Merge pull request #725 from DonLakeFlyer/mavlink-ftp

Mavlink FTP implementation List command

qgroundcontrol.pro

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

src/qgcunittest/MockMavlinkFileServer.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#include "MockMavlinkFileServer.h"
+
+void MockMavlinkFileServer::sendMessage(mavlink_message_t message)
+{
+    QGCUASFileManager::Request  ackResponse;
+    QString                     path;
+
+    Q_ASSERT(message.msgid == MAVLINK_MSG_ID_ENCAPSULATED_DATA);
+
+    mavlink_encapsulated_data_t requestEncapsulatedData;
+    mavlink_msg_encapsulated_data_decode(&message, &requestEncapsulatedData);
+    QGCUASFileManager::Request* request = (QGCUASFileManager::Request*)&requestEncapsulatedData.data[0];
+    
+    // Validate CRC
+    if (request->hdr.crc32 != QGCUASFileManager::crc32(request)) {
+        _sendNak(QGCUASFileManager::kErrCrc);
+    }
+
+    switch (request->hdr.opcode) {
+        case QGCUASFileManager::kCmdTestNoAck:
+            // ignored, ack not sent back, for testing only
+            break;
+            
+        case QGCUASFileManager::kCmdReset:
+            // terminates all sessions
+            // Fall through to send back Ack
+
+        case QGCUASFileManager::kCmdNone:
+            // ignored, always acked
+            ackResponse.hdr.magic = 'f';
+            ackResponse.hdr.opcode = QGCUASFileManager::kRspAck;
+            ackResponse.hdr.session = 0;
+            ackResponse.hdr.crc32 = 0;
+            ackResponse.hdr.size = 0;
+            _emitResponse(&ackResponse);
+            break;
+
+        case QGCUASFileManager::kCmdList:
+            // We only support root path
+            path = (char *)&request->data[0];
+            if (!path.isEmpty() && path != "/") {
+                _sendNak(QGCUASFileManager::kErrNotDir);
+                break;
+            }
+            
+            if (request->hdr.offset > (uint32_t)_fileList.size()) {
+                _sendNak(QGCUASFileManager::kErrEOF);
+                break;
+            }
+            
+            ackResponse.hdr.magic = 'f';
+            ackResponse.hdr.opcode = QGCUASFileManager::kRspAck;
+            ackResponse.hdr.session = 0;
+            ackResponse.hdr.size = 0;
+            
+            if (request->hdr.offset == 0) {
+                // Requesting first batch of file names
+                Q_ASSERT(_fileList.size());
+                char *bufPtr = (char *)&ackResponse.data[0];
+                for (int i=0; i<_fileList.size(); i++) {
+                    const char *filename = _fileList[i].toStdString().c_str();
+                    size_t cchFilename = strlen(filename);
+                    strcpy(bufPtr, filename);
+                    ackResponse.hdr.size += cchFilename + 1;
+                    bufPtr += cchFilename + 1;
+                }
+                
+                // Final double termination
+                *bufPtr = 0;
+                ackResponse.hdr.size++;
+
+            } else {
+                // All filenames fit in first ack, send final null terminated ack
+                ackResponse.data[0] = 0;
+                ackResponse.hdr.size = 1;
+            }
+            
+            _emitResponse(&ackResponse);
+
+            break;
+            
+        // Remainder of commands are NYI
+
+        case QGCUASFileManager::kCmdTerminate:
+            // releases sessionID, closes file
+        case QGCUASFileManager::kCmdOpen:
+            // opens <path> for reading, returns <session>
+        case QGCUASFileManager::kCmdRead:
+            // reads <size> bytes from <offset> in <session>
+        case QGCUASFileManager::kCmdCreate:
+            // creates <path> for writing, returns <session>
+        case QGCUASFileManager::kCmdWrite:
+            // appends <size> bytes at <offset> in <session>
+        case QGCUASFileManager::kCmdRemove:
+            // remove file (only if created by server?)
+        default:
+            // nack for all NYI opcodes
+            _sendNak(QGCUASFileManager::kErrUnknownCommand);
+            break;
+    }
+}
+
+void MockMavlinkFileServer::_sendNak(QGCUASFileManager::ErrorCode error)
+{
+    QGCUASFileManager::Request nakResponse;
+
+    nakResponse.hdr.magic = 'f';
+    nakResponse.hdr.opcode = QGCUASFileManager::kRspNak;
+    nakResponse.hdr.session = 0;
+    nakResponse.hdr.size = sizeof(nakResponse.data[0]);
+    nakResponse.data[0] = error;
+    
+    _emitResponse(&nakResponse);
+}
+
+void MockMavlinkFileServer::_emitResponse(QGCUASFileManager::Request* request)
+{
+    mavlink_message_t   mavlinkMessage;
+    
+    request->hdr.crc32 = QGCUASFileManager::crc32(request);
+    
+    mavlink_msg_encapsulated_data_pack(250, 0, &mavlinkMessage, 0 /*_encdata_seq*/, (uint8_t*)request);
+    
+    emit messageReceived(NULL, mavlinkMessage);
+}
\ No newline at end of file

src/qgcunittest/MockMavlinkFileServer.h

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

src/qgcunittest/MockMavlinkInterface.cc

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

src/qgcunittest/MockMavlinkInterface.h

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

src/qgcunittest/MockUAS.cc

@@ -27,7 +27,8 @@ QString MockUAS::_bogusStaticString;
 
 MockUAS::MockUAS(void) :
     _systemType(MAV_TYPE_QUADROTOR),
-    _systemId(1)
+    _systemId(1),
+    _mavlinkPlugin(NULL)
 {
     
 }
@@ -41,4 +42,15 @@ void MockUAS::setMockParametersAndSignal(MockQGCUASParamManager::ParamMap_t& map
         i.next();
         emit parameterChanged(_systemId, 0, i.key(), i.value());
     }
+}
+
+void MockUAS::sendMessage(mavlink_message_t message)
+{
+    Q_UNUSED(link);
+    
+    if (!_mavlinkPlugin) {
+        Q_ASSERT(false);
+    }
+    
+    _mavlinkPlugin->sendMessage(message);
 }
\ No newline at end of file

src/qgcunittest/MockUAS.h

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

src/qgcunittest/QGCUASFileManagerTest.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#include "QGCUASFileManagerTest.h"
+
+/// @file
+///     @brief QGCUASFileManager unit test
+///
+///     @author Don Gagne <don@thegagnes.com>
+
+QGCUASFileManagerUnitTest::QGCUASFileManagerUnitTest(void) :
+    _fileManager(NULL),
+    _multiSpy(NULL)
+{
+    
+}
+
+// Called once before all test cases are run
+void QGCUASFileManagerUnitTest::initTestCase(void)
+{
+    _mockUAS.setMockMavlinkPlugin(&_mockFileServer);
+}
+
+// Called before every test case
+void QGCUASFileManagerUnitTest::init(void)
+{
+    Q_ASSERT(_multiSpy == NULL);
+    
+    _fileManager = new QGCUASFileManager(NULL, &_mockUAS);
+    Q_CHECK_PTR(_fileManager);
+    
+    bool connected = connect(&_mockFileServer, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), _fileManager, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
+    Q_ASSERT(connected);
+
+    connected = connect(_fileManager, SIGNAL(statusMessage(const QString&)), this, SLOT(statusMessage(const QString&)));
+    Q_ASSERT(connected);
+
+    _rgSignals[statusMessageSignalIndex] = SIGNAL(statusMessage(const QString&));
+    _rgSignals[errorMessageSignalIndex] = SIGNAL(errorMessage(const QString&));
+    _rgSignals[resetStatusMessagesSignalIndex] = SIGNAL(resetStatusMessages(void));
+    
+    _multiSpy = new MultiSignalSpy();
+    Q_CHECK_PTR(_multiSpy);
+    QCOMPARE(_multiSpy->init(_fileManager, _rgSignals, _cSignals), true);
+}
+
+// Called after every test case
+void QGCUASFileManagerUnitTest::cleanup(void)
+{
+    Q_ASSERT(_multiSpy);
+    Q_ASSERT(_fileManager);
+    
+    delete _fileManager;
+    delete _multiSpy;
+    
+    _fileManager = NULL;
+    _multiSpy = NULL;
+}
+
+/// @brief Connected to QGCUASFileManager statusMessage signal in order to catch list command output
+void QGCUASFileManagerUnitTest::statusMessage(const QString& msg)
+{
+    // Keep a list of all names received so we can test it for correctness
+    _fileListReceived += msg;
+}
+
+
+void QGCUASFileManagerUnitTest::_ackTest(void)
+{
+    Q_ASSERT(_fileManager);
+    Q_ASSERT(_multiSpy);
+    Q_ASSERT(_multiSpy->checkNoSignals() == true);
+    
+    // If the file manager doesn't receive an ack it will timeout and emit an error. So make sure
+    // we don't get any error signals.
+    QVERIFY(_fileManager->_sendCmdTestAck());
+    QVERIFY(_multiSpy->checkNoSignals());
+}
+
+void QGCUASFileManagerUnitTest::_noAckTest(void)
+{
+    Q_ASSERT(_fileManager);
+    Q_ASSERT(_multiSpy);
+    Q_ASSERT(_multiSpy->checkNoSignals() == true);
+    
+    // This should not get the ack back and timeout.
+    QVERIFY(_fileManager->_sendCmdTestNoAck());
+    QTest::qWait(2000); // Let the file manager timeout, magic number 2 secs must be larger than file manager ack timeout
+    QCOMPARE(_multiSpy->checkOnlySignalByMask(errorMessageSignalMask), true);
+}
+
+void QGCUASFileManagerUnitTest::_resetTest(void)
+{
+    Q_ASSERT(_fileManager);
+    Q_ASSERT(_multiSpy);
+    Q_ASSERT(_multiSpy->checkNoSignals() == true);
+    
+    // Send a reset command
+    //  We should not get any signals back from this
+    QVERIFY(_fileManager->_sendCmdReset());
+    QVERIFY(_multiSpy->checkNoSignals());
+}
+
+void QGCUASFileManagerUnitTest::_listTest(void)
+{
+    Q_ASSERT(_fileManager);
+    Q_ASSERT(_multiSpy);
+    Q_ASSERT(_multiSpy->checkNoSignals() == true);
+    
+    // Send a bogus path
+    //  We should get a single resetStatusMessages signal
+    //  We should get a single errorMessage signal
+    _fileManager->listRecursively("/bogus");
+    QCOMPARE(_multiSpy->checkOnlySignalByMask(errorMessageSignalMask | resetStatusMessagesSignalMask), true);
+    _multiSpy->clearAllSignals();
+
+    // Send a list command at the root of the directory tree
+    //  We should get back a single resetStatusMessages signal
+    //  We should not get back an errorMessage signal
+    //  We should get back one or more statusMessage signals
+    //  The returned list should match out inputs
+    
+    QStringList fileList;
+    fileList << "Ddir" << "Ffoo" << "Fbar";
+    _mockFileServer.setFileList(fileList);
+    
+    QStringList fileListExpected;
+    fileListExpected << "dir/" << "foo" << "bar";
+    
+    _fileListReceived.clear();
+    
+    _fileManager->listRecursively("/");
+    QCOMPARE(_multiSpy->checkSignalByMask(resetStatusMessagesSignalMask), true);  // We should be told to reset status messages
+    QCOMPARE(_multiSpy->checkNoSignalByMask(errorMessageSignalMask), true);  // We should not get an error signals
+    QVERIFY(_fileListReceived == fileListExpected);
+}

src/qgcunittest/QGCUASFileManagerTest.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#ifndef QGCUASFILEMANAGERTEST_H
+#define QGCUASFILEMANAGERTEST_H
+
+#include <QObject>
+#include <QtTest/QtTest>
+
+#include "AutoTest.h"
+#include "MockUAS.h"
+#include "MockMavlinkFileServer.h"
+#include "QGCUASFileManager.h"
+#include "MultiSignalSpy.h"
+
+/// @file
+///     @brief QGCUASFileManager unit test
+///
+///     @author Don Gagne <don@thegagnes.com>
+
+class QGCUASFileManagerUnitTest : public QObject
+{
+    Q_OBJECT
+    
+public:
+    QGCUASFileManagerUnitTest(void);
+    
+private slots:
+    // Test case initialization
+    void initTestCase(void);
+    void init(void);
+    void cleanup(void);
+    
+    // Test cases
+    void _ackTest(void);
+    void _noAckTest(void);
+    void _resetTest(void);
+    void _listTest(void);
+    
+    // Connected to QGCUASFileManager statusMessage signal
+    void statusMessage(const QString&);
+    
+private:
+    enum {
+        statusMessageSignalIndex = 0,
+        errorMessageSignalIndex,
+        resetStatusMessagesSignalIndex,
+
+        maxSignalIndex
+    };
+    
+    enum {
+        statusMessageSignalMask =           1 << statusMessageSignalIndex,
+        errorMessageSignalMask =            1 << errorMessageSignalIndex,
+        resetStatusMessagesSignalMask =     1 << resetStatusMessagesSignalIndex,
+    };
+    
+    MockUAS                 _mockUAS;
+    MockMavlinkFileServer   _mockFileServer;
+    
+    QGCUASFileManager*  _fileManager;
+
+    MultiSignalSpy*     _multiSpy;
+    static const size_t _cSignals = maxSignalIndex;
+    const char*         _rgSignals[_cSignals];
+    
+    QStringList _fileListReceived;
+};
+
+DECLARE_TEST(QGCUASFileManagerUnitTest)
+
+#endif

src/uas/QGCUASFileManager.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
 #ifndef QGCUASFILEMANAGER_H
 #define QGCUASFILEMANAGER_H
 
 #include <QObject>
+
 #include "UASInterface.h"
 
 class QGCUASFileManager : public QObject
@@ -9,17 +33,22 @@ class QGCUASFileManager : public QObject
     Q_OBJECT
 public:
     QGCUASFileManager(QObject* parent, UASInterface* uas);
+    
+    /// These methods are only used for testing purposes.
+    bool _sendCmdTestAck(void) { return _sendOpcodeOnlyCmd(kCmdNone, kCOAck); };
+    bool _sendCmdTestNoAck(void) { return _sendOpcodeOnlyCmd(kCmdTestNoAck, kCOAck); };
+    bool _sendCmdReset(void) { return _sendOpcodeOnlyCmd(kCmdReset, kCOAck); };
 
 signals:
     void statusMessage(const QString& msg);
     void resetStatusMessages();
+    void errorMessage(const QString& ms);
 
 public slots:
     void receiveMessage(LinkInterface* link, mavlink_message_t message);
     void nothingMessage();
     void listRecursively(const QString &from);
     void downloadPath(const QString& from, const QString& to);
-//    void timedOut();
 
 protected:
     struct RequestHeader
@@ -30,23 +59,32 @@ protected:
             uint8_t		size;
             uint32_t	crc32;
             uint32_t	offset;
-            uint8_t		data[];
         };
 
+    struct Request
+    {
+        struct RequestHeader hdr;
+        // The entire Request must fit into the data member of the mavlink_encapsulated_data_t structure. We use as many leftover bytes
+        // after we use up space for the RequestHeader for the data portion of the Request.
+        uint8_t data[sizeof(((mavlink_encapsulated_data_t*)0)->data) - sizeof(RequestHeader)];
+    };
+
     enum Opcode
         {
-            kCmdNone,	// ignored, always acked
+            kCmdNone,       // ignored, always acked
             kCmdTerminate,	// releases sessionID, closes file
-            kCmdReset,	// terminates all sessions
-            kCmdList,	// list files in <path> from <offset>
-            kCmdOpen,	// opens <path> for reading, returns <session>
-            kCmdRead,	// reads <size> bytes from <offset> in <session>
-            kCmdCreate,	// creates <path> for writing, returns <session>
-            kCmdWrite,	// appends <size> bytes at <offset> in <session>
-            kCmdRemove,	// remove file (only if created by server?)
+            kCmdReset,      // terminates all sessions
+            kCmdList,       // list files in <path> from <offset>
+            kCmdOpen,       // opens <path> for reading, returns <session>
+            kCmdRead,       // reads <size> bytes from <offset> in <session>
+            kCmdCreate,     // creates <path> for writing, returns <session>
+            kCmdWrite,      // appends <size> bytes at <offset> in <session>
+            kCmdRemove,     // remove file (only if created by server?)
 
             kRspAck,
-            kRspNak
+            kRspNak,
+            
+            kCmdTestNoAck,  // ignored, ack not sent back, for testing only, should timeout waiting for ack
         };
 
     enum ErrorCode
@@ -61,36 +99,49 @@ protected:
             kErrNotAppend,
             kErrTooBig,
             kErrIO,
-            kErrPerm
+            kErrPerm,
+            kErrUnknownCommand,
+            kErrCrc
         };
 
 
     enum OperationState
         {
             kCOIdle,    // not doing anything
-
+            kCOAck,     // waiting for an Ack
             kCOList,    // waiting for a List response
         };
-
-    OperationState _current_operation;
-    unsigned _retry_counter;
-
-    UASInterface* _mav;
-    quint16 _encdata_seq;
-
-    unsigned _session_id;       // session ID for current session
-    unsigned _list_offset;      // offset for the current List operation
-    QString _list_path;     // path for the current List operation
-
-    void sendTerminate();
-    void sendReset();
+    
+    
+protected slots:
+    void _ackTimeout(void);
+    
+protected:
+    bool _sendOpcodeOnlyCmd(uint8_t opcode, OperationState newOpState);
+    void _setupAckTimeout(void);
+    void _clearAckTimeout(void);
+    void _emitErrorMessage(const QString& msg);
+    void _sendRequest(Request* request);
 
     void sendList();
     void listDecode(const uint8_t *data, unsigned len);
 
-    static quint32 crc32(const uint8_t *src, unsigned len, unsigned state);
+    static quint32 crc32(Request* request, unsigned state = 0);
     static QString errorString(uint8_t errorCode);
 
+    OperationState      _currentOperation;              ///> Current operation of state machine
+    QTimer              _ackTimer;                      ///> Used to signal a timeout waiting for an ack
+    static const int    _ackTimerTimeoutMsecs = 1000;   ///> Timeout in msecs for ack timer
+    
+    UASInterface* _mav;
+    quint16 _encdata_seq;
+
+    unsigned    _listOffset;    // offset for the current List operation
+    QString     _listPath;      // path for the current List operation
+    
+    // We give MockMavlinkFileServer friend access so that it can use the data structures and opcodes
+    // to build a mock mavlink file server for testing.
+    friend class MockMavlinkFileServer;
 };
 
 #endif // QGCUASFILEMANAGER_H

src/uas/UAS.cc

@@ -149,6 +149,8 @@ UAS::UAS(MAVLinkProtocol* protocol, QThread* thread, int id) : UASInterface(),
     pitch(0.0),
     yaw(0.0),
 
+    imagePackets(0),    // We must initialize to 0, otherwise extended data packets maybe incorrectly thought to be images
+
     blockHomePositionChanges(false),
     receivedMode(false),
 
@@ -1321,6 +1323,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 // NO VALID TRANSACTION - ABORT
                 // Restart statemachine
                 imagePacketsArrived = 0;
+                break;
             }
 
             for (int i = 0; i < imagePayload; ++i)
@@ -1337,6 +1340,8 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             if ((imagePacketsArrived >= imagePackets))
             {
                 // Restart statemachine
+                imagePackets = 0;
+                imagePacketsArrived = 0;
                 emit imageReady(this);
                 //qDebug() << "imageReady emitted. all packets arrived";
             }

src/ui/MainWindow.cc

@@ -788,6 +788,10 @@ void MainWindow::loadDockWidget(const QString& name)
     {
         createDockWidget(centerStack->currentWidget(),new ParameterInterface(this),tr("Onboard Parameters"),"PARAMETER_INTERFACE_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
     }
+    else if (name == "FILE_VIEW_DOCKWIDGET")
+    {
+        createDockWidget(centerStack->currentWidget(),new QGCUASFileViewMulti(this),tr("Onboard Files"),"FILE_VIEW_DOCKWIDGET",VIEW_ENGINEER,Qt::RightDockWidgetArea);
+    }
     else if (name == "UAS_STATUS_DETAILS_DOCKWIDGET")
     {
         createDockWidget(centerStack->currentWidget(),new UASInfoWidget(this),tr("Status Details"),"UAS_STATUS_DETAILS_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);

src/ui/QGCUASFileView.cc

@@ -17,6 +17,7 @@ QGCUASFileView::QGCUASFileView(QWidget *parent, QGCUASFileManager *manager) :
     connect(ui->downloadButton, SIGNAL(clicked()), this, SLOT(downloadFiles()));
 
     connect(_manager, SIGNAL(statusMessage(QString)), ui->messageArea, SLOT(appendPlainText(QString)));
+    connect(_manager, SIGNAL(errorMessage(QString)), ui->messageArea, SLOT(appendPlainText(QString)));
     connect(_manager, SIGNAL(resetStatusMessages()), ui->messageArea, SLOT(clear()));
 }