Start of mock FileSever for unit testing

qgroundcontrol.pro

@@ -186,6 +186,8 @@ 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
 
@@ -194,6 +196,7 @@ DebugBuild {
         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/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)
+{
+    Q_ASSERT(message.msgid == MAVLINK_MSG_ID_ENCAPSULATED_DATA);
+
+    mavlink_encapsulated_data_t data;
+    mavlink_msg_encapsulated_data_decode(&message, &data);
+    const RequestHeader *hdr = (const RequestHeader *)&data.data[0];
+    
+    // FIXME: Check CRC
+
+    switch (hdr->opcode) {
+        case kCmdNone:
+            // ignored, always acked
+            
+            RequestHeader ackHdr;
+            ackHdr.magic = 'f';
+            ackHdr.opcode = kRspAck;
+            ackHdr.session = 0;
+            ackHdr.crc32 = 0;
+            ackHdr.size = 0;
+            // FIXME: Add CRC
+            //ackHdr.crc32 = crc32((uint8_t*)&hdr, sizeof(hdr) + hdr.size, 0);
+            
+            mavlink_message_t ackMessage;
+            mavlink_msg_encapsulated_data_pack(250, 0, &ackMessage, 0 /*_encdata_seq*/, (uint8_t*)&ackHdr);
+            emit messageReceived(NULL, ackMessage);
+            break;
+
+        case kCmdTerminate:
+            // releases sessionID, closes file
+        case kCmdReset:
+            // terminates all sessions
+        case kCmdList:
+            // list files in <path> from <offset>
+        case kCmdOpen:
+            // opens <path> for reading, returns <session>
+        case kCmdRead:
+            // reads <size> bytes from <offset> in <session>
+        case kCmdCreate:
+            // creates <path> for writing, returns <session>
+        case kCmdWrite:
+            // appends <size> bytes at <offset> in <session>
+        case kCmdRemove:
+            // remove file (only if created by server?)
+        default:
+            // nack for all NYI opcodes
+            
+            RequestHeader nakHdr;
+            nakHdr.opcode = kRspNak;
+            nakHdr.magic = 'f';
+            nakHdr.session = 0;
+            nakHdr.crc32 = 0;
+            nakHdr.size = 0;
+            // FIXME: Add CRC
+            //ackHdr.crc32 = crc32((uint8_t*)&hdr, sizeof(hdr) + hdr.size, 0);
+            
+            mavlink_message_t nakMessage;
+            mavlink_msg_encapsulated_data_pack(250, 0, &nakMessage, 0 /*_encdata_seq*/, (uint8_t*)&nakHdr);
+            emit messageReceived(NULL, nakMessage);
+            break;
+    }
+}

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"
+
+class MockMavlinkFileServer : public MockMavlinkInterface
+{
+    Q_OBJECT
+    
+public:
+    MockMavlinkFileServer(void) { };
+    virtual void sendMessage(mavlink_message_t message);
+    
+private:
+    // FIXME: These should be in a mavlink header somewhere shouldn't they?
+    
+    struct RequestHeader
+    {
+        uint8_t		magic;
+        uint8_t		session;
+        uint8_t		opcode;
+        uint8_t		size;
+        uint32_t	crc32;
+        uint32_t	offset;
+        uint8_t		data[];
+    };
+    
+    enum Opcode
+    {
+        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?)
+        
+        kRspAck,
+        kRspNak
+    };
+    
+    enum ErrorCode
+    {
+        kErrNone,
+        kErrNoRequest,
+        kErrNoSession,
+        kErrSequence,
+        kErrNotDir,
+        kErrNotFile,
+        kErrEOF,
+        kErrNotAppend,
+        kErrTooBig,
+        kErrIO,
+        kErrPerm
+    };
+    
+
+};
+
+#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:
+    void messageReceived(LinkInterface* link, mavlink_message_t message);
+};
+
+#endif