Skip to content

Q
qgroundcontrol
Commit 51f2e2e2 authored by ndousse's avatar ndousse
Browse files
Options

Merge branch 'master' into sortMsgBySysId

parents a68f6b33 73868e34
Hide whitespace changes
Inline Side-by-side
Showing with 8 additions and 96 deletions
src/qgcunittest/MockMavlinkFileServer.cc
View file @ 51f2e2e2
......@@ -28,7 +28,6 @@ const MockMavlinkFileServer::ErrorMode_t MockMavlinkFileServer::rgFailureModes[]
MockMavlinkFileServer::errModeNakResponse,
MockMavlinkFileServer::errModeNoSecondResponse,
MockMavlinkFileServer::errModeNakSecondResponse,
MockMavlinkFileServer::errModeBadCRC,
MockMavlinkFileServer::errModeBadSequence,
};
const size_t MockMavlinkFileServer::cFailureModes = sizeof(MockMavlinkFileServer::rgFailureModes) / sizeof(MockMavlinkFileServer::rgFailureModes[0]);
......@@ -233,12 +232,6 @@ void MockMavlinkFileServer::sendMessage(mavlink_message_t message)
return;
}
// Validate CRC
if (request->hdr.crc32 != QGCUASFileManager::crc32(request)) {
qDebug() << "Bad CRC received - opcode:" << request->hdr.opcode << "expected:" << request->hdr.crc32 << "actual:" << QGCUASFileManager::crc32(request);
_sendNak(QGCUASFileManager::kErrCrc, outgoingSeqNumber);
}
switch (request->hdr.opcode) {
case QGCUASFileManager::kCmdTestNoAck:
// ignored, ack not sent back, for testing only
......@@ -252,7 +245,6 @@ void MockMavlinkFileServer::sendMessage(mavlink_message_t message)
// ignored, always acked
ackResponse.hdr.opcode = QGCUASFileManager::kRspAck;
ackResponse.hdr.session = 0;
ackResponse.hdr.crc32 = 0;
ackResponse.hdr.size = 0;
_emitResponse(&ackResponse, outgoingSeqNumber);
break;
......@@ -312,12 +304,6 @@ void MockMavlinkFileServer::_emitResponse(QGCUASFileManager::Request* request, u
request->hdr.seqNumber = seqNumber;
request->hdr.crc32 = QGCUASFileManager::crc32(request);
if (_errMode == errModeBadCRC) {
// Return a bad CRC
request->hdr.crc32++;
}
mavlink_msg_file_transfer_protocol_pack(_systemIdServer, // System ID
0, // Component ID
&mavlinkMessage, // Mavlink Message to pack into
......
src/qgcunittest/MockMavlinkFileServer.h
View file @ 51f2e2e2
......@@ -56,7 +56,6 @@ public:
errModeNakResponse, ///< Nak all requests
errModeNoSecondResponse, ///< No response to subsequent request to initial command
errModeNakSecondResponse, ///< Nak subsequent request to initial command
errModeBadCRC, ///< Return response with bad CRC
errModeBadSequence ///< Return response with bad sequence number
} ErrorMode_t;
......
src/uas/QGCUASFileManager.cc
View file @ 51f2e2e2
......@@ -30,42 +30,6 @@
#include <QDir>
#include <string>
static const quint32 crctab[] =
{
0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
};
QGCUASFileManager::QGCUASFileManager(QObject* parent, UASInterface* uas, uint8_t unitTestSystemIdQGC) :
QObject(parent),
......@@ -80,31 +44,7 @@ QGCUASFileManager::QGCUASFileManager(QObject* parent, UASInterface* uas, uint8_t
_systemIdServer = _mav->getUASID();
// Make sure we don't have bad structure packing
Q_ASSERT(sizeof(RequestHeader) == 16);
}
/// @brief Calculates a 32 bit CRC for the specified request.
/// @param request Request to calculate CRC for. request->size must be set correctly.
/// @param state previous crc state
/// @return Calculated CRC
quint32 QGCUASFileManager::crc32(Request* request, unsigned state)
{
uint8_t* data = (uint8_t*)request;
size_t cbData = sizeof(RequestHeader) + request->hdr.size;
// Always calculate CRC with 0 initial CRC value
quint32 crcSave = request->hdr.crc32;
request->hdr.crc32 = 0;
request->hdr.padding[0] = 0;
request->hdr.padding[1] = 0;
request->hdr.padding[2] = 0;
for (size_t i=0; i < cbData; i++)
state = crctab[(state ^ data[i]) & 0xff] ^ (state >> 8);
request->hdr.crc32 = crcSave;
return state;
Q_ASSERT(sizeof(RequestHeader) == 12);
}
/// @brief Respond to the Ack associated with the Open command with the next Read command.
......@@ -281,15 +221,6 @@ void QGCUASFileManager::receiveMessage(LinkInterface* link, mavlink_message_t me
uint16_t incomingSeqNumber = request->hdr.seqNumber;
// Make sure we have a good CRC
quint32 expectedCRC = crc32(request);
quint32 receivedCRC = request->hdr.crc32;
if (receivedCRC != expectedCRC) {
_currentOperation = kCOIdle;
_emitErrorMessage(tr("Bad CRC on received message: expected(%1) received(%2)").arg(expectedCRC).arg(receivedCRC));
return;
}
// Make sure we have a good sequence number
uint16_t expectedSeqNumber = _lastOutgoingSeqNumber + 1;
if (incomingSeqNumber != expectedSeqNumber) {
......@@ -331,11 +262,13 @@ void QGCUASFileManager::receiveMessage(LinkInterface* link, mavlink_message_t me
break;
}
} else if (request->hdr.opcode == kRspNak) {
Q_ASSERT(request->hdr.size == 1); // Should only have one byte of error code
OperationState previousOperation = _currentOperation;
uint8_t errorCode = request->data[0];
// 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 (previousOperation == kCOList && errorCode == kErrEOF) {
......@@ -441,8 +374,6 @@ QString QGCUASFileManager::errorString(uint8_t errorCode)
return QString("read beyond end of file");
case kErrUnknownCommand:
return QString("unknown command");
case kErrCrc:
return QString("bad crc");
case kErrFailErrno:
return QString("command failed");
case kErrInvalidDataSize:
......@@ -547,8 +478,6 @@ void QGCUASFileManager::_sendRequest(Request* request)
request->hdr.seqNumber = _lastOutgoingSeqNumber;
request->hdr.crc32 = crc32(request);
if (_systemIdQGC == 0) {
_systemIdQGC = MainWindow::instance()->getMAVLink()->getSystemId();
}
......
src/uas/QGCUASFileManager.h
View file @ 51f2e2e2
......@@ -83,8 +83,8 @@ protected:
uint8_t session; ///< Session id for read and write commands
uint8_t opcode; ///< Command opcode
uint8_t size; ///< Size of data
uint8_t padding[3];
uint32_t crc32; ///< CRC for entire Request structure, with crc32 and padding set to 0
uint8_t req_opcode; ///< Request opcode returned in kRspAck, kRspNak message
uint8_t padding[2]; ///< 32 bit aligment padding
uint32_t offset; ///< Offsets for List and Read commands
};
......@@ -117,7 +117,7 @@ protected:
kCmdCreateDirectory, ///< Creates directory at <path>
kCmdRemoveDirectory, ///< Removes Directory at <path>, must be empty
kRspAck, ///< Ack response
kRspAck = 128, ///< Ack response
kRspNak, ///< Nak response
// Used for testing only, not part of protocol
......@@ -134,8 +134,7 @@ protected:
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
kErrCrc ///< CRC on Payload is incorrect
kErrUnknownCommand ///< Unknown command opcode
};
enum OperationState
......@@ -166,7 +165,6 @@ protected:
void _sendTerminateCommand(void);
void _closeReadSession(bool success);
static quint32 crc32(Request* request, unsigned state = 0);
static QString errorString(uint8_t errorCode);
OperationState _currentOperation; ///< Current operation of state machine
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment