
-    }
-    
-	qCDebug(FileManagerLog) << "downloadPath from:" << from << "to:" << downloadDir;
-	_downloadWorker(from, downloadDir, true /* read file */);
+bool FTPManager::burstDownload(const QString& from, const QString& toDir)
+{
+    qCDebug(FTPManagerLog) << "burstDownload from:" << from << "to:" << toDir;
+    return _downloadWorker(from, toDir, true /* burstReadFile */);
 }
 
-void FileManager::streamPath(const QString& from, const QDir& downloadDir)
+bool FTPManager::_downloadWorker(const QString& from, const QString& toDir, bool burstReadFile)
 {
-    if (_currentOperation != kCOIdle) {
-        _emitErrorMessage(tr("Command not sent. Waiting for previous command to complete."));
-        return;
+    if (_waitState != MavlinkFTP::kCmdNone) {
+        qCDebug(FTPManagerLog) << "Cannot download. Already in another operation";
+        return false;
     }
 
     _dedicatedLink = _vehicle->priorityLink();
     if (!_dedicatedLink) {
-        _emitErrorMessage(tr("Command not sent. No Vehicle links."));
-        return;
+        qCDebug(FTPManagerLog) << "Cannot download. Vehicle has no priority link";
+        return false;
     }
-    
-	qCDebug(FileManagerLog) << "streamPath from:" << from << "to:" << downloadDir;
-	_downloadWorker(from, downloadDir, false /* stream file */);
-}
 
-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);
-	
-	_currentOperation = readFile ? kCOOpenRead : kCOOpenBurst;
-	
-	Request request;
-	request.hdr.session = 0;
-	request.hdr.opcode = kCmdOpenFileRO;
-	request.hdr.offset = 0;
-	request.hdr.size = 0;
-	_fillRequestWithString(&request, from);
-	_sendRequest(&request);
+    _readFileDownloadDir.setPath(toDir);
+
+    QString strippedFrom;
+    QString ftpPrefix("mavlinkftp://");
+    if (from.startsWith(ftpPrefix, Qt::CaseInsensitive)) {
+        strippedFrom = from.right(from.length() - ftpPrefix.length() + 1);
+    } else {
+        strippedFrom = from;
+    }
+
+    // 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 lastDirSlashIndex;
+    for (lastDirSlashIndex=strippedFrom.size()-1; lastDirSlashIndex>=0; lastDirSlashIndex--) {
+        if (strippedFrom[lastDirSlashIndex] == '/') {
+            break;
+        }
+    }
+    lastDirSlashIndex++; // move past slash
+    _readFileDownloadFilename = strippedFrom.right(strippedFrom.size() - lastDirSlashIndex);
+
+    _waitState      = MavlinkFTP::kCmdOpenFileRO;
+    _openFileType   = burstReadFile ? MavlinkFTP::kCmdBurstReadFile : MavlinkFTP::kCmdReadFile;
+
+    MavlinkFTP::Request request;
+    request.hdr.session = 0;
+    request.hdr.opcode  = MavlinkFTP::kCmdOpenFileRO;
+    request.hdr.offset  = 0;
+    request.hdr.size    = 0;
+    _fillRequestWithString(&request, strippedFrom);
+    _sendRequestExpectAck(&request);
+
+    return true;
 }
 
 /// @brief Uploads the specified file.
 ///     @param toPath File in UAS to upload to, fully qualified path
 ///     @param uploadFile Local file to upload from
-void FileManager::uploadPath(const QString& toPath, const QFileInfo& uploadFile)
+void FTPManager::upload(const QString& toPath, const QFileInfo& uploadFile)
 {
+#if 0
     if(_currentOperation != kCOIdle){
         _emitErrorMessage(tr("UAS File manager busy. Try again later"));
         return;
@@ -649,9 +578,9 @@ void FileManager::uploadPath(const QString& toPath, const QFileInfo& uploadFile)
 
     QFile file(uploadFile.absoluteFilePath());
     if (!file.open(QIODevice::ReadOnly)) {
-            _emitErrorMessage(tr("Unable to open local file for upload (%1)").arg(uploadFile.absoluteFilePath()));
-            return;
-        }
+        _emitErrorMessage(tr("Unable to open local file for upload (%1)").arg(uploadFile.absoluteFilePath()));
+        return;
+    }
 
     _writeFileAccumulator = file.readAll();
     _writeFileSize = _writeFileAccumulator.size();
@@ -665,17 +594,19 @@ void FileManager::uploadPath(const QString& toPath, const QFileInfo& uploadFile)
 
     _currentOperation = kCOCreate;
 
-    Request request;
+    MavlinkFTP::Request request;
     request.hdr.session = 0;
-    request.hdr.opcode = kCmdCreateFile;
+    request.hdr.opcode = MavlinkFTP::kCmdCreateFile;
     request.hdr.offset = 0;
     request.hdr.size = 0;
     _fillRequestWithString(&request, toPath + "/" + uploadFile.fileName());
-    _sendRequest(&request);
+    _sendRequestExpectAck(&request);
+#endif
 }
 
-void FileManager::createDirectory(const QString& directory)
+void FTPManager::createDirectory(const QString& directory)
 {
+#if 0
     if(_currentOperation != kCOIdle){
         _emitErrorMessage(tr("UAS File manager busy. Try again later"));
         return;
@@ -683,98 +614,71 @@ void FileManager::createDirectory(const QString& directory)
 
     _currentOperation = kCOCreateDir;
 
-    Request request;
+    MavlinkFTP::Request request;
     request.hdr.session = 0;
-    request.hdr.opcode = kCmdCreateDirectory;
+    request.hdr.opcode = MavlinkFTP::kCmdCreateDirectory;
     request.hdr.offset = 0;
     request.hdr.size = 0;
     _fillRequestWithString(&request, directory);
-    _sendRequest(&request);
-}
-
-QString FileManager::errorString(uint8_t errorCode)
-{
-    switch(errorCode) {
-        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:
-            return QString("no sessions available");
-        case kErrFailFileExists:
-            return QString("File already exists on target");
-        case kErrFailFileProtected:
-            return QString("File is write protected");
-        default:
-            return QString("unknown error code");
-    }
+    _sendRequestExpectAck(&request);
+#endif
 }
 
 /// @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 FileManager::_sendOpcodeOnlyCmd(uint8_t opcode, OperationState newOpState)
+bool FTPManager::_sendOpcodeOnlyCmd(MavlinkFTP::OpCode_t opcode, MavlinkFTP::OpCode_t newWaitState)
 {
-    if (_currentOperation != kCOIdle) {
+    if (_waitState != MavlinkFTP::kCmdNone) {
         // Can't have multiple commands in play at the same time
         return false;
     }
 
-    Request request;
-    request.hdr.session = 0;
-    request.hdr.opcode = opcode;
-    request.hdr.offset = 0;
-    request.hdr.size = 0;
-
-    _currentOperation = newOpState;
+    _waitState = newWaitState;
 
-    _sendRequest(&request);
+    MavlinkFTP::Request request;
+    request.hdr.session = 0;
+    request.hdr.opcode  = opcode;
+    request.hdr.offset  = 0;
+    request.hdr.size    = 0;
+    _sendRequestExpectAck(&request);
 
     return true;
 }
 
 /// @brief Starts the ack timeout timer
-void FileManager::_setupAckTimeout(void)
+void FTPManager::_setupAckTimeout(void)
 {
-	qCDebug(FileManagerLog) << "_setupAckTimeout";
+    qCDebug(FTPManagerLog) << "_setupAckTimeout";
 
     Q_ASSERT(!_ackTimer.isActive());
 
     _ackNumTries = 0;
     _ackTimer.setSingleShot(false);
-    _ackTimer.start(ackTimerTimeoutMsecs);
+    _ackTimer.start(_ackTimerTimeoutMsecs);
 }
 
 /// @brief Clears the ack timeout timer
-void FileManager::_clearAckTimeout(void)
+void FTPManager::_clearAckTimeout(void)
 {
-	qCDebug(FileManagerLog) << "_clearAckTimeout";
+    qCDebug(FTPManagerLog) << "_clearAckTimeout";
     _ackTimer.stop();
 }
 
-/// @brief Called when ack timeout timer fires
-void FileManager::_ackTimeout(void)
+void FTPManager::_ackTimeout(void)
 {
-    qCDebug(FileManagerLog) << "_ackTimeout";
+    qCDebug(FTPManagerLog) << "_ackTimeout";
     
-    if (++_ackNumTries <= ackTimerMaxRetries) {
-        qCDebug(FileManagerLog) << "ack timeout - retrying";
+#if 0
+    // FIXME: retry NYI
+    if (++_ackNumTries <= _ackTimerMaxRetries) {
+        qCDebug(FTPManagerLog) << "ack timeout - retrying";
         if (_currentOperation == kCOBurst) {
             // for burst downloads try to initiate a new burst
-            Request request;
+            MavlinkFTP::Request request;
             request.hdr.session = _activeSession;
-            request.hdr.opcode = kCmdBurstReadFile;
+            request.hdr.opcode = MavlinkFTP::kCmdBurstReadFile;
             request.hdr.offset = _downloadOffset;
             request.hdr.size = 0;
             request.hdr.seqNumber = ++_lastOutgoingRequest.hdr.seqNumber;
@@ -785,6 +689,7 @@ void FileManager::_ackTimeout(void)
         }
         return;
     }
+#endif
 
     _clearAckTimeout();
 
@@ -792,104 +697,91 @@ void FileManager::_ackTimeout(void)
     // 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:
-        case kCOBurst:
-            _closeDownloadSession(false /* failure */);
-            _emitErrorMessage(tr("Timeout waiting for ack: Download failed"));
-            break;
-            
-        case kCOOpenRead:
-        case kCOOpenBurst:
-            _currentOperation = kCOIdle;
-            _emitErrorMessage(tr("Timeout waiting for ack: Download failed"));
-            _sendResetCommand();
-            break;
-            
-        case kCOCreate:
-            _currentOperation = kCOIdle;
-            _emitErrorMessage(tr("Timeout waiting for ack: Upload failed"));
-            _sendResetCommand();
-            break;
-            
-        case kCOWrite:
-            _closeUploadSession(false /* failure */);
-            _emitErrorMessage(tr("Timeout waiting for ack: Upload failed"));
-            break;
-			
-        default:
-        {
-            OperationState currentOperation = _currentOperation;
-            _currentOperation = kCOIdle;
-            _emitErrorMessage(QString("Timeout waiting for ack: Command failed (%1)").arg(currentOperation));
-        }
-            break;
+    switch (_waitState) {
+    case MavlinkFTP::kCmdOpenFileRO:
+    case MavlinkFTP::kCmdReadFile:
+    case MavlinkFTP::kCmdBurstReadFile:
+        _downloadComplete(tr("Download failed: Vehicle did not response to %1").arg(MavlinkFTP::opCodeToString(_waitState)));
+        break;
+#if 0
+        // FIXME: NYI
+    case kCOOpenRead:
+    case kCOOpenBurst:
+        _currentOperation = kCOIdle;
+        _emitErrorMessage(tr("Timeout waiting for ack: Download failed"));
+        _sendResetCommand();
+        break;
+
+    case kCOCreate:
+        _currentOperation = kCOIdle;
+        _emitErrorMessage(tr("Timeout waiting for ack: Upload failed"));
+        _sendResetCommand();
+        break;
+
+    case kCOWrite:
+        _closeUploadSession(false /* failure */);
+        _emitErrorMessage(tr("Timeout waiting for ack: Upload failed"));
+        break;
+#endif
+    default:
+    {
+        MavlinkFTP::OpCode_t    _lastCommand = _waitState;
+        _waitState = MavlinkFTP::kCmdNone;
+        _emitErrorMessage(QString("Timeout waiting for ack: Command failed (%1)").arg(MavlinkFTP::opCodeToString(_lastCommand)));
+    }
+        break;
     }
 }
 
-void FileManager::_sendResetCommand(void)
+void FTPManager::_sendResetCommand(void)
 {
-    Request request;
-    request.hdr.opcode = kCmdResetSessions;
+    MavlinkFTP::Request request;
+    request.hdr.opcode = MavlinkFTP::kCmdResetSessions;
     request.hdr.size = 0;
-    _sendRequest(&request);
+    _sendRequestExpectAck(&request);
 }
 
-void FileManager::_emitErrorMessage(const QString& msg)
+void FTPManager::_emitErrorMessage(const QString& msg)
 {
-	qCDebug(FileManagerLog) << "Error:" << msg;
+    qCDebug(FTPManagerLog) << "Error:" << msg;
     emit commandError(msg);
 }
 
-void FileManager::_emitListEntry(const QString& entry)
+void FTPManager::_emitListEntry(const QString& entry)
 {
-    qCDebug(FileManagerLog) << "_emitListEntry" << entry;
+    qCDebug(FTPManagerLog) << "_emitListEntry" << entry;
     emit listEntry(entry);
 }
 
-/// @brief Sends the specified Request out to the UAS.
-void FileManager::_sendRequest(Request* request)
+void FTPManager::_sendRequestExpectAck(MavlinkFTP::Request* request)
 {
-
     _setupAckTimeout();
     
     request->hdr.seqNumber = ++_lastOutgoingRequest.hdr.seqNumber;
-    // store the current request
+    qCDebug(FTPManagerLog) << "_sendRequestExpectAck opcode:" << MavlinkFTP::opCodeToString(static_cast<MavlinkFTP::OpCode_t>(request->hdr.opcode)) << "seqNumber:" << request->hdr.seqNumber;
+
     if (request->hdr.size <= sizeof(request->data)) {
-        memcpy(&_lastOutgoingRequest, request, sizeof(RequestHeader) + request->hdr.size);
+        memcpy(&_lastOutgoingRequest, request, sizeof(MavlinkFTP::RequestHeader) + request->hdr.size);
     } else {
-        qCCritical(FileManagerLog) << "request length too long:" << request->hdr.size;
+        // FIXME: Shouldn't this fail something?
+        qCCritical(FTPManagerLog) << "request length too long:" << request->hdr.size;
     }
     
-    qCDebug(FileManagerLog) << "_sendRequest opcode:" << request->hdr.opcode << "seqNumber:" << request->hdr.seqNumber;
-    
-    if (_systemIdQGC == 0) {
-        _systemIdQGC = qgcApp()->toolbox()->mavlinkProtocol()->getSystemId();
-    }
     _sendRequestNoAck(request);
 }
 
-/// @brief Sends the specified Request out to the UAS, without ack timeout handling
-void FileManager::_sendRequestNoAck(Request* request)
+void FTPManager::_sendRequestNoAck(MavlinkFTP::Request* request)
 {
-    mavlink_message_t message;
+    qCDebug(FTPManagerLog) << "_sendRequestNoAck opcode:" << MavlinkFTP::opCodeToString(static_cast<MavlinkFTP::OpCode_t>(request->hdr.opcode));
 
-    // 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();
-    }
-    
-    mavlink_msg_file_transfer_protocol_pack_chan(_systemIdQGC,       // QGC System ID
-                                                 0,                  // QGC Component ID
-                                                 link->mavlinkChannel(),
-                                                 &message,           // Mavlink Message to pack into
-                                                 0,                  // Target network
-                                                 _systemIdServer,    // Target system
-                                                 0,                  // Target component
-                                                 (uint8_t*)request); // Payload
-    
-    _vehicle->sendMessageOnLinkThreadSafe(link, message);
+    mavlink_message_t message;
+    mavlink_msg_file_transfer_protocol_pack_chan(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(),
+                                                 qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
+                                                 _dedicatedLink->mavlinkChannel(),
+                                                 &message,
+                                                 0,                                                     // Target network, 0=broadcast?
+                                                 _vehicle->id(),
+                                                 MAV_COMP_ID_AUTOPILOT1,
+                                                 (uint8_t*)request);                                    // Payload
+    _vehicle->sendMessageOnLinkThreadSafe(_dedicatedLink, message);
 }

src/Vehicle/FTPManager.h

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+
+#pragma once
+
+#include <QObject>
+#include <QDir>
+#include <QTimer>
+#include <QQueue>
+
+#include "UASInterface.h"
+#include "QGCLoggingCategory.h"
+#include "QGCMAVLink.h"
+
+Q_DECLARE_LOGGING_CATEGORY(FTPManagerLog)
+
+class Vehicle;
+
+class FTPManager : public QObject
+{
+    Q_OBJECT
+    
+public:
+    FTPManager(Vehicle* vehicle);
+
+	/// Downloads the specified file.
+    ///     @param from     File to download from vehicle, fully qualified path. May be in the format mavlinkftp://...
+    ///     @param toDir    Local directory to download file to
+    /// @return true: download has started, false: error, no download
+    /// Signals downloadComplete, commandError, commandProgress
+    bool download(const QString& from, const QString& toDir);
+	
+	/// Stream downloads the specified file.
+    ///     @param from     File to download from UAS, fully qualified path. May be in the format mavlinkftp://...
+    ///     @param toDir    Local directory to download file to
+    /// @return true: download has started, false: error, no download
+    /// Signals downloadComplete, commandError, commandProgress
+    bool burstDownload(const QString& from, const QString& toDir);
+	
+	/// Lists the specified directory. Emits listEntry signal for each entry, followed by listComplete signal.
+	///		@param dirPath Fully qualified path to list
+	void listDirectory(const QString& dirPath);
+	
+    /// Upload the specified file to the specified location
+    void upload(const QString& toPath, const QFileInfo& uploadFile);
+    
+    /// Create a remote directory
+    void createDirectory(const QString& directory);
+
+    void mavlinkMessageReceived(mavlink_message_t message);
+
+signals:
+    void downloadComplete   (const QString& file, const QString& errorMsg);
+    void uploadComplete     (const QString& errorMsg);
+
+    /// Signalled to indicate a new directory entry was received.
+    void listEntry(const QString& entry);
+    
+    // Signals associated with all commands
+    
+    /// Signalled after a command has completed
+    void commandComplete(void);
+    
+    void commandError(const QString& msg);
+    
+    /// Signalled during a lengthy command to show progress
+    ///     @param value Amount of progress: 0.0 = none, 1.0 = complete
+    void commandProgress(int value);
+	
+private slots:
+	void _ackTimeout(void);
+
+private:
+    bool    _sendOpcodeOnlyCmd     (MavlinkFTP::OpCode_t opcode, MavlinkFTP::OpCode_t newWaitState);
+    void    _setupAckTimeout       (void);
+    void    _clearAckTimeout       (void);
+    void    _emitErrorMessage      (const QString& msg);
+    void    _emitListEntry         (const QString& entry);
+    void    _sendRequestExpectAck  (MavlinkFTP::Request* request);
+    void    _sendRequestNoAck      (MavlinkFTP::Request* request);
+    void    _sendMessageOnLink     (LinkInterface* link, mavlink_message_t message);
+    void    _fillRequestWithString (MavlinkFTP::Request* request, const QString& str);
+    void    _handlOpenFileROAck    (MavlinkFTP::Request* ack);
+    void    _handleReadFileAck     (MavlinkFTP::Request* ack, bool burstReadFile);
+    void    _listAckResponse       (MavlinkFTP::Request* listAck);
+    void    _createAckResponse     (MavlinkFTP::Request* createAck);
+    void    _writeAckResponse      (MavlinkFTP::Request* writeAck);
+    void    _writeFileDatablock    (void);
+    void    _sendListCommand       (void);
+    void    _sendResetCommand      (void);
+    void    _downloadComplete      (const QString& errorMsg);
+    void    _uploadComplete        (const QString& errorMsg);
+    bool    _downloadWorker        (const QString& from, const QString& toDir, bool burstReadFile);
+    void    _requestMissingData    (void);
+    
+    MavlinkFTP::OpCode_t    _waitState              = MavlinkFTP::kCmdNone;     ///< Current operation of state machine
+    MavlinkFTP::OpCode_t    _openFileType           = MavlinkFTP::kCmdReadFile; ///< Type of read to use after open file succeeds
+    QTimer                  _ackTimer;                                          ///< Used to signal a timeout waiting for an ack
+    int                     _ackNumTries;                                       ///< current number of tries
+    Vehicle*                _vehicle;
+    LinkInterface*          _dedicatedLink          = nullptr;                  ///< Link to use for communication
+    MavlinkFTP::Request     _lastOutgoingRequest;                               ///< contains the last outgoing packet
+    unsigned                _listOffset;                                        ///< offset for the current List operation
+    QString                 _listPath;                                          ///< path for the current List operation
+    uint8_t                 _activeSession          = 0;                        ///< currently active session, 0 for none
+    uint32_t                _readOffset;                                        ///< current read offset
+    
+    uint32_t    _writeOffset;               ///< current write offset
+    uint32_t    _writeSize;                 ///< current write data size
+    uint32_t    _writeFileSize;             ///< Size of file being uploaded
+    QByteArray  _writeFileAccumulator;      ///< Holds file being uploaded
+    
+    struct MissingData {
+        uint32_t offset;
+        uint32_t size;
+    };
+    uint32_t            _requestedDownloadOffset;               ///< current download offset
+    QByteArray          _readFileAccumulator;                   ///< Holds file being downloaded
+    QDir                _readFileDownloadDir;                   ///< Directory to download file to
+    QString             _readFileDownloadFilename;              ///< Filename (no path) for download file
+    int                 _downloadFileSize;                      ///< Size of file being downloaded
+
+    static const int _ackTimerTimeoutMsecs = 5000;
+    static const int _ackTimerMaxRetries = 6;
+};
+

src/Vehicle/FTPManagerTest.cc

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "FTPManagerTest.h"
+#include "MultiVehicleManager.h"
+#include "QGCApplication.h"
+#include "MockLink.h"
+#include "FTPManager.h"
+
+const FTPManagerTest::TestCase_t FTPManagerTest::_rgTestCases[] = {
+    {  "/version.json" },
+};
+
+void FTPManagerTest::_testCaseWorker(const TestCase_t& testCase)
+{
+    _connectMockLinkNoInitialConnectSequence();
+
+    MultiVehicleManager*    vehicleMgr  = qgcApp()->toolbox()->multiVehicleManager();
+    Vehicle*                vehicle     = vehicleMgr->activeVehicle();
+    FTPManager*             ftpManager  = vehicle->ftpManager();
+
+    QSignalSpy spyDownloadComplete(ftpManager, &FTPManager::downloadComplete);
+
+    // void downloadComplete   (const QString& file, const QString& errorMsg);
+    ftpManager->download(testCase.file, QStandardPaths::writableLocation(QStandardPaths::TempLocation));
+
+    QCOMPARE(spyDownloadComplete.wait(10000), true);
+    QCOMPARE(spyDownloadComplete.count(), 1);
+    QList<QVariant> arguments = spyDownloadComplete.takeFirst();
+    qDebug() << arguments[0].toString();
+    QVERIFY(arguments[1].toString().isEmpty());
+
+    _disconnectMockLink();
+}
+
+void FTPManagerTest::_performTestCases(void)
+{
+    int index = 0;
+    for (const TestCase_t& testCase: _rgTestCases) {
+        qDebug() << "Testing case" << index++;
+        _testCaseWorker(testCase);
+    }
+}

src/Vehicle/FTPManagerTest.h

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "UnitTest.h"
+
+class FTPManagerTest : public UnitTest
+{
+    Q_OBJECT
+
+private slots:
+    void _performTestCases(void);
+
+private:
+    typedef struct {
+        const char* file;
+    } TestCase_t;
+
+    void _testCaseWorker(const TestCase_t& testCase);
+
+    static const TestCase_t _rgTestCases[];
+};

src/Vehicle/InitialConnectTest.cc

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "InitialConnectTest.h"
+#include "MultiVehicleManager.h"
+#include "QGCApplication.h"
+#include "MockLink.h"
+
+InitialConnectTest::TestCase_t InitialConnectTest::_rgTestCases[] = {
+    {  MockLink::FailRequestMessageNone,                                MAV_RESULT_ACCEPTED,    Vehicle::RequestMessageNoFailure,                   false },
+    {  MockLink::FailRequestMessageCommandAcceptedMsgNotSent,           MAV_RESULT_FAILED,      Vehicle::RequestMessageFailureMessageNotReceived,   false },
+    {  MockLink::FailRequestMessageCommandUnsupported,                  MAV_RESULT_UNSUPPORTED, Vehicle::RequestMessageFailureCommandError,         false },
+    {  MockLink::FailRequestMessageCommandNoResponse,                   MAV_RESULT_FAILED,      Vehicle::RequestMessageFailureCommandNotAcked,      false },
+    //{  MockLink::FailRequestMessageCommandAcceptedSecondAttempMsgSent,  MAV_RESULT_FAILED,      Vehicle::RequestMessageNoFailure,   false },
+};
+
+void InitialConnectTest::_requestMessageResultHandler(void* resultHandlerData, MAV_RESULT commandResult, Vehicle::RequestMessageResultHandlerFailureCode_t failureCode, const mavlink_message_t& message)
+{
+    TestCase_t* testCase = static_cast<TestCase_t*>(resultHandlerData);
+
+    testCase->resultHandlerCalled = true;
+    QCOMPARE((int)testCase->expectedCommandResult, (int)commandResult);
+    QCOMPARE((int)testCase->expectedFailureCode, (int)failureCode);
+    if (testCase->expectedFailureCode == Vehicle::RequestMessageNoFailure) {
+        QVERIFY(message.msgid == MAVLINK_MSG_ID_DEBUG);
+    }
+}
+
+void InitialConnectTest::_testCaseWorker(TestCase_t& testCase)
+{
+    _connectMockLink();
+
+    MultiVehicleManager*    vehicleMgr  = qgcApp()->toolbox()->multiVehicleManager();
+    Vehicle*                vehicle     = vehicleMgr->activeVehicle();
+
+    _mockLink->setRequestMessageFailureMode(testCase.failureMode);
+    vehicle->requestMessage(_requestMessageResultHandler, &testCase, MAV_COMP_ID_ALL, MAVLINK_MSG_ID_DEBUG);
+    for (int i=0; i<100; i++) {
+        QTest::qWait(100);
+        if (testCase.resultHandlerCalled) {
+            break;
+        }
+    }
+    QVERIFY(testCase.resultHandlerCalled);
+
+    _disconnectMockLink();
+}
+
+void InitialConnectTest::_test(void)
+{
+    _connectMockLink();
+
+    //MultiVehicleManager*    vehicleMgr  = qgcApp()->toolbox()->multiVehicleManager();
+    //Vehicle*                vehicle     = vehicleMgr->activeVehicle();
+
+    _disconnectMockLink();
+}
+
+void InitialConnectTest::_performTestCases(void)
+{
+    int index = 0;
+    for (TestCase_t& testCase: _rgTestCases) {
+        qDebug() << "Testing case" << index++;
+        _testCaseWorker(testCase);
+    }
+}

src/Vehicle/InitialConnectTest.h

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "UnitTest.h"
+#include "MockLink.h"
+#include "Vehicle.h"
+
+class InitialConnectTest : public UnitTest
+{
+    Q_OBJECT
+
+signals:
+    void resultHandlerCalled(void);
+    
+private slots:
+    void _test(void);
+
+private:
+    void _performTestCases(void);
+    typedef struct {
+        MockLink::RequestMessageFailureMode_t               failureMode;
+        MAV_RESULT                                          expectedCommandResult;
+        Vehicle::RequestMessageResultHandlerFailureCode_t   expectedFailureCode;
+        bool                                                resultHandlerCalled;
+    } TestCase_t;
+
+    void _testCaseWorker(TestCase_t& testCase);
+
+    static void _requestMessageResultHandler(void* resultHandlerData, MAV_RESULT commandResult, Vehicle::RequestMessageResultHandlerFailureCode_t failureCode, const mavlink_message_t& message);
+
+    bool _resultHandlerCalled;
+
+    static TestCase_t _rgTestCases[];
+};

src/Vehicle/MAVLinkFTPManager.cc

-/****************************************************************************
- *
- *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- *
- * QGroundControl is licensed according to the terms in the file
- * COPYING.md in the root of the source code directory.
- *
- ****************************************************************************/
-
-
-#include "MAVLinkFTPManager.h"
-#include "Vehicle.h"
-#include "QGCApplication.h"
-
-#include <QFile>
-#include <QDir>
-#include <string>
-
-QGC_LOGGING_CATEGORY(MAVLinkFTPManagerLog, "MAVLinkFTPManagerLog")
-
-MAVLinkFTPManager::MAVLinkFTPManager(Vehicle* vehicle)
-    : QObject   (vehicle)
-    , _vehicle  (vehicle)
-{
-    connect(&_ackTimer, &QTimer::timeout, this, &MAVLinkFTPManager::_ackTimeout);
-    
-    _lastOutgoingRequest.hdr.seqNumber = 0;
-
-    _systemIdServer = _vehicle->id();
-    
-    // Make sure we don't have bad structure packing
-    Q_ASSERT(sizeof(RequestHeader) == 12);
-}
-
-/// Respond to the Ack associated with the Open command with the next read command.
-void MAVLinkFTPManager::_openAckResponse(Request* openAck)
-{
-    qCDebug(MAVLinkFTPManagerLog) << QString("_openAckResponse: _currentOperation(%1) _readFileLength(%2)").arg(_currentOperation).arg(openAck->openFileLength);
-    
-	Q_ASSERT(_currentOperation == kCOOpenRead || _currentOperation == kCOOpenBurst);
-	_currentOperation = _currentOperation == kCOOpenRead ? kCORead : kCOBurst;
-    _activeSession = openAck->hdr.session;
-    
-    // File length comes back in data
-    Q_ASSERT(openAck->hdr.size == sizeof(uint32_t));
-    _downloadFileSize = openAck->openFileLength;
-    
-    // Start the sequence of read commands
-
-    _downloadOffset = 0;            // Start reading at beginning of file
-    _readFileAccumulator.clear();   // Start with an empty file
-    _missingDownloadedBytes = 0;
-    _downloadingMissingParts = false;
-    _missingData.clear();
-
-    Request request;
-    request.hdr.session = _activeSession;
-	Q_ASSERT(_currentOperation == kCORead || _currentOperation == kCOBurst);
-	request.hdr.opcode = _currentOperation == kCORead ? kCmdReadFile : kCmdBurstReadFile;
-    request.hdr.offset = _downloadOffset;
-    request.hdr.size = sizeof(request.data);
-
-    _sendRequest(&request);
-}
-
-/// request the next missing part of a (partially) downloaded file
-void MAVLinkFTPManager::_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(MAVLinkFTPManagerLog) << QString("_requestMissingData: missing parts done, downloadOffset(%1) downloadFileSize(%2)")
-                    .arg(_downloadOffset).arg(_downloadFileSize);
-        } else {
-            _closeDownloadSession(true);
-            return;
-        }
-    } else {
-        qCDebug(MAVLinkFTPManagerLog) << 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);
-}
-
-/// Closes out a download session by writing the file and doing cleanup.
-///     @param success true: successful download completion, false: error during download
-void MAVLinkFTPManager::_closeDownloadSession(bool success)
-{
-    qCDebug(MAVLinkFTPManagerLog) << QString("_closeDownloadSession: success(%1) missingBytes(%2)").arg(success).arg(_missingDownloadedBytes);
-    
-    _currentOperation = kCOIdle;
-    
-    if (success) {
-        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;
-        }
-
-        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();
-
-        emit commandComplete();
-    }
-    
-    _readFileAccumulator.clear();
-    
-    // Close the open session
-    _sendResetCommand();
-}
-
-/// Closes out an upload session doing cleanup.
-///     @param success true: successful upload completion, false: error during download
-void MAVLinkFTPManager::_closeUploadSession(bool success)
-{
-    qCDebug(MAVLinkFTPManagerLog) << QString("_closeUploadSession: success(%1)").arg(success);
-    
-    _currentOperation = kCOIdle;
-    _writeFileAccumulator.clear();
-    _writeFileSize = 0;
-    
-    if (success) {
-        emit commandComplete();
-    }
-    
-    // Close the open session
-    _sendResetCommand();
-}
-
-/// Respond to the Ack associated with the Read or Stream commands.
-///		@param readFile: true: read file, false: stream file
-void MAVLinkFTPManager::_downloadAckResponse(Request* readAck, bool readFile)
-{
-    if (readAck->hdr.session != _activeSession) {
-        _closeDownloadSession(false /* failure */);
-        _emitErrorMessage(tr("Download: Incorrect session returned"));
-        return;
-    }
-
-    if (readAck->hdr.offset != _downloadOffset) {
-        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(MAVLinkFTPManagerLog) << 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
-        }
-    }
-    
-    qCDebug(MAVLinkFTPManagerLog) << QString("_downloadAckResponse: offset(%1) size(%2) burstComplete(%3)").arg(readAck->hdr.offset).arg(readAck->hdr.size).arg(readAck->hdr.burstComplete);
-
-    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);
-    }
-    
-    if (_downloadFileSize != 0) {
-        emit commandProgress(100 * ((float)(_readFileAccumulator.length() - _missingDownloadedBytes) / (float)_downloadFileSize));
-    }
-
-    if (_downloadingMissingParts) {
-        _requestMissingData();
-    } else if (readFile || readAck->hdr.burstComplete) {
-        // Possibly still more data to read, send next read request
-
-        Request request;
-        request.hdr.session = _activeSession;
-        request.hdr.opcode = readFile ? kCmdReadFile : kCmdBurstReadFile;
-        request.hdr.offset = _downloadOffset;
-        request.hdr.size = 0;
-
-        _sendRequest(&request);
-    } else if (!readFile) {
-        // Streaming, so next ack should come automatically
-        _setupAckTimeout();
-    }
-}
-
-/// @brief Respond to the Ack associated with the List command.
-void MAVLinkFTPManager::_listAckResponse(Request* listAck)
-{
-    if (listAck->hdr.offset != _listOffset) {
-        // this is a real error (directory listing is synchronous), no need to retransmit
-        _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;
-        uint8_t nlen = static_cast<uint8_t>(strnlen(ptr, cBytesLeft));
-        if ((*ptr == 'S' && nlen > 1) || (*ptr != 'S' && 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, S for skip
-        if (*ptr == 'F' || *ptr == 'D') {
-            // put it in the view
-            _emitListEntry(ptr);
-        } else if (*ptr == 'S') {
-            // do nothing
-        } else {
-            qDebug() << "unknown entry" << ptr;
-        }
-
-        // account for the name + NUL
-        offset += nlen + 1;
-
-        cListEntries++;
-    }
-
-    if (listAck->hdr.size == 0 || cListEntries == 0) {
-        // Directory is empty, we're done
-        Q_ASSERT(listAck->hdr.opcode == kRspAck);
-        _currentOperation = kCOIdle;
-        emit commandComplete();
-    } else {
-        // Possibly more entries to come, need to keep trying till we get EOF
-        _currentOperation = kCOList;
-        _listOffset += cListEntries;
-        _sendListCommand();
-    }
-}
-
-/// @brief Respond to the Ack associated with the create command.
-void MAVLinkFTPManager::_createAckResponse(Request* createAck)
-{
-    qCDebug(MAVLinkFTPManagerLog) << "_createAckResponse";
-    
-    _currentOperation = kCOWrite;
-    _activeSession = createAck->hdr.session;
-
-    // Start the sequence of write commands from the beginning of the file
-
-    _writeOffset = 0;
-    _writeSize = 0;
-    
-    _writeFileDatablock();
-}
-
-/// @brief Respond to the Ack associated with the write command.
-void MAVLinkFTPManager::_writeAckResponse(Request* writeAck)
-{
-    if(_writeOffset + _writeSize >= _writeFileSize){
-        _closeUploadSession(true /* success */);
-        return;
-    }
-
-    if (writeAck->hdr.session != _activeSession) {
-        _closeUploadSession(false /* failure */);
-        _emitErrorMessage(tr("Write: Incorrect session returned"));
-        return;
-    }
-
-    if (writeAck->hdr.offset != _writeOffset) {
-        _closeUploadSession(false /* failure */);
-        _emitErrorMessage(tr("Write: Offset returned (%1) differs from offset requested (%2)").arg(writeAck->hdr.offset).arg(_writeOffset));
-        return;
-    }
-
-    if (writeAck->hdr.size != sizeof(uint32_t)) {
-        _closeUploadSession(false /* failure */);
-        _emitErrorMessage(tr("Write: Returned invalid size of write size data"));
-        return;
-    }
-
-
-    if( writeAck->writeFileLength !=_writeSize) {
-        _closeUploadSession(false /* failure */);
-        _emitErrorMessage(tr("Write: Size returned (%1) differs from size requested (%2)").arg(writeAck->writeFileLength).arg(_writeSize));
-        return;
-    }
-
-    _writeFileDatablock();
-}
-
-/// @brief Send next write file data block.
-void MAVLinkFTPManager::_writeFileDatablock(void)
-{
-    if (_writeOffset + _writeSize >= _writeFileSize){
-        _closeUploadSession(true /* success */);
-        return;
-    }
-
-    _writeOffset += _writeSize;
-
-    Request request;
-    request.hdr.session = _activeSession;
-    request.hdr.opcode = kCmdWriteFile;
-    request.hdr.offset = _writeOffset;
-
-    if(_writeFileSize -_writeOffset > sizeof(request.data) )
-        _writeSize = sizeof(request.data);
-    else
-        _writeSize = _writeFileSize - _writeOffset;
-
-    request.hdr.size = _writeSize;
-
-    memcpy(request.data, &_writeFileAccumulator.data()[_writeOffset], _writeSize);
-
-    _sendRequest(&request);
-}
-
-void MAVLinkFTPManager::receiveMessage(mavlink_message_t message)
-{
-    // 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) {
-        return;
-    }
-
-    mavlink_file_transfer_protocol_t data;
-    mavlink_msg_file_transfer_protocol_decode(&message, &data);
-	
-    // Make sure we are the target system
-    if (data.target_system != _systemIdQGC) {
-        qDebug() << "Received MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL with incorrect target_system:" <<  data.target_system << "expected:" << _systemIdQGC;
-        return;
-    }
-    
-    Request* request = (Request*)&data.payload[0];
-
-    uint16_t incomingSeqNumber = request->hdr.seqNumber;
-    
-    // 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;
-    }
-
-    _clearAckTimeout();
-    
-    qCDebug(MAVLinkFTPManagerLog) << "receiveMessage" << request->hdr.opcode;
-	
-    if (incomingSeqNumber != expectedSeqNumber) {
-        bool doAbort = true;
-        switch (_currentOperation) {
-            case kCOBurst: // burst download drops are handled in _downloadAckResponse()
-                doAbort = false;
-                break;
-            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;
-        }
-        
-        if (doAbort) {
-            _emitErrorMessage(tr("Bad sequence number on received message: expected(%1) received(%2)").arg(expectedSeqNumber).arg(incomingSeqNumber));
-            return;
-        }
-    }
-    
-    // Move past the incoming sequence number for next request
-    _lastOutgoingRequest.hdr.seqNumber = incomingSeqNumber;
-
-    if (request->hdr.opcode == kRspAck) {
-        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:
-                _createAckResponse(request);
-                break;
-                
-            case kCmdWriteFile:
-                _writeAckResponse(request);
-                break;
-                
-			default:
-				// Ack back from operation which does not require additional work
-				_currentOperation = kCOIdle;
-				break;
-		}
-    } else if (request->hdr.opcode == kRspNak) {
-        uint8_t errorCode = request->data[0];
-
-        // 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);
-        
-        _currentOperation = kCOIdle;
-
-        if (request->hdr.req_opcode == kCmdListDirectory && errorCode == kErrEOF) {
-            // This is not an error, just the end of the list loop
-            emit commandComplete();
-            return;
-        } 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 */);
-            return;
-        } else if (request->hdr.req_opcode == kCmdCreateFile) {
-            _emitErrorMessage(tr("Nak received creating file, error: %1").arg(errorString(request->data[0])));
-            return;
-        } else if (request->hdr.req_opcode == kCmdCreateDirectory) {
-            _emitErrorMessage(tr("Nak received creating directory, error: %1").arg(errorString(request->data[0])));
-            return;
-        } else {
-            // Generic Nak handling
-            if (request->hdr.req_opcode == kCmdReadFile || request->hdr.req_opcode == kCmdBurstReadFile) {
-                // Nak error during download loop, download failed
-                _closeDownloadSession(false /* failure */);
-            } else if (request->hdr.req_opcode == kCmdWriteFile) {
-                // Nak error during upload loop, upload failed
-                _closeUploadSession(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 MAVLinkFTPManager::listDirectory(const QString& dirPath)
-{
-    if (_currentOperation != kCOIdle) {
-        _emitErrorMessage(tr("Command not sent. Waiting for previous command to complete."));
-        return;
-    }
-
-    _dedicatedLink = _vehicle->priorityLink();
-    if (!_dedicatedLink) {
-        _emitErrorMessage(tr("Command not sent. No Vehicle links."));
-        return;
-    }
-
-    // initialise the lister
-    _listPath = dirPath;
-    _listOffset = 0;
-    _currentOperation = kCOList;
-
-    // and send the initial request
-    _sendListCommand();
-}
-
-void MAVLinkFTPManager::_fillRequestWithString(Request* request, const QString& str)
-{
-    strncpy((char *)&request->data[0], str.toStdString().c_str(), sizeof(request->data));
-    request->hdr.size = static_cast<uint8_t>(strnlen((const char *)&request->data[0], sizeof(request->data)));
-}
-
-void MAVLinkFTPManager::_sendListCommand(void)
-{
-    Request request;
-
-    request.hdr.session = 0;
-    request.hdr.opcode = kCmdListDirectory;
-    request.hdr.offset = _listOffset;
-    request.hdr.size = 0;
-
-    _fillRequestWithString(&request, _listPath);
-
-    qCDebug(MAVLinkFTPManagerLog) << "listDirectory: path:" << _listPath << "offset:" <<  _listOffset;
-    
-    _sendRequest(&request);
-}
-
-void MAVLinkFTPManager::downloadPath(const QString& vehicleFilePath, const QDir& downloadDir)
-{
-    if (_currentOperation != kCOIdle) {
-        _emitErrorMessage(tr("Command not sent. Waiting for previous command to complete."));
-        return;
-    }
-
-    _dedicatedLink = _vehicle->priorityLink();
-    if (!_dedicatedLink) {
-        _emitErrorMessage(tr("Command not sent. No Vehicle links."));
-        return;
-    }
-    
-    qCDebug(MAVLinkFTPManagerLog) << "downloadPath vehicleFilePath:" << vehicleFilePath << "to:" << downloadDir;
-    _downloadWorker(vehicleFilePath, downloadDir, true /* read file */);
-}
-
-void MAVLinkFTPManager::streamPath(const QString& from, const QDir& downloadDir)
-{
-    if (_currentOperation != kCOIdle) {
-        _emitErrorMessage(tr("Command not sent. Waiting for previous command to complete."));
-        return;
-    }
-
-    _dedicatedLink = _vehicle->priorityLink();
-    if (!_dedicatedLink) {
-        _emitErrorMessage(tr("Command not sent. No Vehicle links."));
-        return;
-    }
-    
-    qCDebug(MAVLinkFTPManagerLog) << "streamPath from:" << from << "to:" << downloadDir;
-	_downloadWorker(from, downloadDir, false /* stream file */);
-}
-
-void MAVLinkFTPManager::_downloadWorker(const QString& vehicleFilePath, const QDir& downloadDir, bool readFile)
-{
-    if (vehicleFilePath.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=vehicleFilePath.size()-1; i>=0; i--) {
-        if (vehicleFilePath[i] == '/') {
-			break;
-		}
-	}
-	i++; // move past slash
-    _readFileDownloadFilename = vehicleFilePath.right(vehicleFilePath.size() - i);
-	
-	_currentOperation = readFile ? kCOOpenRead : kCOOpenBurst;
-	
-	Request request;
-	request.hdr.session = 0;
-	request.hdr.opcode = kCmdOpenFileRO;
-	request.hdr.offset = 0;
-	request.hdr.size = 0;
-    _fillRequestWithString(&request, vehicleFilePath);
-	_sendRequest(&request);
-}
-
-/// @brief Uploads the specified file.
-///     @param toPath File in UAS to upload to, fully qualified path
-///     @param uploadFile Local file to upload from
-void MAVLinkFTPManager::uploadPath(const QString& toPath, const QFileInfo& uploadFile)
-{
-    if(_currentOperation != kCOIdle){
-        _emitErrorMessage(tr("UAS File manager busy. Try again later"));
-        return;
-    }
-
-    _dedicatedLink = _vehicle->priorityLink();
-    if (!_dedicatedLink) {
-        _emitErrorMessage(tr("Command not sent. No Vehicle links."));
-        return;
-    }
-
-    if (toPath.isEmpty()) {
-        return;
-    }
-
-    if (!uploadFile.isReadable()){
-        _emitErrorMessage(tr("File (%1) is not readable for upload").arg(uploadFile.path()));
-        return;
-    }
-
-    QFile file(uploadFile.absoluteFilePath());
-    if (!file.open(QIODevice::ReadOnly)) {
-            _emitErrorMessage(tr("Unable to open local file for upload (%1)").arg(uploadFile.absoluteFilePath()));
-            return;
-        }
-
-    _writeFileAccumulator = file.readAll();
-    _writeFileSize = _writeFileAccumulator.size();
-
-    file.close();
-
-    if (_writeFileAccumulator.size() == 0) {
-        _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;
-    request.hdr.size = 0;
-    _fillRequestWithString(&request, toPath + "/" + uploadFile.fileName());
-    _sendRequest(&request);
-}
-
-void MAVLinkFTPManager::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);
-}
-
-QString MAVLinkFTPManager::errorString(uint8_t errorCode)
-{
-    switch(errorCode) {
-        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:
-            return QString("no sessions available");
-        case kErrFailFileExists:
-            return QString("File already exists on target");
-        case kErrFailFileProtected:
-            return QString("File is write protected");
-        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 MAVLinkFTPManager::_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.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 MAVLinkFTPManager::_setupAckTimeout(void)
-{
-    qCDebug(MAVLinkFTPManagerLog) << "_setupAckTimeout";
-
-    Q_ASSERT(!_ackTimer.isActive());
-
-    _ackNumTries = 0;
-    _ackTimer.setSingleShot(false);
-    _ackTimer.start(ackTimerTimeoutMsecs);
-}
-
-/// @brief Clears the ack timeout timer
-void MAVLinkFTPManager::_clearAckTimeout(void)
-{
-    qCDebug(MAVLinkFTPManagerLog) << "_clearAckTimeout";
-    _ackTimer.stop();
-}
-
-/// @brief Called when ack timeout timer fires
-void MAVLinkFTPManager::_ackTimeout(void)
-{
-    qCDebug(MAVLinkFTPManagerLog) << "_ackTimeout";
-    
-    if (++_ackNumTries <= ackTimerMaxRetries) {
-        qCDebug(MAVLinkFTPManagerLog) << "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();
-
-    // 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:
-        case kCOBurst:
-            _closeDownloadSession(false /* failure */);
-            _emitErrorMessage(tr("Timeout waiting for ack: Download failed"));
-            break;
-            
-        case kCOOpenRead:
-        case kCOOpenBurst:
-            _currentOperation = kCOIdle;
-            _emitErrorMessage(tr("Timeout waiting for ack: Download failed"));
-            _sendResetCommand();
-            break;
-            
-        case kCOCreate:
-            _currentOperation = kCOIdle;
-            _emitErrorMessage(tr("Timeout waiting for ack: Upload failed"));
-            _sendResetCommand();
-            break;
-            
-        case kCOWrite:
-            _closeUploadSession(false /* failure */);
-            _emitErrorMessage(tr("Timeout waiting for ack: Upload failed"));
-            break;
-			
-        default:
-        {
-            OperationState currentOperation = _currentOperation;
-            _currentOperation = kCOIdle;
-            _emitErrorMessage(QString("Timeout waiting for ack: Command failed (%1)").arg(currentOperation));
-        }
-            break;
-    }
-}
-
-void MAVLinkFTPManager::_sendResetCommand(void)
-{
-    Request request;
-    request.hdr.opcode = kCmdResetSessions;
-    request.hdr.size = 0;
-    _sendRequest(&request);
-}
-
-void MAVLinkFTPManager::_emitErrorMessage(const QString& msg)
-{
-    qCDebug(MAVLinkFTPManagerLog) << "Error:" << msg;
-    emit commandError(msg);
-}
-
-void MAVLinkFTPManager::_emitListEntry(const QString& entry)
-{
-    qCDebug(MAVLinkFTPManagerLog) << "_emitListEntry" << entry;
-    emit listEntry(entry);
-}
-
-/// @brief Sends the specified Request out to the UAS.
-void MAVLinkFTPManager::_sendRequest(Request* request)
-{
-
-    _setupAckTimeout();
-    
-    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(MAVLinkFTPManagerLog) << "request length too long:" << request->hdr.size;
-    }
-    
-    qCDebug(MAVLinkFTPManagerLog) << "_sendRequest opcode:" << request->hdr.opcode << "seqNumber:" << request->hdr.seqNumber;
-    
-    if (_systemIdQGC == 0) {
-        _systemIdQGC = qgcApp()->toolbox()->mavlinkProtocol()->getSystemId();
-    }
-    _sendRequestNoAck(request);
-}
-
-/// @brief Sends the specified Request out to the UAS, without ack timeout handling
-void MAVLinkFTPManager::_sendRequestNoAck(Request* request)
-{
-    mavlink_message_t message;
-
-    // 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();
-    }
-    
-    mavlink_msg_file_transfer_protocol_pack_chan(_systemIdQGC,       // QGC System ID
-                                                 0,                  // QGC Component ID
-                                                 link->mavlinkChannel(),
-                                                 &message,           // Mavlink Message to pack into
-                                                 0,                  // Target network
-                                                 _systemIdServer,    // Target system
-                                                 0,                  // Target component
-                                                 (uint8_t*)request); // Payload
-    
-    _vehicle->sendMessageOnLinkThreadSafe(link, message);
-}

src/Vehicle/MAVLinkFTPManager.h

-/****************************************************************************
- *
- *   (c) 2009-2018 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- *
- * QGroundControl is licensed according to the terms in the file
- * COPYING.md in the root of the source code directory.
- *
- ****************************************************************************/
-
-
-#pragma once
-
-#include <QObject>
-#include <QDir>
-#include <QTimer>
-#include <QQueue>
-
-#include "UASInterface.h"
-#include "QGCLoggingCategory.h"
-
-#ifdef __GNUC__
-#define PACKED_STRUCT( __Declaration__ ) __Declaration__ __attribute__((packed))
-#else
-#define PACKED_STRUCT( __Declaration__ ) __pragma( pack(push, 1) ) __Declaration__ __pragma( pack(pop) )
-#endif
-
-
-Q_DECLARE_LOGGING_CATEGORY(MAVLinkFTPManagerLog)
-
-class Vehicle;
-
-class MAVLinkFTPManager : public QObject
-{
-    Q_OBJECT
-
-public:
-    MAVLinkFTPManager(Vehicle* vehicle);
-
-    /// These methods are only used for testing purposes.
-    bool _sendCmdTestAck(void) { return _sendOpcodeOnlyCmd(kCmdNone, kCOAck); };
-    bool _sendCmdTestNoAck(void) { return _sendOpcodeOnlyCmd(kCmdTestNoAck, kCOAck); };
-
-    /// Timeout in msecs to wait for an Ack time come back. This is public so we can write unit tests which wait long enough
-    /// for the MAVLinkFTPManager to timeout.
-    static const int ackTimerTimeoutMsecs = 50;
-
-    static const int ackTimerMaxRetries = 6;
-
-    /// Downloads the specified file.
-    ///     @param vehicleFilePath File to download from UAS, fully qualified path
-    ///     @param downloadDir Local directory to download file to
-    void downloadPath(const QString& vehicleFilePath, const QDir& downloadDir);
-
-    /// Stream downloads the specified file.
-    ///     @param from File to download from UAS, fully qualified path
-    ///     @param downloadDir Local directory to download file to
-    void streamPath(const QString& from, const QDir& downloadDir);
-
-    /// Lists the specified directory. Emits listEntry signal for each entry, followed by listComplete signal.
-    ///		@param dirPath Fully qualified path to list
-    void listDirectory(const QString& dirPath);
-
-    /// Upload the specified file to the specified location
-    void uploadPath(const QString& toPath, const QFileInfo& uploadFile);
-
-    /// Create a remote directory
-    void createDirectory(const QString& directory);
-
-signals:
-    // Signals associated with the listDirectory method
-
-    /// Signalled to indicate a new directory entry was received.
-    void listEntry(const QString& entry);
-
-    // Signals associated with all commands
-
-    /// Signalled after a command has completed
-    void commandComplete(void);
-
-    /// Signalled when an error occurs during a command. In this case a commandComplete signal will
-    /// not be sent.
-    void commandError(const QString& msg);
-
-    /// Signalled during a lengthy command to show progress
-    ///     @param value Amount of progress: 0.0 = none, 1.0 = complete
-    void commandProgress(int value);
-
-public slots:
-    void receiveMessage(mavlink_message_t message);
-
-private slots:
-    void _ackTimeout(void);
-
-private:
-    /// @brief This is the fixed length portion of the protocol data.
-    /// This needs to be packed, because it's typecasted from mavlink_file_transfer_protocol_t.payload, which starts
-    /// at a 3 byte offset, causing an unaligned access to seq_number and offset
-    PACKED_STRUCT(
-            typedef struct _RequestHeader
-    {
-                uint16_t    seqNumber;      ///< sequence number for message
-                uint8_t     session;        ///< Session id for read and write commands
-                uint8_t     opcode;         ///< Command opcode
-                uint8_t     size;           ///< Size of data
-                uint8_t     req_opcode;     ///< Request opcode returned in kRspAck, kRspNak message
-                uint8_t     burstComplete;  ///< Only used if req_opcode=kCmdBurstReadFile - 1: set of burst packets complete, 0: More burst packets coming.
-                uint8_t     padding;        ///< 32 bit aligment padding
-                uint32_t    offset;         ///< Offsets for List and Read commands
-            }) RequestHeader;
-
-    PACKED_STRUCT(
-            typedef struct _Request
-    {
-                RequestHeader hdr;
-
-                // We use a union here instead of just casting (uint32_t)&payload[0] to not break strict aliasing rules
-                union {
-                    // The entire Request must fit into the payload member of the mavlink_file_transfer_protocol_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_file_transfer_protocol_t*)0)->payload) - sizeof(RequestHeader)];
-
-                    // File length returned by Open command
-                    uint32_t openFileLength;
-
-                    // Length of file chunk written by write command
-                    uint32_t writeFileLength;
-                };
-            }) Request;
-
-    enum Opcode
-    {
-        kCmdNone,				///< ignored, always acked
-        kCmdTerminateSession,	///< Terminates open Read session
-        kCmdResetSessions,		///< Terminates all open Read sessions
-        kCmdListDirectory,		///< List files in <path> from <offset>
-        kCmdOpenFileRO,			///< Opens file at <path> for reading, returns <session>
-        kCmdReadFile,			///< Reads <size> bytes from <offset> in <session>
-        kCmdCreateFile,			///< Creates file at <path> for writing, returns <session>
-        kCmdWriteFile,			///< Writes <size> bytes to <offset> in <session>
-        kCmdRemoveFile,			///< Remove file at <path>
-        kCmdCreateDirectory,	///< Creates directory at <path>
-        kCmdRemoveDirectory,	///< Removes Directory at <path>, must be empty
-        kCmdOpenFileWO,			///< Opens file at <path> for writing, returns <session>
-        kCmdTruncateFile,		///< Truncate file at <path> to <offset> length
-        kCmdRename,				///< Rename <path1> to <path2>
-        kCmdCalcFileCRC32,		///< Calculate CRC32 for file at <path>
-        kCmdBurstReadFile,      ///< Burst download session file
-
-        kRspAck = 128,          ///< Ack response
-        kRspNak,                ///< Nak response
-
-        // Used for testing only, not part of protocol
-        kCmdTestNoAck,          ///< ignored, ack not sent back, should timeout waiting for ack
-    };
-
-    /// @brief Error codes returned in Nak response PayloadHeader.data[0].
-    enum ErrorCode
-    {
-        kErrNone,
-        kErrFail,                   ///< Unknown failure
-        kErrFailErrno,              ///< errno sent back in PayloadHeader.data[1]
-        kErrInvalidDataSize,		///< PayloadHeader.size is invalid
-        kErrInvalidSession,         ///< Session is not currently open
-        kErrNoSessionsAvailable,	///< All available Sessions in use
-        kErrEOF,                    ///< Offset past end of file for List and Read commands
-        kErrUnknownCommand,          ///< Unknown command opcode
-        kErrFailFileExists,         ///< File exists already
-        kErrFailFileProtected       ///< File is write protected
-    };
-
-    enum OperationState
-    {
-        kCOIdle,		// not doing anything
-        kCOAck,			// waiting for an Ack
-        kCOList,		// waiting for List response
-        kCOOpenRead,    // waiting for Open response followed by Read download
-        kCOOpenBurst,   // waiting for Open response, followed by Burst download
-        kCORead,		// waiting for Read response
-        kCOBurst,		// waiting for Burst response
-        kCOWrite,       // waiting for Write response
-        kCOCreate,      // waiting for Create response
-        kCOCreateDir,   // waiting for Create Directory response
-    };
-
-    bool _sendOpcodeOnlyCmd(uint8_t opcode, OperationState newOpState);
-    void _setupAckTimeout(void);
-    void _clearAckTimeout(void);
-    void _emitErrorMessage(const QString& msg);
-    void _emitListEntry(const QString& entry);
-    void _sendRequest(Request* request);
-    void _sendRequestNoAck(Request* request);
-    void _fillRequestWithString(Request* request, const QString& str);
-    void _openAckResponse(Request* openAck);
-    void _downloadAckResponse(Request* readAck, bool readFile);
-    void _listAckResponse(Request* listAck);
-    void _createAckResponse(Request* createAck);
-    void _writeAckResponse(Request* writeAck);
-    void _writeFileDatablock(void);
-    void _sendListCommand(void);
-    void _sendResetCommand(void);
-    void _closeDownloadSession(bool success);
-    void _closeUploadSession(bool success);
-    void _downloadWorker(const QString& vehicleFilePath, const QDir& downloadDir, bool readFile);
-    void _requestMissingData();
-
-    static QString errorString(uint8_t errorCode);
-
-    OperationState  _currentOperation = kCOIdle;              ///< Current operation of state machine
-    QTimer          _ackTimer;                      ///< Used to signal a timeout waiting for an ack
-    int             _ackNumTries = 0;                   ///< current number of tries
-
-    Vehicle*        _vehicle = nullptr;
-    LinkInterface*  _dedicatedLink = nullptr; ///< Link to use for communication
-
-    Request  _lastOutgoingRequest; ///< contains the last outgoing packet
-
-    unsigned    _listOffset;    ///< offset for the current List operation
-    QString     _listPath;      ///< path for the current List operation
-
-    uint8_t     _activeSession = 0;             ///< currently active session, 0 for none
-
-    uint32_t    _readOffset;                ///< current read offset
-
-    uint32_t    _writeOffset;               ///< current write offset
-    uint32_t    _writeSize;                 ///< current write data size
-    uint32_t    _writeFileSize;             ///< Size of file being uploaded
-    QByteArray  _writeFileAccumulator;      ///< Holds file being uploaded
-
-    struct MissingData {
-        uint32_t offset;
-        uint32_t size;
-    };
-    uint32_t    _downloadOffset;            ///< current download offset
-    uint32_t    _missingDownloadedBytes = 0;    ///< number of missing bytes for burst download
-    QQueue<MissingData> _missingData;       ///< missing chunks of downloaded file (for burst downloads)
-    bool        _downloadingMissingParts = false;   ///< true if we are currently downloading missing parts
-    QByteArray  _readFileAccumulator;       ///< Holds file being downloaded
-    QDir        _readFileDownloadDir;       ///< Directory to download file to
-    QString     _readFileDownloadFilename;  ///< Filename (no path) for download file
-    uint32_t    _downloadFileSize;          ///< Size of file being downloaded
-
-    uint8_t     _systemIdQGC = 0;               ///< System ID for QGC
-    uint8_t     _systemIdServer = 0;            ///< System ID for server
-
-    // We give MockLinkFileServer friend access so that it can use the data structures and opcodes
-    // to build a mock mavlink file server for testing.
-    friend class MockLinkFileServer;
-};
-

src/Vehicle/StateMachine.h

@@ -9,8 +9,12 @@
 
 #pragma once
 
-class StateMachine
+#include <QObject>
+
+class StateMachine : public QObject
 {
+    Q_OBJECT
+
 public:
     typedef void (*StateFn)(StateMachine* stateMachine);
 

src/Vehicle/Vehicle.cc

@@ -45,7 +45,7 @@
 #include "QGCGeo.h"
 #include "TerrainProtocolHandler.h"
 #include "ParameterManager.h"
-#include "MAVLinkFTPManager.h"
+#include "FTPManager.h"
 #include "ComponentInformationManager.h"
 #include "InitialConnectStateMachine.h"
 
@@ -465,9 +465,9 @@ void Vehicle::_commonInit()
     _parameterManager = new ParameterManager(this);
     connect(_parameterManager, &ParameterManager::parametersReadyChanged, this, &Vehicle::_parametersReady);
 
-    _componentInformationManager    = new ComponentInformationManager(this);
-    _initialConnectStateMachine     = new InitialConnectStateMachine(this);
-    _mavlinkFTPManager              = new MAVLinkFTPManager(this);
+    _componentInformationManager    = new ComponentInformationManager   (this);
+    _initialConnectStateMachine     = new InitialConnectStateMachine    (this);
+    _ftpManager                     = new FTPManager                    (this);
 
     _objectAvoidance = new VehicleObjectAvoidance(this, this);
 
@@ -715,6 +715,7 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
     if (!_terrainProtocolHandler->mavlinkMessageReceived(message)) {
         return;
     }
+    _ftpManager->mavlinkMessageReceived(message);
 
     _waitForMavlinkMessageMessageReceived(message);
 

src/Vehicle/Vehicle.h

@@ -44,7 +44,7 @@ class VehicleObjectAvoidance;
 class TrajectoryPoints;
 class TerrainProtocolHandler;
 class ComponentInformationManager;
-class MAVLinkFTPManager;
+class FTPManager;
 class InitialConnectStateMachine;
 
 #if defined(QGC_AIRMAP_ENABLED)
@@ -1009,7 +1009,7 @@ public:
 
     ParameterManager*       parameterManager    () { return _parameterManager; }
     ParameterManager*       parameterManager    () const { return _parameterManager; }
-    MAVLinkFTPManager*      mavlinkFTPManager   () { return _mavlinkFTPManager; }
+    FTPManager*             ftpManager          () { return _ftpManager; }
     VehicleObjectAvoidance* objectAvoidance     () { return _objectAvoidance; }
 
     static const int cMaxRcChannels = 18;
@@ -1460,7 +1460,7 @@ private:
     RallyPointManager*  _rallyPointManager;
 
     ParameterManager*               _parameterManager               = nullptr;
-    MAVLinkFTPManager*              _mavlinkFTPManager              = nullptr;
+    FTPManager*                     _ftpManager                     = nullptr;
     ComponentInformationManager*    _componentInformationManager    = nullptr;
     InitialConnectStateMachine*     _initialConnectStateMachine     = nullptr;
     VehicleObjectAvoidance*         _objectAvoidance                = nullptr;

src/comm/MockLink.cc

@@ -96,7 +96,7 @@ MockLink::MockLink(SharedLinkConfigurationPointer& config)
     px4_cm.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
     _mavCustomMode = px4_cm.data;
 
-    _fileServer = new MockLinkFileServer(_vehicleSystemId, _vehicleComponentId, this);
+    _fileServer = new MockLinkFTP(_vehicleSystemId, _vehicleComponentId, this);
     Q_CHECK_PTR(_fileServer);
 
     moveToThread(this);
@@ -1532,7 +1532,7 @@ bool MockLink::_handleRequestMessage(const mavlink_command_long_t& request, bool
 void MockLink::_sendVersionMetaData(void)
 {
     mavlink_message_t   responseMsg;
-    char                metaDataURI[MAVLINK_MSG_COMPONENT_INFORMATION_FIELD_METADATA_URI_LEN] =       "mavlinkftp://version.json";
+    char                metaDataURI[MAVLINK_MSG_COMPONENT_INFORMATION_FIELD_METADATA_URI_LEN]       = "mavlinkftp://version.json";
     char                translationURI[MAVLINK_MSG_COMPONENT_INFORMATION_FIELD_TRANSLATION_URI_LEN] = "";
 
     mavlink_msg_component_information_pack_chan(_vehicleSystemId,
@@ -1551,7 +1551,7 @@ void MockLink::_sendVersionMetaData(void)
 void MockLink::_sendParameterMetaData(void)
 {
     mavlink_message_t   responseMsg;
-    char                metaDataURI[MAVLINK_MSG_COMPONENT_INFORMATION_FIELD_METADATA_URI_LEN] =       "mavlinkftp://parameter.json";
+    char                metaDataURI[MAVLINK_MSG_COMPONENT_INFORMATION_FIELD_METADATA_URI_LEN]       = "mavlinkftp://parameter.json";
     char                translationURI[MAVLINK_MSG_COMPONENT_INFORMATION_FIELD_TRANSLATION_URI_LEN] = "";
 
     mavlink_msg_component_information_pack_chan(_vehicleSystemId,

src/comm/MockLink.h

@@ -16,7 +16,7 @@
 #include <QGeoCoordinate>
 
 #include "MockLinkMissionItemHandler.h"
-#include "MockLinkFileServer.h"
+#include "MockLinkFTP.h"
 #include "LinkManager.h"
 #include "QGCMAVLink.h"
 
@@ -119,7 +119,7 @@ public:
     /// Sends the specified mavlink message to QGC
     void respondWithMavlinkMessage(const mavlink_message_t& msg);
 
-    MockLinkFileServer* getFileServer(void) { return _fileServer; }
+    MockLinkFTP* getFileServer(void) { return _fileServer; }
 
     // Overrides from LinkInterface
     QString getName             (void) const override { return _name; }
@@ -266,7 +266,7 @@ private:
     double              _vehicleLongitude;
     double              _vehicleAltitude;
 
-    MockLinkFileServer* _fileServer;
+    MockLinkFTP* _fileServer;
 
     bool _sendStatusText;
     bool _apmSendHomePositionOnEmptyList;

src/comm/MockLinkFileServer.cc → src/comm/MockLinkFTP.cc

@@ -8,43 +8,36 @@
  ****************************************************************************/
 
 
-#include "MockLinkFileServer.h"
+#include "MockLinkFTP.h"
 #include "MockLink.h"
 
-const MockLinkFileServer::ErrorMode_t MockLinkFileServer::rgFailureModes[] = {
-    MockLinkFileServer::errModeNoResponse,
-    MockLinkFileServer::errModeNakResponse,
-    MockLinkFileServer::errModeNoSecondResponse,
-    MockLinkFileServer::errModeNakSecondResponse,
-    MockLinkFileServer::errModeBadSequence,
+const MockLinkFTP::ErrorMode_t MockLinkFTP::rgFailureModes[] = {
+    MockLinkFTP::errModeNoResponse,
+    MockLinkFTP::errModeNakResponse,
+    MockLinkFTP::errModeNoSecondResponse,
+    MockLinkFTP::errModeNakSecondResponse,
+    MockLinkFTP::errModeBadSequence,
 };
-const size_t MockLinkFileServer::cFailureModes = sizeof(MockLinkFileServer::rgFailureModes) / sizeof(MockLinkFileServer::rgFailureModes[0]);
+const size_t MockLinkFTP::cFailureModes = sizeof(MockLinkFTP::rgFailureModes) / sizeof(MockLinkFTP::rgFailureModes[0]);
 
-const MockLinkFileServer::FileTestCase MockLinkFileServer::rgFileTestCases[MockLinkFileServer::cFileTestCases] = {
+const MockLinkFTP::FileTestCase MockLinkFTP::rgFileTestCases[MockLinkFTP::cFileTestCases] = {
     // File fits one Read Ack packet, partially filling data
-    { "partial.qgc",    sizeof(((FileManager::Request*)0)->data) - 1,     1,    false},
+    { "partial.qgc",    sizeof(((MavlinkFTP::Request*)0)->data) - 1,     1,    false},
     // File fits one Read Ack packet, exactly filling all data
-    { "exact.qgc",      sizeof(((FileManager::Request*)0)->data),         1,    true },
+    { "exact.qgc",      sizeof(((MavlinkFTP::Request*)0)->data),         1,    true },
     // File is larger than a single Read Ack packets, requires multiple Reads
-    { "multi.qgc",      sizeof(((FileManager::Request*)0)->data) + 1,     2,    false },
+    { "multi.qgc",      sizeof(((MavlinkFTP::Request*)0)->data) + 1,     2,    false },
 };
 
-// We only support a single fixed session
-const uint8_t MockLinkFileServer::_sessionId = 1;
-
-MockLinkFileServer::MockLinkFileServer(uint8_t systemIdServer, uint8_t componentIdServer, MockLink* mockLink) :
-    _errMode(errModeNone),
-    _systemIdServer(systemIdServer),
-    _componentIdServer(componentIdServer),
-    _mockLink(mockLink),
-    _lastReplyValid(false),
-    _lastReplySequence(0),
-    _randomDropsEnabled(false)
+MockLinkFTP::MockLinkFTP(uint8_t systemIdServer, uint8_t componentIdServer, MockLink* mockLink)
+    : _systemIdServer   (systemIdServer)
+    , _componentIdServer(componentIdServer)
+    , _mockLink         (mockLink)
 {
     srand(0); // make sure unit tests are deterministic
 }
 
-void MockLinkFileServer::ensureNullTemination(FileManager::Request* request)
+void MockLinkFTP::ensureNullTemination(MavlinkFTP::Request* request)
 {
     if (request->hdr.size < sizeof(request->data)) {
         request->data[request->hdr.size] = '\0';
@@ -56,11 +49,11 @@ void MockLinkFileServer::ensureNullTemination(FileManager::Request* request)
 
 /// @brief Handles List command requests. Only supports root folder paths.
 ///         File list returned is set using the setFileList method.
-void MockLinkFileServer::_listCommand(uint8_t senderSystemId, uint8_t senderComponentId, FileManager::Request* request, uint16_t seqNumber)
+void MockLinkFTP::_listCommand(uint8_t senderSystemId, uint8_t senderComponentId, MavlinkFTP::Request* request, uint16_t seqNumber)
 {
     // FIXME: Does not support directories that span multiple packets
     
-    FileManager::Request  ackResponse;
+    MavlinkFTP::Request  ackResponse;
     QString                     path;
     uint16_t                    outgoingSeqNumber = _nextSeqNumber(seqNumber);
 
@@ -69,18 +62,18 @@ void MockLinkFileServer::_listCommand(uint8_t senderSystemId, uint8_t senderComp
     // We only support root path
     path = (char *)&request->data[0];
     if (!path.isEmpty() && path != "/") {
-		_sendNak(senderSystemId, senderComponentId, FileManager::kErrFail, outgoingSeqNumber, FileManager::kCmdListDirectory);
+        _sendNak(senderSystemId, senderComponentId, MavlinkFTP::kErrFail, outgoingSeqNumber, MavlinkFTP::kCmdListDirectory);
         return;
     }
     
     // Offset requested is past the end of the list
     if (request->hdr.offset > (uint32_t)_fileList.size()) {
-        _sendNak(senderSystemId, senderComponentId, FileManager::kErrEOF, outgoingSeqNumber, FileManager::kCmdListDirectory);
+        _sendNak(senderSystemId, senderComponentId, MavlinkFTP::kErrEOF, outgoingSeqNumber, MavlinkFTP::kCmdListDirectory);
         return;
     }
     
-    ackResponse.hdr.opcode = FileManager::kRspAck;
-    ackResponse.hdr.req_opcode = FileManager::kCmdListDirectory;
+    ackResponse.hdr.opcode = MavlinkFTP::kRspAck;
+    ackResponse.hdr.req_opcode = MavlinkFTP::kCmdListDirectory;
     ackResponse.hdr.session = 0;
     ackResponse.hdr.offset = request->hdr.offset;
     ackResponse.hdr.size = 0;
@@ -100,23 +93,23 @@ void MockLinkFileServer::_listCommand(uint8_t senderSystemId, uint8_t senderComp
         _sendResponse(senderSystemId, senderComponentId, &ackResponse, outgoingSeqNumber);
     } else if (_errMode == errModeNakSecondResponse) {
         // Nak error all subsequent requests
-        _sendNak(senderSystemId, senderComponentId, FileManager::kErrFail, outgoingSeqNumber, FileManager::kCmdListDirectory);
+        _sendNak(senderSystemId, senderComponentId, MavlinkFTP::kErrFail, outgoingSeqNumber, MavlinkFTP::kCmdListDirectory);
         return;
     } else if (_errMode == errModeNoSecondResponse) {
         // No response for all subsequent requests
         return;
     } else {
         // FIXME: Does not support directories that span multiple packets
-        _sendNak(senderSystemId, senderComponentId, FileManager::kErrEOF, outgoingSeqNumber, FileManager::kCmdListDirectory);
+        _sendNak(senderSystemId, senderComponentId, MavlinkFTP::kErrEOF, outgoingSeqNumber, MavlinkFTP::kCmdListDirectory);
     }
 }
 
-/// @brief Handles Open command requests.
-void MockLinkFileServer::_openCommand(uint8_t senderSystemId, uint8_t senderComponentId, FileManager::Request* request, uint16_t seqNumber)
+void MockLinkFTP::_openCommand(uint8_t senderSystemId, uint8_t senderComponentId, MavlinkFTP::Request* request, uint16_t seqNumber)
 {
-    FileManager::Request  response;
-    QString                     path;
-    uint16_t                    outgoingSeqNumber = _nextSeqNumber(seqNumber);
+    MavlinkFTP::Request response;
+    QString             path;
+    uint16_t            outgoingSeqNumber = _nextSeqNumber(seqNumber);
+    QString             tmpFilename;
     
     ensureNullTemination(request);
 
@@ -124,58 +117,62 @@ void MockLinkFileServer::_openCommand(uint8_t senderSystemId, uint8_t senderComp
     Q_ASSERT(cchPath != sizeof(request->data));
     Q_UNUSED(cchPath); // Fix initialized-but-not-referenced warning on release builds
     path = (char *)request->data;
+
+    _currentFile.close();
     
     // 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;
+    for (const FileTestCase& testCase: rgFileTestCases) {
+        if (path == testCase.filename) {
+            tmpFilename = _createTestCaseTempFile(testCase);
             break;
         }
     }
 
-    if (!found) {
+    if (tmpFilename.isEmpty()) {
         if (path == "/version.json") {
-            qDebug() << "Requesting version json";
+            tmpFilename = ":MockLink/Version.MetaData.json";
         }
     }
 
-    if (!found) {
-        _sendNak(senderSystemId, senderComponentId, FileManager::kErrFail, outgoingSeqNumber, FileManager::kCmdOpenFileRO);
+    if (!tmpFilename.isEmpty()) {
+        _currentFile.setFileName(tmpFilename);
+        if (!_currentFile.open(QIODevice::ReadOnly)) {
+            _sendNakErrno(senderSystemId, senderComponentId, _currentFile.error(), outgoingSeqNumber, MavlinkFTP::kCmdOpenFileRO);
+            return;
+        }
+    } else {
+        _sendNak(senderSystemId, senderComponentId, MavlinkFTP::kErrFailFileNotFound, outgoingSeqNumber, MavlinkFTP::kCmdOpenFileRO);
         return;
     }
     
-    response.hdr.opcode = FileManager::kRspAck;
-	response.hdr.req_opcode = FileManager::kCmdOpenFileRO;
-    response.hdr.session = _sessionId;
+    response.hdr.opcode     = MavlinkFTP::kRspAck;
+    response.hdr.req_opcode = MavlinkFTP::kCmdOpenFileRO;
+    response.hdr.session    = _sessionId;
     
     // Data contains file length
     response.hdr.size = sizeof(uint32_t);
-    response.openFileLength = _readFileLength;
+    response.openFileLength = _currentFile.size();
     
     _sendResponse(senderSystemId, senderComponentId, &response, outgoingSeqNumber);
 }
 
-void MockLinkFileServer::_readCommand(uint8_t senderSystemId, uint8_t senderComponentId, FileManager::Request* request, uint16_t seqNumber)
+void MockLinkFTP::_readCommand(uint8_t senderSystemId, uint8_t senderComponentId, MavlinkFTP::Request* request, uint16_t seqNumber)
 {
-    FileManager::Request	response;
-    uint16_t				outgoingSeqNumber = _nextSeqNumber(seqNumber);
+    MavlinkFTP::Request	response;
+    uint16_t			outgoingSeqNumber = _nextSeqNumber(seqNumber);
 
     if (request->hdr.session != _sessionId) {
-		_sendNak(senderSystemId, senderComponentId, FileManager::kErrFail, outgoingSeqNumber, FileManager::kCmdReadFile);
+        _sendNak(senderSystemId, senderComponentId, MavlinkFTP::kErrInvalidSession, outgoingSeqNumber, MavlinkFTP::kCmdReadFile);
         return;
     }
     
     uint32_t readOffset = request->hdr.offset;  // offset into file for reading
-    uint8_t cDataBytes = 0;                     // current number of data bytes used
-    
+
     if (readOffset != 0) {
         // If we get here it means the client is requesting additional data past the first request
         if (_errMode == errModeNakSecondResponse) {
             // Nak error all subsequent requests
-            _sendNak(senderSystemId, senderComponentId, FileManager::kErrFail, outgoingSeqNumber, FileManager::kCmdReadFile);
+            _sendNak(senderSystemId, senderComponentId, MavlinkFTP::kErrFail, outgoingSeqNumber, MavlinkFTP::kCmdReadFile);
             return;
         } else if (_errMode == errModeNoSecondResponse) {
             // No rsponse for all subsequent requests
@@ -183,35 +180,35 @@ void MockLinkFileServer::_readCommand(uint8_t senderSystemId, uint8_t senderComp
         }
     }
     
-    if (readOffset >= _readFileLength) {
-        _sendNak(senderSystemId, senderComponentId, FileManager::kErrEOF, outgoingSeqNumber, FileManager::kCmdReadFile);
+    if (readOffset >= _currentFile.size()) {
+        _sendNak(senderSystemId, senderComponentId, MavlinkFTP::kErrEOF, outgoingSeqNumber, MavlinkFTP::kCmdReadFile);
         return;
     }
     
-    // Write file bytes. Data is a repeating sequence of 0x00, 0x01, .. 0xFF.
-    for (; cDataBytes < sizeof(response.data) && readOffset < _readFileLength; readOffset++, cDataBytes++) {
-        response.data[cDataBytes] = readOffset & 0xFF;
-    }
+    uint8_t cBytesToRead = (uint8_t)qMin((qint64)sizeof(response.data), _currentFile.size() - readOffset);
+    _currentFile.seek(readOffset);
+    QByteArray bytes = _currentFile.read(cBytesToRead);
+    memcpy(response.data, bytes.constData(), cBytesToRead);
     
     // We should always have written something, otherwise there is something wrong with the code above
-    Q_ASSERT(cDataBytes);
+    Q_ASSERT(cBytesToRead);
     
-    response.hdr.session = _sessionId;
-    response.hdr.size = cDataBytes;
-    response.hdr.offset = request->hdr.offset;
-    response.hdr.opcode = FileManager::kRspAck;
-	response.hdr.req_opcode = FileManager::kCmdReadFile;
+    response.hdr.session    = _sessionId;
+    response.hdr.size       = cBytesToRead;
+    response.hdr.offset     = request->hdr.offset;
+    response.hdr.opcode     = MavlinkFTP::kRspAck;
+    response.hdr.req_opcode = MavlinkFTP::kCmdReadFile;
 
     _sendResponse(senderSystemId, senderComponentId, &response, outgoingSeqNumber);
 }
 
-void MockLinkFileServer::_streamCommand(uint8_t senderSystemId, uint8_t senderComponentId, FileManager::Request* request, uint16_t seqNumber)
+void MockLinkFTP::_burstReadCommand(uint8_t senderSystemId, uint8_t senderComponentId, MavlinkFTP::Request* request, uint16_t seqNumber)
 {
     uint16_t                outgoingSeqNumber = _nextSeqNumber(seqNumber);
-    FileManager::Request    response;
+    MavlinkFTP::Request    response;
 
     if (request->hdr.session != _sessionId) {
-		_sendNak(senderSystemId, senderComponentId, FileManager::kErrFail, outgoingSeqNumber, FileManager::kCmdBurstReadFile);
+        _sendNak(senderSystemId, senderComponentId, MavlinkFTP::kErrFail, outgoingSeqNumber, MavlinkFTP::kCmdBurstReadFile);
         return;
     }
     
@@ -219,14 +216,14 @@ void MockLinkFileServer::_streamCommand(uint8_t senderSystemId, uint8_t senderCo
     uint32_t ackOffset = 0;     // offset for ack
     uint8_t cDataAck;           // number of bytes in ack
     
-    while (readOffset < _readFileLength) {
+    while (readOffset < _currentFile.size()) {
         cDataAck = 0;
         
         if (readOffset != 0) {
             // If we get here it means the client is requesting additional data past the first request
             if (_errMode == errModeNakSecondResponse) {
                 // Nak error all subsequent requests
-                _sendNak(senderSystemId, senderComponentId, FileManager::kErrFail, outgoingSeqNumber, FileManager::kCmdBurstReadFile);
+                _sendNak(senderSystemId, senderComponentId, MavlinkFTP::kErrFail, outgoingSeqNumber, MavlinkFTP::kCmdBurstReadFile);
                 return;
             } else if (_errMode == errModeNoSecondResponse) {
                 // No response for all subsequent requests
@@ -234,19 +231,19 @@ void MockLinkFileServer::_streamCommand(uint8_t senderSystemId, uint8_t senderCo
             }
         }
         
-        // Write file bytes. Data is a repeating sequence of 0x00, 0x01, .. 0xFF.
-        for (; cDataAck < sizeof(response.data) && readOffset < _readFileLength; readOffset++, cDataAck++) {
-            response.data[cDataAck] = readOffset & 0xFF;
-        }
-        
+        uint8_t cBytesToRead = (uint8_t)qMin((qint64)sizeof(response.data), _currentFile.size());
+        _currentFile.seek(readOffset);
+        QByteArray bytes = _currentFile.read(cBytesToRead);
+        memcpy(response.data, bytes.constData(), cBytesToRead);
+
         // We should always have written something, otherwise there is something wrong with the code above
-        Q_ASSERT(cDataAck);
+        Q_ASSERT(cBytesToRead);
         
         response.hdr.session = _sessionId;
         response.hdr.size = cDataAck;
-        response.hdr.offset = ackOffset;
-        response.hdr.opcode = FileManager::kRspAck;
-        response.hdr.req_opcode = FileManager::kCmdBurstReadFile;
+        response.hdr.offset = cBytesToRead;
+        response.hdr.opcode = MavlinkFTP::kRspAck;
+        response.hdr.req_opcode = MavlinkFTP::kCmdBurstReadFile;
         
         _sendResponse(senderSystemId, senderComponentId, &response, outgoingSeqNumber);
         
@@ -254,39 +251,39 @@ void MockLinkFileServer::_streamCommand(uint8_t senderSystemId, uint8_t senderCo
         ackOffset += cDataAck;
     }
 	
-    _sendNak(senderSystemId, senderComponentId, FileManager::kErrEOF, outgoingSeqNumber, FileManager::kCmdBurstReadFile);
+    _sendNak(senderSystemId, senderComponentId, MavlinkFTP::kErrEOF, outgoingSeqNumber, MavlinkFTP::kCmdBurstReadFile);
 }
 
-void MockLinkFileServer::_terminateCommand(uint8_t senderSystemId, uint8_t senderComponentId, FileManager::Request* request, uint16_t seqNumber)
+void MockLinkFTP::_terminateCommand(uint8_t senderSystemId, uint8_t senderComponentId, MavlinkFTP::Request* request, uint16_t seqNumber)
 {
     uint16_t outgoingSeqNumber = _nextSeqNumber(seqNumber);
 
     if (request->hdr.session != _sessionId) {
-		_sendNak(senderSystemId, senderComponentId, FileManager::kErrInvalidSession, outgoingSeqNumber, FileManager::kCmdTerminateSession);
+        _sendNak(senderSystemId, senderComponentId, MavlinkFTP::kErrInvalidSession, outgoingSeqNumber, MavlinkFTP::kCmdTerminateSession);
         return;
     }
     
-	_sendAck(senderSystemId, senderComponentId, outgoingSeqNumber, FileManager::kCmdTerminateSession);
+    _sendAck(senderSystemId, senderComponentId, outgoingSeqNumber, MavlinkFTP::kCmdTerminateSession);
 	
     emit terminateCommandReceived();
 }
 
-void MockLinkFileServer::_resetCommand(uint8_t senderSystemId, uint8_t senderComponentId, uint16_t seqNumber)
+void MockLinkFTP::_resetCommand(uint8_t senderSystemId, uint8_t senderComponentId, uint16_t seqNumber)
 {
     uint16_t outgoingSeqNumber = _nextSeqNumber(seqNumber);
     
-    _sendAck(senderSystemId, senderComponentId, outgoingSeqNumber, FileManager::kCmdResetSessions);
+    _sendAck(senderSystemId, senderComponentId, outgoingSeqNumber, MavlinkFTP::kCmdResetSessions);
     
     emit resetCommandReceived();
 }
 
-void MockLinkFileServer::handleFTPMessage(const mavlink_message_t& message)
+void MockLinkFTP::handleFTPMessage(const mavlink_message_t& message)
 {
     if (message.msgid != MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL) {
         return;
     }
     
-    FileManager::Request  ackResponse;
+    MavlinkFTP::Request  ackResponse;
 
     mavlink_file_transfer_protocol_t requestFTP;
     mavlink_msg_file_transfer_protocol_decode(&message, &requestFTP);
@@ -295,7 +292,7 @@ void MockLinkFileServer::handleFTPMessage(const mavlink_message_t& message)
         return;
     }
 
-    FileManager::Request* request = (FileManager::Request*)&requestFTP.payload[0];
+    MavlinkFTP::Request* request = (MavlinkFTP::Request*)&requestFTP.payload[0];
 
 	if (_randomDropsEnabled) {
 	    if (rand() % 3 == 0) {
@@ -315,67 +312,63 @@ void MockLinkFileServer::handleFTPMessage(const mavlink_message_t& message)
     uint16_t incomingSeqNumber = request->hdr.seqNumber;
     uint16_t outgoingSeqNumber = _nextSeqNumber(incomingSeqNumber);
     
-    if (request->hdr.opcode != FileManager::kCmdResetSessions && request->hdr.opcode != FileManager::kCmdTerminateSession) {
+    if (request->hdr.opcode != MavlinkFTP::kCmdResetSessions && request->hdr.opcode != MavlinkFTP::kCmdTerminateSession) {
         if (_errMode == errModeNoResponse) {
             // Don't respond to any requests, this shold cause the client to eventually timeout waiting for the ack
             return;
         } else if (_errMode == errModeNakResponse) {
             // Nak all requests, the actual error send back doesn't really matter as long as it's an error
-            _sendNak(message.sysid, message.compid, FileManager::kErrFail, outgoingSeqNumber, (FileManager::Opcode)request->hdr.opcode);
+            _sendNak(message.sysid, message.compid, MavlinkFTP::kErrFail, outgoingSeqNumber, (MavlinkFTP::OpCode_t)request->hdr.opcode);
             return;
         }
     }
 
     switch (request->hdr.opcode) {
-        case FileManager::kCmdTestNoAck:
-            // ignored, ack not sent back, for testing only
-            break;
-            
-        case FileManager::kCmdNone:
+        case MavlinkFTP::kCmdNone:
             // ignored, always acked
-            ackResponse.hdr.opcode = FileManager::kRspAck;
+            ackResponse.hdr.opcode = MavlinkFTP::kRspAck;
             ackResponse.hdr.session = 0;
             ackResponse.hdr.size = 0;
             _sendResponse(message.sysid, message.compid, &ackResponse, outgoingSeqNumber);
             break;
 
-        case FileManager::kCmdListDirectory:
+        case MavlinkFTP::kCmdListDirectory:
             _listCommand(message.sysid, message.compid, request, incomingSeqNumber);
             break;
             
-        case FileManager::kCmdOpenFileRO:
+        case MavlinkFTP::kCmdOpenFileRO:
             _openCommand(message.sysid, message.compid, request, incomingSeqNumber);
             break;
 
-        case FileManager::kCmdReadFile:
+        case MavlinkFTP::kCmdReadFile:
             _readCommand(message.sysid, message.compid, request, incomingSeqNumber);
             break;
 
-        case FileManager::kCmdBurstReadFile:
-            _streamCommand(message.sysid, message.compid, request, incomingSeqNumber);
+        case MavlinkFTP::kCmdBurstReadFile:
+            _burstReadCommand(message.sysid, message.compid, request, incomingSeqNumber);
             break;
 
-        case FileManager::kCmdTerminateSession:
+        case MavlinkFTP::kCmdTerminateSession:
             _terminateCommand(message.sysid, message.compid, request, incomingSeqNumber);
             break;
 
-        case FileManager::kCmdResetSessions:
+        case MavlinkFTP::kCmdResetSessions:
             _resetCommand(message.sysid, message.compid, incomingSeqNumber);
             break;
             
         default:
             // nack for all NYI opcodes
-            _sendNak(message.sysid, message.compid, FileManager::kErrUnknownCommand, outgoingSeqNumber, (FileManager::Opcode)request->hdr.opcode);
+            _sendNak(message.sysid, message.compid, MavlinkFTP::kErrUnknownCommand, outgoingSeqNumber, (MavlinkFTP::OpCode_t)request->hdr.opcode);
             break;
     }
 }
 
 /// @brief Sends an Ack
-void MockLinkFileServer::_sendAck(uint8_t targetSystemId, uint8_t targetComponentId, uint16_t seqNumber, FileManager::Opcode reqOpcode)
+void MockLinkFTP::_sendAck(uint8_t targetSystemId, uint8_t targetComponentId, uint16_t seqNumber, MavlinkFTP::OpCode_t reqOpcode)
 {
-    FileManager::Request ackResponse;
+    MavlinkFTP::Request ackResponse;
     
-    ackResponse.hdr.opcode = FileManager::kRspAck;
+    ackResponse.hdr.opcode = MavlinkFTP::kRspAck;
 	ackResponse.hdr.req_opcode = reqOpcode;
     ackResponse.hdr.session = 0;
     ackResponse.hdr.size = 0;
@@ -383,35 +376,48 @@ void MockLinkFileServer::_sendAck(uint8_t targetSystemId, uint8_t targetComponen
     _sendResponse(targetSystemId, targetComponentId, &ackResponse, seqNumber);
 }
 
-/// @brief Sends a Nak with the specified error code.
-void MockLinkFileServer::_sendNak(uint8_t targetSystemId, uint8_t targetComponentId, FileManager::ErrorCode error, uint16_t seqNumber, FileManager::Opcode reqOpcode)
+void MockLinkFTP::_sendNak(uint8_t targetSystemId, uint8_t targetComponentId, MavlinkFTP::ErrorCode_t error, uint16_t seqNumber, MavlinkFTP::OpCode_t reqOpcode)
 {
-    FileManager::Request nakResponse;
+    MavlinkFTP::Request nakResponse;
 
-    nakResponse.hdr.opcode = FileManager::kRspNak;
-	nakResponse.hdr.req_opcode = reqOpcode;
-    nakResponse.hdr.session = 0;
-    nakResponse.hdr.size = 1;
-    nakResponse.data[0] = error;
+    nakResponse.hdr.opcode      = MavlinkFTP::kRspNak;
+    nakResponse.hdr.req_opcode  = reqOpcode;
+    nakResponse.hdr.session     = 0;
+    nakResponse.hdr.size        = 1;
+    nakResponse.data[0]         = error;
     
     _sendResponse(targetSystemId, targetComponentId, &nakResponse, seqNumber);
 }
 
+void MockLinkFTP::_sendNakErrno(uint8_t targetSystemId, uint8_t targetComponentId, uint8_t nakErrno, uint16_t seqNumber, MavlinkFTP::OpCode_t reqOpcode)
+{
+    MavlinkFTP::Request nakResponse;
+
+    nakResponse.hdr.opcode      = MavlinkFTP::kRspNak;
+    nakResponse.hdr.req_opcode  = reqOpcode;
+    nakResponse.hdr.session     = 0;
+    nakResponse.hdr.size        = 2;
+    nakResponse.data[0]         = MavlinkFTP::kErrFailErrno;
+    nakResponse.data[1]         = nakErrno;
+
+    _sendResponse(targetSystemId, targetComponentId, &nakResponse, seqNumber);
+}
+
 /// @brief Emits a Request through the messageReceived signal.
-void MockLinkFileServer::_sendResponse(uint8_t targetSystemId, uint8_t targetComponentId, FileManager::Request* request, uint16_t seqNumber)
+void MockLinkFTP::_sendResponse(uint8_t targetSystemId, uint8_t targetComponentId, MavlinkFTP::Request* request, uint16_t seqNumber)
 {
     request->hdr.seqNumber = seqNumber;
     _lastReplySequence = seqNumber;
     _lastReplyValid = true;
     
-    mavlink_msg_file_transfer_protocol_pack_chan(_systemIdServer,    // System ID
-                                                 0,                  // Component ID
+    mavlink_msg_file_transfer_protocol_pack_chan(_systemIdServer,               // System ID
+                                                 _componentIdServer,            // Component ID
                                                  _mockLink->mavlinkChannel(),
-                                                 &_lastReply,    // Mavlink Message to pack into
-                                                 0,                  // Target network
+                                                 &_lastReply,                   // Mavlink Message to pack into
+                                                 0,                             // Target network
                                                  targetSystemId,
                                                  targetComponentId,
-                                                 (uint8_t*)request); // Payload
+                                                 (uint8_t*)request);            // Payload
 
 	if (_randomDropsEnabled) {
 	    if (rand() % 3 == 0) {
@@ -425,7 +431,7 @@ void MockLinkFileServer::_sendResponse(uint8_t targetSystemId, uint8_t targetCom
 
 /// @brief Generates the next sequence number given an incoming sequence number. Handles generating
 /// bad sequence numbers when errModeBadSequence is set.
-uint16_t MockLinkFileServer::_nextSeqNumber(uint16_t seqNumber)
+uint16_t MockLinkFTP::_nextSeqNumber(uint16_t seqNumber)
 {
     uint16_t outgoingSeqNumber = seqNumber + 1;
     
@@ -434,3 +440,14 @@ uint16_t MockLinkFileServer::_nextSeqNumber(uint16_t seqNumber)
     }
     return outgoingSeqNumber;
 }
+
+QString MockLinkFTP::_createTestCaseTempFile(const FileTestCase& testCase)
+{
+    QGCTemporaryFile tmpFile("MockLinkFTPTestCase");
+    tmpFile.open(QIODevice::WriteOnly | QIODevice::Truncate);
+    for (int i=0; i<testCase.length; i++) {
+        tmpFile.write(QByteArray(1, i % 255));
+    }
+    tmpFile.close();
+    return tmpFile.fileName();
+}

src/comm/MockLinkFileServer.h → src/comm/MockLinkFTP.h

@@ -8,24 +8,22 @@
  ****************************************************************************/
 
 
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
 #pragma once
 
-#include "FileManager.h"
+#include "QGCMAVLink.h"
 
 #include <QStringList>
+#include <QFile>
 
 class MockLink;
 
 /// Mock implementation of Mavlink FTP server.
-class MockLinkFileServer : public QObject
+class MockLinkFTP : public QObject
 {
     Q_OBJECT
     
 public:
-    MockLinkFileServer(uint8_t systemIdServer, uint8_t componentIdServer, MockLink* mockLink);
+    MockLinkFTP(uint8_t systemIdServer, uint8_t componentIdServer, MockLink* mockLink);
     
     /// @brief Sets the list of files returned by the List command. Prepend names with F or D
     /// to indicate (F)ile or (D)irectory.
@@ -54,7 +52,7 @@ public:
     
     /// Called to handle an FTP message
     void handleFTPMessage(const mavlink_message_t& message);
-    
+
     /// @brief Used to represent a single test case for download testing.
     struct FileTestCase {
         const char* filename;               ///< Filename to download
@@ -79,33 +77,34 @@ signals:
     void resetCommandReceived(void);
     
 private:
-	void _sendAck(uint8_t targetSystemId, uint8_t targetComponentId, uint16_t seqNumber, FileManager::Opcode reqOpcode);
-    void _sendNak(uint8_t targetSystemId, uint8_t targetComponentId, FileManager::ErrorCode error, uint16_t seqNumber, FileManager::Opcode reqOpcode);
-    void _sendResponse(uint8_t targetSystemId, uint8_t targetComponentId, FileManager::Request* request, uint16_t seqNumber);
-    void _listCommand(uint8_t senderSystemId, uint8_t senderComponentId, FileManager::Request* request, uint16_t seqNumber);
-    void _openCommand(uint8_t senderSystemId, uint8_t senderComponentId, FileManager::Request* request, uint16_t seqNumber);
-    void _readCommand(uint8_t senderSystemId, uint8_t senderComponentId, FileManager::Request* request, uint16_t seqNumber);
-	void _streamCommand(uint8_t senderSystemId, uint8_t senderComponentId, FileManager::Request* request, uint16_t seqNumber);
-    void _terminateCommand(uint8_t senderSystemId, uint8_t senderComponentId, FileManager::Request* request, uint16_t seqNumber);
-    void _resetCommand(uint8_t senderSystemId, uint8_t senderComponentId, uint16_t seqNumber);
-    uint16_t _nextSeqNumber(uint16_t seqNumber);
+    void        _sendAck                (uint8_t targetSystemId, uint8_t targetComponentId, uint16_t seqNumber, MavlinkFTP::OpCode_t reqOpCode);
+    void        _sendNak                (uint8_t targetSystemId, uint8_t targetComponentId, MavlinkFTP::ErrorCode_t error, uint16_t seqNumber, MavlinkFTP::OpCode_t reqOpCode);
+    void        _sendNakErrno           (uint8_t targetSystemId, uint8_t targetComponentId, uint8_t nakErrno, uint16_t seqNumber, MavlinkFTP::OpCode_t reqOpCode);
+    void        _sendResponse           (uint8_t targetSystemId, uint8_t targetComponentId, MavlinkFTP::Request* request, uint16_t seqNumber);
+    void        _listCommand            (uint8_t senderSystemId, uint8_t senderComponentId, MavlinkFTP::Request* request, uint16_t seqNumber);
+    void        _openCommand            (uint8_t senderSystemId, uint8_t senderComponentId, MavlinkFTP::Request* request, uint16_t seqNumber);
+    void        _readCommand            (uint8_t senderSystemId, uint8_t senderComponentId, MavlinkFTP::Request* request, uint16_t seqNumber);
+    void        _burstReadCommand          (uint8_t senderSystemId, uint8_t senderComponentId, MavlinkFTP::Request* request, uint16_t seqNumber);
+    void        _terminateCommand       (uint8_t senderSystemId, uint8_t senderComponentId, MavlinkFTP::Request* request, uint16_t seqNumber);
+    void        _resetCommand           (uint8_t senderSystemId, uint8_t senderComponentId, uint16_t seqNumber);
+    uint16_t    _nextSeqNumber          (uint16_t seqNumber);
+    QString     _createTestCaseTempFile (const FileTestCase& testCase);
     
     /// if request is a string, this ensures it's null-terminated
-    static void ensureNullTemination(FileManager::Request* request);
+    static void ensureNullTemination(MavlinkFTP::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
-    ErrorMode_t             _errMode;           ///< Currently set error mode, as specified by setErrorMode
-    const uint8_t           _systemIdServer;    ///< System ID for server
-    const uint8_t           _componentIdServer; ///< Component ID for server
-    MockLink*               _mockLink;          ///< MockLink to communicate through
-
-    bool _lastReplyValid;
-    uint16_t _lastReplySequence;
-    mavlink_message_t _lastReply;
+    QFile                   _currentFile;
+    ErrorMode_t             _errMode            = errModeNone;  ///< Currently set error mode, as specified by setErrorMode
+    const uint8_t           _systemIdServer;                    ///< System ID for server
+    const uint8_t           _componentIdServer;                 ///< Component ID for server
+    MockLink*               _mockLink;                          ///< MockLink to communicate through
+    bool                    _lastReplyValid     = false;
+    uint16_t                _lastReplySequence  = 0;
+    mavlink_message_t       _lastReply;
+    bool                    _randomDropsEnabled = false;
 
-    bool _randomDropsEnabled;
+    static const uint8_t    _sessionId          = 1;    ///< We only support a single fixed session
 };
 

src/comm/QGCMAVLink.cc

@@ -80,3 +80,77 @@ QString  QGCMAVLink::mavResultToString(MAV_RESULT result)
         return QStringLiteral("MAV_RESULT unknown %1").arg(result);
     }
 }
+
+QString MavlinkFTP::opCodeToString(OpCode_t opCode)
+{
+    switch (opCode) {
+    case kCmdNone:
+        return "None";
+    case kCmdTerminateSession:
+        return "Terminate Session";
+    case kCmdResetSessions:
+        return "Reset Sessions";
+    case kCmdListDirectory:
+        return "List Directory";
+    case kCmdOpenFileRO:
+        return "Open File RO";
+    case kCmdReadFile:
+        return "Read File";
+    case kCmdCreateFile:
+        return "Create File";
+    case kCmdWriteFile:
+        return "Write File";
+    case kCmdRemoveFile:
+        return "Remove File";
+    case kCmdCreateDirectory:
+        return "Create Directory";
+    case kCmdRemoveDirectory:
+        return "Remove Directory";
+    case kCmdOpenFileWO:
+        return "Open File WO";
+    case kCmdTruncateFile:
+        return "Truncate File";
+    case kCmdRename:
+        return "Rename";
+    case kCmdCalcFileCRC32:
+        return "Calc File CRC32";
+    case kCmdBurstReadFile:
+        return "Burst Read File";
+    case kRspAck:
+        return "Ack";
+    case kRspNak:
+        return "Nak";
+    }
+
+    return "Unknown OpCode";
+}
+
+QString MavlinkFTP::errorCodeToString(ErrorCode_t errorCode)
+{
+    switch (errorCode) {
+    case kErrNone:
+        return "None";
+    case kErrFail:
+        return "Fail";
+    case kErrFailErrno:
+        return "Fail Errorno";
+    case kErrInvalidDataSize:
+        return "Invalid Data Size";
+    case kErrInvalidSession:
+        return "Invalid Session";
+    case kErrNoSessionsAvailable:
+        return "No Sessions Available";
+    case kErrEOF:
+        return "EOF";
+    case kErrUnknownCommand:
+        return "Unknown Command";
+    case kErrFailFileExists:
+        return "File Already Exists";
+    case kErrFailFileProtected:
+        return "File Protected";
+    case kErrFailFileNotFound:
+        return "File Not Found";
+    }
+
+    return "Unknown Error";
+}

src/comm/QGCMAVLink.h

@@ -40,6 +40,12 @@ extern mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
 #pragma warning(pop, 0)
 #endif
 
+#ifdef __GNUC__
+#define PACKED_STRUCT( __Declaration__ ) __Declaration__ __attribute__((packed))
+#else
+#define PACKED_STRUCT( __Declaration__ ) __pragma( pack(push, 1) ) __Declaration__ __pragma( pack(pop) )
+#endif
+
 class QGCMAVLink {
 public:
     static bool     isFixedWing         (MAV_TYPE mavType);
@@ -50,4 +56,78 @@ public:
     static QString  mavResultToString   (MAV_RESULT result);
 };
 
+class MavlinkFTP {
+public:
+    /// This is the fixed length portion of the protocol data.
+    /// This needs to be packed, because it's typecasted from mavlink_file_transfer_protocol_t.payload, which starts
+    /// at a 3 byte offset, causing an unaligned access to seq_number and offset
+    PACKED_STRUCT(
+            typedef struct RequestHeader {
+                uint16_t    seqNumber;      ///< sequence number for message
+                uint8_t     session;        ///< Session id for read and write commands
+                uint8_t     opcode;         ///< Command opcode
+                uint8_t     size;           ///< Size of data
+                uint8_t     req_opcode;     ///< Request opcode returned in kRspAck, kRspNak message
+                uint8_t     burstComplete;  ///< Only used if req_opcode=kCmdBurstReadFile - 1: set of burst packets complete, 0: More burst packets coming.
+                uint8_t     paddng;        ///< 32 bit aligment padding
+                uint32_t    offset;         ///< Offsets for List and Read commands
+            }) RequestHeader;
+
+    PACKED_STRUCT(
+            typedef struct Request{
+                RequestHeader hdr;
+
+                // We use a union here instead of just casting (uint32_t)&payload[0] to not break strict aliasing rules
+                union {
+                    // The entire Request must fit into the payload member of the mavlink_file_transfer_protocol_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_file_transfer_protocol_t*)0)->payload) - sizeof(RequestHeader)];
 
+                    // File length returned by Open command
+                    uint32_t openFileLength;
+
+                    // Length of file chunk written by write command
+                    uint32_t writeFileLength;
+                };
+            }) Request;
+
+    typedef enum {
+        kCmdNone = 0,           ///< ignored, always acked
+        kCmdTerminateSession,	///< Terminates open Read session
+        kCmdResetSessions,		///< Terminates all open Read sessions
+        kCmdListDirectory,		///< List files in <path> from <offset>
+        kCmdOpenFileRO,			///< Opens file at <path> for reading, returns <session>
+        kCmdReadFile,			///< Reads <size> bytes from <offset> in <session>
+        kCmdCreateFile,			///< Creates file at <path> for writing, returns <session>
+        kCmdWriteFile,			///< Writes <size> bytes to <offset> in <session>
+        kCmdRemoveFile,			///< Remove file at <path>
+        kCmdCreateDirectory,	///< Creates directory at <path>
+        kCmdRemoveDirectory,	///< Removes Directory at <path>, must be empty
+        kCmdOpenFileWO,			///< Opens file at <path> for writing, returns <session>
+        kCmdTruncateFile,		///< Truncate file at <path> to <offset> length
+        kCmdRename,				///< Rename <path1> to <path2>
+        kCmdCalcFileCRC32,		///< Calculate CRC32 for file at <path>
+        kCmdBurstReadFile,      ///< Burst download session file
+
+        kRspAck = 128,          ///< Ack response
+        kRspNak,                ///< Nak response
+    } OpCode_t;
+
+    /// @brief Error codes returned in Nak response PayloadHeader.data[0].
+   typedef enum {
+        kErrNone = 0,
+        kErrFail,                   ///< Unknown failure
+        kErrFailErrno,              ///< errno sent back in PayloadHeader.data[1]
+        kErrInvalidDataSize,		///< PayloadHeader.size is invalid
+        kErrInvalidSession,         ///< Session is not currently open
+        kErrNoSessionsAvailable,	///< All available Sessions in use
+        kErrEOF,                    ///< Offset past end of file for List and Read commands
+        kErrUnknownCommand,         ///< Unknown command opcode
+        kErrFailFileExists,         ///< File exists already
+        kErrFailFileProtected,      ///< File is write protected
+        kErrFailFileNotFound
+    } ErrorCode_t;
+
+    static QString opCodeToString   (OpCode_t opCode);
+    static QString errorCodeToString(ErrorCode_t errorCode);
+};

src/qgcunittest/UnitTestList.cc

@@ -46,6 +46,8 @@
 #include "CameraCalcTest.h"
 #include "FWLandingPatternTest.h"
 #include "RequestMessageTest.h"
+#include "InitialConnectTest.h"
+#include "FTPManagerTest.h"
 
 UT_REGISTER_TEST(FactSystemTestGeneric)
 UT_REGISTER_TEST(FactSystemTestPX4)
@@ -56,6 +58,8 @@ UT_REGISTER_TEST(LinkManagerTest)
 UT_REGISTER_TEST(SendMavCommandWithSignallingTest)
 UT_REGISTER_TEST(SendMavCommandWithHandlerTest)
 UT_REGISTER_TEST(RequestMessageTest)
+UT_REGISTER_TEST(FTPManagerTest)
+UT_REGISTER_TEST(InitialConnectTest)
 UT_REGISTER_TEST(MissionItemTest)
 UT_REGISTER_TEST(SimpleMissionItemTest)
 UT_REGISTER_TEST(MissionControllerTest)

src/uas/FileManager.h

-/****************************************************************************
- *
- * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- *
- * QGroundControl is licensed according to the terms in the file
- * COPYING.md in the root of the source code directory.
- *
- ****************************************************************************/
-
-
-#pragma once
-
-#include <QObject>
-#include <QDir>
-#include <QTimer>
-#include <QQueue>
-
-#include "UASInterface.h"
-#include "QGCLoggingCategory.h"
-
-#ifdef __GNUC__
-  #define PACKED_STRUCT( __Declaration__ ) __Declaration__ __attribute__((packed))
-#else
-  #define PACKED_STRUCT( __Declaration__ ) __pragma( pack(push, 1) ) __Declaration__ __pragma( pack(pop) )
-#endif
-
-
-Q_DECLARE_LOGGING_CATEGORY(FileManagerLog)
-
-class Vehicle;
-
-class FileManager : public QObject
-{
-    Q_OBJECT
-    
-public:
-    FileManager(QObject* parent, Vehicle* vehicle);
-    FileManager(QObject* parent, LinkInterface *link, uint8_t systemIdQGC, uint8_t systemIdServer);
-    
-    /// These methods are only used for testing purposes.
-    bool _sendCmdTestAck(void) { return _sendOpcodeOnlyCmd(kCmdNone, kCOAck); };
-    bool _sendCmdTestNoAck(void) { return _sendOpcodeOnlyCmd(kCmdTestNoAck, kCOAck); };
-    
-    /// Timeout in msecs to wait for an Ack time come back. This is public so we can write unit tests which wait long enough
-    /// for the FileManager to timeout.
-    static const int ackTimerTimeoutMsecs = 5000;
-
-    static const int ackTimerMaxRetries = 6;
-
-    int _ackTimerTimeoutMsecs = ackTimerTimeoutMsecs;
-
-    int _ackTimerMaxRetries = ackTimerMaxRetries;
-
-
-	/// Downloads the specified file.
-	///     @param from File to download from UAS, fully qualified path
-	///     @param downloadDir Local directory to download file to
-	void downloadPath(const QString& from, const QDir& downloadDir);
-	
-	/// Stream downloads the specified file.
-	///     @param from File to download from UAS, fully qualified path
-	///     @param downloadDir Local directory to download file to
-	void streamPath(const QString& from, const QDir& downloadDir);
-	
-	/// Lists the specified directory. Emits listEntry signal for each entry, followed by listComplete signal.
-	///		@param dirPath Fully qualified path to list
-	void listDirectory(const QString& dirPath);
-	
-    /// Upload the specified file to the specified location
-    void uploadPath(const QString& toPath, const QFileInfo& uploadFile);
-    
-    /// Create a remote directory
-    void createDirectory(const QString& directory);
-
-signals:
-    // Signals associated with the listDirectory method
-    
-    /// Signalled to indicate a new directory entry was received.
-    void listEntry(const QString& entry);
-    
-    // Signals associated with all commands
-    
-    /// Signalled after a command has completed
-    void commandComplete(void);
-    
-    /// Signalled when an error occurs during a command. In this case a commandComplete signal will
-    /// not be sent.
-    void commandError(const QString& msg);
-    
-    /// Signalled during a lengthy command to show progress
-    ///     @param value Amount of progress: 0.0 = none, 1.0 = complete
-    void commandProgress(int value);
-
-    /// Used internally to move sendMessage call to main thread
-    void _sendMessageOnLinkOnThread(LinkInterface* link, mavlink_message_t message);
-
-public slots:
-    void receiveMessage(mavlink_message_t message);
-	
-private slots:
-	void _ackTimeout(void);
-
-private:
-    /// @brief This is the fixed length portion of the protocol data.
-    /// This needs to be packed, because it's typecasted from mavlink_file_transfer_protocol_t.payload, which starts
-    /// at a 3 byte offset, causing an unaligned access to seq_number and offset
-    PACKED_STRUCT(
-    typedef struct _RequestHeader
-        {
-            uint16_t    seqNumber;      ///< sequence number for message
-            uint8_t     session;        ///< Session id for read and write commands
-            uint8_t     opcode;         ///< Command opcode
-            uint8_t     size;           ///< Size of data
-            uint8_t     req_opcode;     ///< Request opcode returned in kRspAck, kRspNak message
-            uint8_t     burstComplete;  ///< Only used if req_opcode=kCmdBurstReadFile - 1: set of burst packets complete, 0: More burst packets coming.
-            uint8_t     padding;        ///< 32 bit aligment padding
-            uint32_t    offset;         ///< Offsets for List and Read commands
-        }) RequestHeader;
-
-    PACKED_STRUCT(
-    typedef struct _Request
-    {
-        RequestHeader hdr;
-
-        // We use a union here instead of just casting (uint32_t)&payload[0] to not break strict aliasing rules
-        union {
-            // The entire Request must fit into the payload member of the mavlink_file_transfer_protocol_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_file_transfer_protocol_t*)0)->payload) - sizeof(RequestHeader)];
-			
-            // File length returned by Open command
-            uint32_t openFileLength;
-
-            // Length of file chunk written by write command
-            uint32_t writeFileLength;
-        };
-    }) Request;
-
-    enum Opcode
-	{
-		kCmdNone,				///< ignored, always acked
-		kCmdTerminateSession,	///< Terminates open Read session
-		kCmdResetSessions,		///< Terminates all open Read sessions
-		kCmdListDirectory,		///< List files in <path> from <offset>
-		kCmdOpenFileRO,			///< Opens file at <path> for reading, returns <session>
-		kCmdReadFile,			///< Reads <size> bytes from <offset> in <session>
-		kCmdCreateFile,			///< Creates file at <path> for writing, returns <session>
-		kCmdWriteFile,			///< Writes <size> bytes to <offset> in <session>
-		kCmdRemoveFile,			///< Remove file at <path>
-		kCmdCreateDirectory,	///< Creates directory at <path>
-		kCmdRemoveDirectory,	///< Removes Directory at <path>, must be empty
-		kCmdOpenFileWO,			///< Opens file at <path> for writing, returns <session>
-		kCmdTruncateFile,		///< Truncate file at <path> to <offset> length
-		kCmdRename,				///< Rename <path1> to <path2>
-		kCmdCalcFileCRC32,		///< Calculate CRC32 for file at <path>
-		kCmdBurstReadFile,      ///< Burst download session file
-		
-		kRspAck = 128,          ///< Ack response
-		kRspNak,                ///< Nak response
-
-        // Used for testing only, not part of protocol
-        kCmdTestNoAck,          ///< ignored, ack not sent back, should timeout waiting for ack
-	};
-	
-	/// @brief Error codes returned in Nak response PayloadHeader.data[0].
-	enum ErrorCode
-    {
-		kErrNone,
-		kErrFail,                   ///< Unknown failure
-		kErrFailErrno,              ///< errno sent back in PayloadHeader.data[1]
-		kErrInvalidDataSize,		///< PayloadHeader.size is invalid
-		kErrInvalidSession,         ///< Session is not currently open
-		kErrNoSessionsAvailable,	///< All available Sessions in use
-		kErrEOF,                    ///< Offset past end of file for List and Read commands
-        kErrUnknownCommand,          ///< Unknown command opcode
-        kErrFailFileExists,         ///< File exists already
-        kErrFailFileProtected       ///< File is write protected
-    };
-
-    enum OperationState
-        {
-            kCOIdle,		// not doing anything
-            kCOAck,			// waiting for an Ack
-            kCOList,		// waiting for List response
-            kCOOpenRead,    // waiting for Open response followed by Read download
-			kCOOpenBurst,   // waiting for Open response, followed by Burst download
-            kCORead,		// waiting for Read response
-			kCOBurst,		// waiting for Burst response
-            kCOWrite,       // waiting for Write response
-            kCOCreate,      // waiting for Create response
-            kCOCreateDir,   // waiting for Create Directory response
-        };
-    
-    bool _sendOpcodeOnlyCmd(uint8_t opcode, OperationState newOpState);
-    void _setupAckTimeout(void);
-    void _clearAckTimeout(void);
-    void _emitErrorMessage(const QString& msg);
-    void _emitListEntry(const QString& entry);
-    void _sendRequest(Request* request);
-    void _sendRequestNoAck(Request* request);
-    void _sendMessageOnLink(LinkInterface* link, mavlink_message_t message);
-    void _fillRequestWithString(Request* request, const QString& str);
-    void _openAckResponse(Request* openAck);
-    void _downloadAckResponse(Request* readAck, bool readFile);
-    void _listAckResponse(Request* listAck);
-    void _createAckResponse(Request* createAck);
-    void _writeAckResponse(Request* writeAck);
-    void _writeFileDatablock(void);
-    void _sendListCommand(void);
-    void _sendResetCommand(void);
-    void _closeDownloadSession(bool success);
-    void _closeUploadSession(bool success);
-    void _downloadWorker(const QString& from, const QDir& downloadDir, bool readFile);
-    void _requestMissingData();
-    
-    static QString errorString(uint8_t errorCode);
-
-    OperationState  _currentOperation;              ///< Current operation of state machine
-    QTimer          _ackTimer;                      ///< Used to signal a timeout waiting for an ack
-    int             _ackNumTries;                   ///< current number of tries
-    
-    Vehicle*        _vehicle;
-    LinkInterface*  _dedicatedLink; ///< Link to use for communication
-    
-    Request  _lastOutgoingRequest; ///< contains the last outgoing packet
-
-    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
-    
-    uint32_t    _writeOffset;               ///< current write offset
-    uint32_t    _writeSize;                 ///< current write data size
-    uint32_t    _writeFileSize;             ///< Size of file being uploaded
-    QByteArray  _writeFileAccumulator;      ///< Holds file being uploaded
-    
-    struct MissingData {
-        uint32_t offset;
-        uint32_t size;
-    };
-    uint32_t    _downloadOffset;            ///< current download offset
-    uint32_t    _missingDownloadedBytes;    ///< number of missing bytes for burst download
-    QQueue<MissingData> _missingData;       ///< missing chunks of downloaded file (for burst downloads)
-    bool        _downloadingMissingParts;   ///< true if we are currently downloading missing parts
-    QByteArray  _readFileAccumulator;       ///< Holds file being downloaded
-    QDir        _readFileDownloadDir;       ///< Directory to download file to
-    QString     _readFileDownloadFilename;  ///< Filename (no path) for download file
-    uint32_t    _downloadFileSize;          ///< Size of file being downloaded
-
-    uint8_t     _systemIdQGC;               ///< System ID for QGC
-    uint8_t     _systemIdServer;            ///< System ID for server
-    
-    // We give MockLinkFileServer friend access so that it can use the data structures and opcodes
-    // to build a mock mavlink file server for testing.
-    friend class MockLinkFileServer;
-};
-

src/uas/UAS.cc

@@ -60,10 +60,6 @@ UAS::UAS(MAVLinkProtocol* protocol, Vehicle* vehicle, FirmwarePluginManager * fi
     controlYawManual(true),
     controlThrustManual(true),
 
-#ifndef __mobile__
-    fileManager(this, vehicle),
-#endif
-
     attitudeKnown(false),
     attitudeStamped(false),
     lastAttitude(0),
@@ -113,10 +109,6 @@ UAS::UAS(MAVLinkProtocol* protocol, Vehicle* vehicle, FirmwarePluginManager * fi
     _firmwarePluginManager(firmwarePluginManager)
 {
 
-#ifndef __mobile__
-    connect(_vehicle, &Vehicle::mavlinkMessageReceived, &fileManager, &FileManager::receiveMessage);
-#endif
-
 }
 
 /**

src/uas/UAS.h

@@ -20,10 +20,6 @@
 #include "Vehicle.h"
 #include "FirmwarePluginManager.h"
 
-#ifndef __mobile__
-#include "FileManager.h"
-#endif
-
 Q_DECLARE_LOGGING_CATEGORY(UASLog)
 
 class Vehicle;
@@ -109,10 +105,6 @@ public:
         temperature_var = var;
     }
 
-#ifndef __mobile__
-    friend class FileManager;
-#endif
-
 protected:
     /// LINK ID AND STATUS
     int uasId;                    ///< Unique system ID
@@ -138,10 +130,6 @@ protected:
     /// POSITION
     bool isGlobalPositionKnown; ///< If the global position has been received for this MAV
 
-#ifndef __mobile__
-    FileManager   fileManager;
-#endif
-
     /// ATTITUDE
     bool attitudeKnown;             ///< True if attitude was received, false else
     bool attitudeStamped;           ///< Should arriving data be timestamped with the last attitude? This helps with broken system time clocks on the MAV
@@ -182,10 +170,6 @@ public:
     /** @brief Get the human-readable status message for this code */
     void getStatusForCode(int statusCode, QString& uasState, QString& stateDescription);
 
-#ifndef __mobile__
-    virtual FileManager* getFileManager() { return &fileManager; }
-#endif
-
     QImage getImage();
     void requestImage();
 

src/uas/UASInterface.h

@@ -21,10 +21,6 @@
 
 #include "LinkInterface.h"
 
-#ifndef __mobile__
-class FileManager;
-#endif
-
 /**
  * @brief Interface for all robots.
  *
@@ -43,10 +39,6 @@ public:
     /** @brief The time interval the robot is switched on **/
     virtual quint64 getUptime() const = 0;
 
-#ifndef __mobile__
-    virtual FileManager* getFileManager() = 0;
-#endif
-
     enum StartCalibrationType {
         StartCalibrationRadio,
         StartCalibrationGyro,