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Commit 93a24d4b authored by Don Gagne's avatar Don Gagne
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More FTP support plus unit testing 

Added:
- sequence numbers
- better filtering for image encapsulated data messages versus FTP
- directory list now contains file sizes
- open command now returns file size in data
parent 92af5125
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Inline Side-by-side
Showing with 186 additions and 88 deletions
src/qgcunittest/MockMavlinkFileServer.cc
View file @ 93a24d4b
...@@ -29,6 +29,7 @@ const MockMavlinkFileServer::ErrorMode_t MockMavlinkFileServer::rgFailureModes[] ...@@ -29,6 +29,7 @@ const MockMavlinkFileServer::ErrorMode_t MockMavlinkFileServer::rgFailureModes[]
MockMavlinkFileServer::errModeNoSecondResponse, MockMavlinkFileServer::errModeNoSecondResponse,
MockMavlinkFileServer::errModeNakSecondResponse, MockMavlinkFileServer::errModeNakSecondResponse,
MockMavlinkFileServer::errModeBadCRC, MockMavlinkFileServer::errModeBadCRC,
MockMavlinkFileServer::errModeBadSequence,
}; };
const size_t MockMavlinkFileServer::cFailureModes = sizeof(MockMavlinkFileServer::rgFailureModes) / sizeof(MockMavlinkFileServer::rgFailureModes[0]); const size_t MockMavlinkFileServer::cFailureModes = sizeof(MockMavlinkFileServer::rgFailureModes) / sizeof(MockMavlinkFileServer::rgFailureModes[0]);
...@@ -52,23 +53,24 @@ MockMavlinkFileServer::MockMavlinkFileServer(void) : ...@@ -52,23 +53,24 @@ MockMavlinkFileServer::MockMavlinkFileServer(void) :
/// @brief Handles List command requests. Only supports root folder paths. /// @brief Handles List command requests. Only supports root folder paths.
/// File list returned is set using the setFileList method. /// File list returned is set using the setFileList method.
void MockMavlinkFileServer::_listCommand(QGCUASFileManager::Request* request) void MockMavlinkFileServer::_listCommand(QGCUASFileManager::Request* request, uint16_t seqNumber)
{ {
// FIXME: Does not support directories that span multiple packets // FIXME: Does not support directories that span multiple packets
QGCUASFileManager::Request ackResponse; QGCUASFileManager::Request ackResponse;
QString path; QString path;
uint16_t outgoingSeqNumber = _nextSeqNumber(seqNumber);
// We only support root path // We only support root path
path = (char *)&request->data[0]; path = (char *)&request->data[0];
if (!path.isEmpty() && path != "/") { if (!path.isEmpty() && path != "/") {
_sendNak(QGCUASFileManager::kErrNotDir); _sendNak(QGCUASFileManager::kErrNotDir, outgoingSeqNumber);
return; return;
} }
// Offset requested is past the end of the list // Offset requested is past the end of the list
if (request->hdr.offset > (uint32_t)_fileList.size()) { if (request->hdr.offset > (uint32_t)_fileList.size()) {
_sendNak(QGCUASFileManager::kErrEOF); _sendNak(QGCUASFileManager::kErrEOF, outgoingSeqNumber);
return; return;
} }
...@@ -90,25 +92,26 @@ void MockMavlinkFileServer::_listCommand(QGCUASFileManager::Request* request) ...@@ -90,25 +92,26 @@ void MockMavlinkFileServer::_listCommand(QGCUASFileManager::Request* request)
bufPtr += cchFilename + 1; bufPtr += cchFilename + 1;
} }
_emitResponse(&ackResponse); _emitResponse(&ackResponse, outgoingSeqNumber);
} else if (_errMode == errModeNakSecondResponse) { } else if (_errMode == errModeNakSecondResponse) {
// Nak error all subsequent requests // Nak error all subsequent requests
_sendNak(QGCUASFileManager::kErrPerm); _sendNak(QGCUASFileManager::kErrPerm, outgoingSeqNumber);
return; return;
} else if (_errMode == errModeNoSecondResponse) { } else if (_errMode == errModeNoSecondResponse) {
// No response for all subsequent requests // No response for all subsequent requests
return; return;
} else { } else {
// FIXME: Does not support directories that span multiple packets // FIXME: Does not support directories that span multiple packets
_sendNak(QGCUASFileManager::kErrEOF); _sendNak(QGCUASFileManager::kErrEOF, outgoingSeqNumber);
} }
} }
/// @brief Handles Open command requests. /// @brief Handles Open command requests.
void MockMavlinkFileServer::_openCommand(QGCUASFileManager::Request* request) void MockMavlinkFileServer::_openCommand(QGCUASFileManager::Request* request, uint16_t seqNumber)
{ {
QGCUASFileManager::Request response; QGCUASFileManager::Request response;
QString path; QString path;
uint16_t outgoingSeqNumber = _nextSeqNumber(seqNumber);
size_t cchPath = strnlen((char *)request->data, sizeof(request->data)); size_t cchPath = strnlen((char *)request->data, sizeof(request->data));
Q_ASSERT(cchPath != sizeof(request->data)); Q_ASSERT(cchPath != sizeof(request->data));
...@@ -126,25 +129,29 @@ void MockMavlinkFileServer::_openCommand(QGCUASFileManager::Request* request) ...@@ -126,25 +129,29 @@ void MockMavlinkFileServer::_openCommand(QGCUASFileManager::Request* request)
} }
} }
if (!found) { if (!found) {
_sendNak(QGCUASFileManager::kErrNotFile); _sendNak(QGCUASFileManager::kErrNotFile, outgoingSeqNumber);
return; return;
} }
response.hdr.magic = 'f'; response.hdr.magic = 'f';
response.hdr.opcode = QGCUASFileManager::kRspAck; response.hdr.opcode = QGCUASFileManager::kRspAck;
response.hdr.session = _sessionId; response.hdr.session = _sessionId;
response.hdr.size = 0;
_emitResponse(&response); // Data contains file length
response.hdr.size = sizeof(uint32_t);
*((uint32_t*)response.data) = _readFileLength;
_emitResponse(&response, outgoingSeqNumber);
} }
/// @brief Handles Read command requests. /// @brief Handles Read command requests.
void MockMavlinkFileServer::_readCommand(QGCUASFileManager::Request* request) void MockMavlinkFileServer::_readCommand(QGCUASFileManager::Request* request, uint16_t seqNumber)
{ {
QGCUASFileManager::Request response; QGCUASFileManager::Request response;
uint16_t outgoingSeqNumber = _nextSeqNumber(seqNumber);
if (request->hdr.session != _sessionId) { if (request->hdr.session != _sessionId) {
_sendNak(QGCUASFileManager::kErrNoSession); _sendNak(QGCUASFileManager::kErrNoSession, outgoingSeqNumber);
return; return;
} }
...@@ -155,7 +162,7 @@ void MockMavlinkFileServer::_readCommand(QGCUASFileManager::Request* request) ...@@ -155,7 +162,7 @@ void MockMavlinkFileServer::_readCommand(QGCUASFileManager::Request* request)
// If we get here it means the client is requesting additional data past the first request // If we get here it means the client is requesting additional data past the first request
if (_errMode == errModeNakSecondResponse) { if (_errMode == errModeNakSecondResponse) {
// Nak error all subsequent requests // Nak error all subsequent requests
_sendNak(QGCUASFileManager::kErrPerm); _sendNak(QGCUASFileManager::kErrPerm, outgoingSeqNumber);
return; return;
} else if (_errMode == errModeNoSecondResponse) { } else if (_errMode == errModeNoSecondResponse) {
// No rsponse for all subsequent requests // No rsponse for all subsequent requests
...@@ -164,7 +171,7 @@ void MockMavlinkFileServer::_readCommand(QGCUASFileManager::Request* request) ...@@ -164,7 +171,7 @@ void MockMavlinkFileServer::_readCommand(QGCUASFileManager::Request* request)
} }
if (readOffset >= _readFileLength) { if (readOffset >= _readFileLength) {
_sendNak(QGCUASFileManager::kErrEOF); _sendNak(QGCUASFileManager::kErrEOF, outgoingSeqNumber);
return; return;
} }
...@@ -182,18 +189,20 @@ void MockMavlinkFileServer::_readCommand(QGCUASFileManager::Request* request) ...@@ -182,18 +189,20 @@ void MockMavlinkFileServer::_readCommand(QGCUASFileManager::Request* request)
response.hdr.offset = request->hdr.offset; response.hdr.offset = request->hdr.offset;
response.hdr.opcode = QGCUASFileManager::kRspAck; response.hdr.opcode = QGCUASFileManager::kRspAck;
_emitResponse(&response); _emitResponse(&response, outgoingSeqNumber);
} }
/// @brief Handles Terminate commands /// @brief Handles Terminate commands
void MockMavlinkFileServer::_terminateCommand(QGCUASFileManager::Request* request) void MockMavlinkFileServer::_terminateCommand(QGCUASFileManager::Request* request, uint16_t seqNumber)
{ {
uint16_t outgoingSeqNumber = _nextSeqNumber(seqNumber);
if (request->hdr.session != _sessionId) { if (request->hdr.session != _sessionId) {
_sendNak(QGCUASFileManager::kErrNoSession); _sendNak(QGCUASFileManager::kErrNoSession, outgoingSeqNumber);
return; return;
} }
_sendAck(); _sendAck(outgoingSeqNumber);
// Let our test harness know that we got a terminate command. This is used to validate the a Terminate is correctly // Let our test harness know that we got a terminate command. This is used to validate the a Terminate is correctly
// sent after an Open. // sent after an Open.
...@@ -203,26 +212,31 @@ void MockMavlinkFileServer::_terminateCommand(QGCUASFileManager::Request* reques ...@@ -203,26 +212,31 @@ void MockMavlinkFileServer::_terminateCommand(QGCUASFileManager::Request* reques
/// @brief Handles messages sent to the FTP server. /// @brief Handles messages sent to the FTP server.
void MockMavlinkFileServer::sendMessage(mavlink_message_t message) void MockMavlinkFileServer::sendMessage(mavlink_message_t message)
{ {
QGCUASFileManager::Request ackResponse; QGCUASFileManager::Request ackResponse;
Q_ASSERT(message.msgid == MAVLINK_MSG_ID_ENCAPSULATED_DATA); 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];
Q_ASSERT(request->hdr.magic == QGCUASFileManager::kProtocolMagic);
uint16_t incomingSeqNumber = requestEncapsulatedData.seqnr;
uint16_t outgoingSeqNumber = _nextSeqNumber(incomingSeqNumber);
if (_errMode == errModeNoResponse) { if (_errMode == errModeNoResponse) {
// Don't respond to any requests, this shold cause the client to eventually timeout waiting for the ack // Don't respond to any requests, this shold cause the client to eventually timeout waiting for the ack
return; return;
} else if (_errMode == errModeNakResponse) { } else if (_errMode == errModeNakResponse) {
// Nak all requests, the actual error send back doesn't really matter as long as it's an error // Nak all requests, the actual error send back doesn't really matter as long as it's an error
_sendNak(QGCUASFileManager::kErrPerm); _sendNak(QGCUASFileManager::kErrPerm, outgoingSeqNumber);
return; return;
} }
mavlink_encapsulated_data_t requestEncapsulatedData;
mavlink_msg_encapsulated_data_decode(&message, &requestEncapsulatedData);
QGCUASFileManager::Request* request = (QGCUASFileManager::Request*)&requestEncapsulatedData.data[0];
// Validate CRC // Validate CRC
if (request->hdr.crc32 != QGCUASFileManager::crc32(request)) { if (request->hdr.crc32 != QGCUASFileManager::crc32(request)) {
_sendNak(QGCUASFileManager::kErrCrc); _sendNak(QGCUASFileManager::kErrCrc, outgoingSeqNumber);
} }
switch (request->hdr.opcode) { switch (request->hdr.opcode) {
...@@ -241,23 +255,23 @@ void MockMavlinkFileServer::sendMessage(mavlink_message_t message) ...@@ -241,23 +255,23 @@ void MockMavlinkFileServer::sendMessage(mavlink_message_t message)
ackResponse.hdr.session = 0; ackResponse.hdr.session = 0;
ackResponse.hdr.crc32 = 0; ackResponse.hdr.crc32 = 0;
ackResponse.hdr.size = 0; ackResponse.hdr.size = 0;
_emitResponse(&ackResponse); _emitResponse(&ackResponse, outgoingSeqNumber);
break; break;
case QGCUASFileManager::kCmdList: case QGCUASFileManager::kCmdList:
_listCommand(request); _listCommand(request, incomingSeqNumber);
break; break;
case QGCUASFileManager::kCmdOpen: case QGCUASFileManager::kCmdOpen:
_openCommand(request); _openCommand(request, incomingSeqNumber);
break; break;
case QGCUASFileManager::kCmdRead: case QGCUASFileManager::kCmdRead:
_readCommand(request); _readCommand(request, incomingSeqNumber);
break; break;
case QGCUASFileManager::kCmdTerminate: case QGCUASFileManager::kCmdTerminate:
_terminateCommand(request); _terminateCommand(request, incomingSeqNumber);
break; break;
// Remainder of commands are NYI // Remainder of commands are NYI
...@@ -270,13 +284,13 @@ void MockMavlinkFileServer::sendMessage(mavlink_message_t message) ...@@ -270,13 +284,13 @@ void MockMavlinkFileServer::sendMessage(mavlink_message_t message)
// remove file (only if created by server?) // remove file (only if created by server?)
default: default:
// nack for all NYI opcodes // nack for all NYI opcodes
_sendNak(QGCUASFileManager::kErrUnknownCommand); _sendNak(QGCUASFileManager::kErrUnknownCommand, outgoingSeqNumber);
break; break;
} }
} }
/// @brief Sends an Ack /// @brief Sends an Ack
void MockMavlinkFileServer::_sendAck(void) void MockMavlinkFileServer::_sendAck(uint16_t seqNumber)
{ {
QGCUASFileManager::Request ackResponse; QGCUASFileManager::Request ackResponse;
...@@ -285,11 +299,11 @@ void MockMavlinkFileServer::_sendAck(void) ...@@ -285,11 +299,11 @@ void MockMavlinkFileServer::_sendAck(void)
ackResponse.hdr.session = 0; ackResponse.hdr.session = 0;
ackResponse.hdr.size = 0; ackResponse.hdr.size = 0;
_emitResponse(&ackResponse); _emitResponse(&ackResponse, seqNumber);
} }
/// @brief Sends a Nak with the specified error code. /// @brief Sends a Nak with the specified error code.
void MockMavlinkFileServer::_sendNak(QGCUASFileManager::ErrorCode error) void MockMavlinkFileServer::_sendNak(QGCUASFileManager::ErrorCode error, uint16_t seqNumber)
{ {
QGCUASFileManager::Request nakResponse; QGCUASFileManager::Request nakResponse;
...@@ -299,21 +313,34 @@ void MockMavlinkFileServer::_sendNak(QGCUASFileManager::ErrorCode error) ...@@ -299,21 +313,34 @@ void MockMavlinkFileServer::_sendNak(QGCUASFileManager::ErrorCode error)
nakResponse.hdr.size = 1; nakResponse.hdr.size = 1;
nakResponse.data[0] = error; nakResponse.data[0] = error;
_emitResponse(&nakResponse); _emitResponse(&nakResponse, seqNumber);
} }
/// @brief Emits a Request through the messageReceived signal. /// @brief Emits a Request through the messageReceived signal.
void MockMavlinkFileServer::_emitResponse(QGCUASFileManager::Request* request) void MockMavlinkFileServer::_emitResponse(QGCUASFileManager::Request* request, uint16_t seqNumber)
{ {
mavlink_message_t mavlinkMessage; mavlink_message_t mavlinkMessage;
request->hdr.magic = QGCUASFileManager::kProtocolMagic;
request->hdr.crc32 = QGCUASFileManager::crc32(request); request->hdr.crc32 = QGCUASFileManager::crc32(request);
if (_errMode == errModeBadCRC) { if (_errMode == errModeBadCRC) {
// Return a bad CRC // Return a bad CRC
request->hdr.crc32++; request->hdr.crc32++;
} }
mavlink_msg_encapsulated_data_pack(250, MAV_COMP_ID_IMU, &mavlinkMessage, 0 /*_encdata_seq*/, (uint8_t*)request); mavlink_msg_encapsulated_data_pack(250, 50, &mavlinkMessage, seqNumber, (uint8_t*)request);
emit messageReceived(NULL, mavlinkMessage); emit messageReceived(NULL, mavlinkMessage);
} }
/// @brief Generates the next sequence number given an incoming sequence number. Handles generating
/// bad sequence numbers when errModeBadSequence is set.
uint16_t MockMavlinkFileServer::_nextSeqNumber(uint16_t seqNumber)
{
uint16_t outgoingSeqNumber = seqNumber + 1;
if (_errMode == errModeBadSequence) {
outgoingSeqNumber++;
}
return outgoingSeqNumber;
}
src/qgcunittest/MockMavlinkFileServer.h
View file @ 93a24d4b
...@@ -54,7 +54,7 @@ public: ...@@ -54,7 +54,7 @@ public:
errModeNoSecondResponse, ///< No response to subsequent request to initial command errModeNoSecondResponse, ///< No response to subsequent request to initial command
errModeNakSecondResponse, ///< Nak subsequent request to initial command errModeNakSecondResponse, ///< Nak subsequent request to initial command
errModeBadCRC, ///< Return response with bad CRC errModeBadCRC, ///< Return response with bad CRC
errModeBadSequence ///< Return response with bad sequence number, NYI: Waiting on Firmware sequence # support errModeBadSequence ///< Return response with bad sequence number
} ErrorMode_t; } ErrorMode_t;
/// @brief Sets the error mode for command responses. This allows you to simulate various server errors. /// @brief Sets the error mode for command responses. This allows you to simulate various server errors.
...@@ -89,13 +89,14 @@ signals: ...@@ -89,13 +89,14 @@ signals:
void terminateCommandReceived(void); void terminateCommandReceived(void);
private: private:
void _sendAck(void); void _sendAck(uint16_t seqNumber);
void _sendNak(QGCUASFileManager::ErrorCode error); void _sendNak(QGCUASFileManager::ErrorCode error, uint16_t seqNumber);
void _emitResponse(QGCUASFileManager::Request* request); void _emitResponse(QGCUASFileManager::Request* request, uint16_t seqNumber);
void _listCommand(QGCUASFileManager::Request* request); void _listCommand(QGCUASFileManager::Request* request, uint16_t seqNumber);
void _openCommand(QGCUASFileManager::Request* request); void _openCommand(QGCUASFileManager::Request* request, uint16_t seqNumber);
void _readCommand(QGCUASFileManager::Request* request); void _readCommand(QGCUASFileManager::Request* request, uint16_t seqNumber);
void _terminateCommand(QGCUASFileManager::Request* request); void _terminateCommand(QGCUASFileManager::Request* request, uint16_t seqNumber);
uint16_t _nextSeqNumber(uint16_t seqNumber);
QStringList _fileList; ///< List of files returned by List command QStringList _fileList; ///< List of files returned by List command
......
src/qgcunittest/QGCUASFileManagerTest.cc
View file @ 93a24d4b
...@@ -65,6 +65,8 @@ void QGCUASFileManagerUnitTest::init(void) ...@@ -65,6 +65,8 @@ void QGCUASFileManagerUnitTest::init(void)
_rgSignals[statusMessageSignalIndex] = SIGNAL(statusMessage(const QString&)); _rgSignals[statusMessageSignalIndex] = SIGNAL(statusMessage(const QString&));
_rgSignals[errorMessageSignalIndex] = SIGNAL(errorMessage(const QString&)); _rgSignals[errorMessageSignalIndex] = SIGNAL(errorMessage(const QString&));
_rgSignals[resetStatusMessagesSignalIndex] = SIGNAL(resetStatusMessages(void)); _rgSignals[resetStatusMessagesSignalIndex] = SIGNAL(resetStatusMessages(void));
_rgSignals[listCompleteSignalIndex] = SIGNAL(listComplete(void));
_rgSignals[openFileLengthSignalIndex] = SIGNAL(openFileLength(unsigned int));
_multiSpy = new MultiSignalSpy(); _multiSpy = new MultiSignalSpy();
Q_CHECK_PTR(_multiSpy); Q_CHECK_PTR(_multiSpy);
...@@ -101,13 +103,21 @@ void QGCUASFileManagerUnitTest::_ackTest(void) ...@@ -101,13 +103,21 @@ void QGCUASFileManagerUnitTest::_ackTest(void)
// If the file manager doesn't receive an ack it will timeout and emit an error. So make sure // 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. // we don't get any error signals.
QVERIFY(_fileManager->_sendCmdTestAck()); QVERIFY(_fileManager->_sendCmdTestAck());
QTest::qWait(_ackTimerTimeoutMsecs); // Let the file manager timeout
QVERIFY(_multiSpy->checkNoSignals()); QVERIFY(_multiSpy->checkNoSignals());
// Setup for no response from ack. This should cause a timeout error; // Setup for no response from ack. This should cause a timeout error
_mockFileServer.setErrorMode(MockMavlinkFileServer::errModeNoResponse); _mockFileServer.setErrorMode(MockMavlinkFileServer::errModeNoResponse);
QVERIFY(_fileManager->_sendCmdTestAck()); QVERIFY(_fileManager->_sendCmdTestAck());
QTest::qWait(_ackTimerTimeoutMsecs); // Let the file manager timeout QTest::qWait(_ackTimerTimeoutMsecs); // Let the file manager timeout
QCOMPARE(_multiSpy->checkOnlySignalByMask(errorMessageSignalMask), true); QCOMPARE(_multiSpy->checkOnlySignalByMask(errorMessageSignalMask), true);
_multiSpy->clearAllSignals();
// Setup for a bad sequence number in the ack. This should cause an error;
_mockFileServer.setErrorMode(MockMavlinkFileServer::errModeBadSequence);
QVERIFY(_fileManager->_sendCmdTestAck());
QCOMPARE(_multiSpy->checkOnlySignalByMask(errorMessageSignalMask), true);
_multiSpy->clearAllSignals();
} }
void QGCUASFileManagerUnitTest::_noAckTest(void) void QGCUASFileManagerUnitTest::_noAckTest(void)
...@@ -140,6 +150,18 @@ void QGCUASFileManagerUnitTest::_listTest(void) ...@@ -140,6 +150,18 @@ void QGCUASFileManagerUnitTest::_listTest(void)
Q_ASSERT(_multiSpy); Q_ASSERT(_multiSpy);
Q_ASSERT(_multiSpy->checkNoSignals() == true); Q_ASSERT(_multiSpy->checkNoSignals() == true);
// QGCUASFileManager::listDirectory signalling as follows:
// Emits the resetStatusMessages signal
// Emits a statusMessage signal for each list entry
// Emits an errorMessage signal if:
// It gets a Nak back
// Sequence number is incorrrect on any response
// CRC is incorrect on any responses
// List entry is formatted incorrectly
// It is possible to get a number of good statusMessage signals, followed by an errorMessage signal
// Emits listComplete after it receives the final list entry
// If an errorMessage signal is signalled no listComplete is signalled
// Send a bogus path // Send a bogus path
// We should get a single resetStatusMessages signal // We should get a single resetStatusMessages signal
// We should get a single errorMessage signal // We should get a single errorMessage signal
...@@ -182,14 +204,9 @@ void QGCUASFileManagerUnitTest::_listTest(void) ...@@ -182,14 +204,9 @@ void QGCUASFileManagerUnitTest::_listTest(void)
_mockFileServer.setErrorMode(MockMavlinkFileServer::errModeNone); _mockFileServer.setErrorMode(MockMavlinkFileServer::errModeNone);
} }
// Send a list command at the root of the directory tree which should succeed // Send a list command at the root of the directory tree which should succeed
// We should get back a single resetStatusMessages signal
// We should not get back an errorMessage signal
// We should get back a statusMessage signal for each entry
// The returned list should match our inputs
_fileManager->listDirectory("/"); _fileManager->listDirectory("/");
QCOMPARE(_multiSpy->checkSignalByMask(resetStatusMessagesSignalMask), true); QCOMPARE(_multiSpy->checkSignalByMask(resetStatusMessagesSignalMask | listCompleteSignalMask), true);
QCOMPARE(_multiSpy->checkNoSignalByMask(errorMessageSignalMask), true); QCOMPARE(_multiSpy->checkNoSignalByMask(errorMessageSignalMask), true);
QCOMPARE(_multiSpy->getSpyByIndex(statusMessageSignalIndex)->count(), fileList.count()); QCOMPARE(_multiSpy->getSpyByIndex(statusMessageSignalIndex)->count(), fileList.count());
QVERIFY(_fileListReceived == fileList); QVERIFY(_fileListReceived == fileList);
...@@ -214,17 +231,39 @@ void QGCUASFileManagerUnitTest::_validateFileContents(const QString& filePath, u ...@@ -214,17 +231,39 @@ void QGCUASFileManagerUnitTest::_validateFileContents(const QString& filePath, u
} }
} }
void QGCUASFileManagerUnitTest::_openTest(void) void QGCUASFileManagerUnitTest::_downloadTest(void)
{ {
Q_ASSERT(_fileManager); Q_ASSERT(_fileManager);
Q_ASSERT(_multiSpy); Q_ASSERT(_multiSpy);
Q_ASSERT(_multiSpy->checkNoSignals() == true); Q_ASSERT(_multiSpy->checkNoSignals() == true);
// QGCUASFileManager::downloadPath works as follows:
// Emits the resetStatusMessages signal
// Sends an Open Command to the server
// Expects an Ack Response back from the server with the correct sequence numner
// Emits an errorMessage signal if it gets a Nak back
// Emits an openFileLength signal with the file length if it gets back a good Ack
// Sends subsequent Read commands to the server until it gets the full file contents back
// Sends Terminate command to server when download is complete to close Open command
// Mock file server will signal terminateCommandReceived when it gets a Terminate command
// Sends statusMessage signal to indicate the download is complete
// Emits an errorMessage signal if sequence number is incorrrect on any response
// Emits an errorMessage signal if CRC is incorrect on any responses
// Expected signals if the Open command fails for any reason
quint16 signalMaskOpenFailure = resetStatusMessagesSignalMask | errorMessageSignalMask;
// Expected signals if the Read command fails for any reason
quint16 signalMaskReadFailure = resetStatusMessagesSignalMask | openFileLengthSignalMask | errorMessageSignalMask;
// Expected signals if the downloadPath command succeeds
quint16 signalMaskDownloadSuccess = resetStatusMessagesSignalMask | openFileLengthSignalMask | statusMessageSignalMask;
// Send a bogus path // Send a bogus path
// We should get a single resetStatusMessages signal // We should get a single resetStatusMessages signal
// We should get a single errorMessage signal // We should get a single errorMessage signal
_fileManager->downloadPath("bogus", QDir::temp()); _fileManager->downloadPath("bogus", QDir::temp());
QCOMPARE(_multiSpy->checkOnlySignalByMask(errorMessageSignalMask | resetStatusMessagesSignalMask), true); QCOMPARE(_multiSpy->checkOnlySignalByMask(signalMaskOpenFailure), true);
_multiSpy->clearAllSignals(); _multiSpy->clearAllSignals();
// Clean previous downloads // Clean previous downloads
...@@ -235,50 +274,49 @@ void QGCUASFileManagerUnitTest::_openTest(void) ...@@ -235,50 +274,49 @@ void QGCUASFileManagerUnitTest::_openTest(void)
} }
} }
// We setup a spy on the Terminate command signal so that we can determine that a Terminate command was // We setup a spy on the Terminate command signal of the mock file server so that we can determine that a
// correctly sent after the Open/Read commands complete. // Terminate command was correctly sent after the Open/Read commands complete.
QSignalSpy terminateSpy(&_mockFileServer, SIGNAL(terminateCommandReceived())); QSignalSpy terminateSpy(&_mockFileServer, SIGNAL(terminateCommandReceived()));
// Run through the set of file test cases // Run through the set of file test cases
for (size_t i=0; i<MockMavlinkFileServer::cFileTestCases; i++) { for (size_t i=0; i<MockMavlinkFileServer::cFileTestCases; i++) {
const MockMavlinkFileServer::FileTestCase* testCase = &MockMavlinkFileServer::rgFileTestCases[i];
// Run through the various failure modes for this test case // Run through the various failure modes for this test case
for (size_t j=0; j<MockMavlinkFileServer::cFailureModes; j++) { for (size_t j=0; j<MockMavlinkFileServer::cFailureModes; j++) {
MockMavlinkFileServer::ErrorMode_t errMode = MockMavlinkFileServer::rgFailureModes[j]; MockMavlinkFileServer::ErrorMode_t errMode = MockMavlinkFileServer::rgFailureModes[j];
qDebug() << "Testing failure mode:" << errMode; qDebug() << "Testing failure mode:" << errMode;
_mockFileServer.setErrorMode(errMode); _mockFileServer.setErrorMode(errMode);
_fileManager->downloadPath(MockMavlinkFileServer::rgFileTestCases[i].filename, QDir::temp()); _fileManager->downloadPath(testCase->filename, QDir::temp());
QTest::qWait(_ackTimerTimeoutMsecs); // Let the file manager timeout QTest::qWait(_ackTimerTimeoutMsecs); // Let the file manager timeout
if (errMode == MockMavlinkFileServer::errModeNoSecondResponse || errMode == MockMavlinkFileServer::errModeNakSecondResponse) { if (errMode == MockMavlinkFileServer::errModeNoSecondResponse || errMode == MockMavlinkFileServer::errModeNakSecondResponse) {
// For simulated server errors on subsequent Acks, the first Ack will go through. We must handle things differently depending // For simulated server errors on subsequent Acks, the first Ack will go through. We must handle things differently depending
// on whether the downloaded file requires multiple packets to complete the download. // on whether the downloaded file requires multiple packets to complete the download.
if (MockMavlinkFileServer::rgFileTestCases[i].fMultiPacketResponse) { if (testCase->fMultiPacketResponse) {
// The downloaded file requires multiple Acks to complete. Hence second Read should have failed. // The downloaded file requires multiple Acks to complete. Hence second Read should have failed.
QCOMPARE(_multiSpy->checkOnlySignalByMask(errorMessageSignalMask | resetStatusMessagesSignalMask), true); QCOMPARE(_multiSpy->checkOnlySignalByMask(signalMaskReadFailure), true);
// Open command succeeded, so we should get a Terminate for the open // Open command succeeded, so we should get a Terminate for the open
QCOMPARE(terminateSpy.count(), 1); QCOMPARE(terminateSpy.count(), 1);
} else { } else {
// The downloaded file fits within a single Ack response, hence there is no second Read issued. // The downloaded file fits within a single Ack response, hence there is no second Read issued.
// This should result in a successful download. // This should result in a successful download.
QCOMPARE(_multiSpy->checkOnlySignalByMask(signalMaskDownloadSuccess), true);
// We should get a single resetStatusMessages signal
// We should get a single statusMessage signal, which indicates download completion
QCOMPARE(_multiSpy->checkOnlySignalByMask(statusMessageSignalMask | resetStatusMessagesSignalMask), true);
// We should get a single Terminate command to close the Open session // We should get a single Terminate command to close the Open session
QCOMPARE(terminateSpy.count(), 1); QCOMPARE(terminateSpy.count(), 1);
// Validate file contents // Validate file contents
QString filePath = QDir::temp().absoluteFilePath(MockMavlinkFileServer::rgFileTestCases[i].filename); QString filePath = QDir::temp().absoluteFilePath(testCase->filename);
_validateFileContents(filePath, MockMavlinkFileServer::rgFileTestCases[i].length); _validateFileContents(filePath, testCase->length);
} }
} else { } else {
// For all the other simulated server errors the Open command should have failed. Since the Open failed // For all the other simulated server errors the Open command should have failed. Since the Open failed
// there is no session to terminate, hence no Terminate in this case. // there is no session to terminate, hence no Terminate in this case.
QCOMPARE(_multiSpy->checkOnlySignalByMask(errorMessageSignalMask | resetStatusMessagesSignalMask), true); QCOMPARE(_multiSpy->checkOnlySignalByMask(signalMaskOpenFailure), true);
QCOMPARE(terminateSpy.count(), 0); QCOMPARE(terminateSpy.count(), 0);
} }
...@@ -289,11 +327,14 @@ void QGCUASFileManagerUnitTest::_openTest(void) ...@@ -289,11 +327,14 @@ void QGCUASFileManagerUnitTest::_openTest(void)
} }
// Run what should be a successful file download test case. No servers errors are being simulated. // Run what should be a successful file download test case. No servers errors are being simulated.
_fileManager->downloadPath(MockMavlinkFileServer::rgFileTestCases[i].filename, QDir::temp()); _fileManager->downloadPath(testCase->filename, QDir::temp());
// This should be a succesful download
QCOMPARE(_multiSpy->checkOnlySignalByMask(signalMaskDownloadSuccess), true);
// Make sure the file length coming back through the openFileLength signal is correct
QVERIFY(_multiSpy->getSpyByIndex(openFileLengthSignalIndex)->takeFirst().at(0).toInt() == testCase->length);
// We should get a single resetStatusMessages signal
// We should get a single statusMessage signal, which indicated download completion
QCOMPARE(_multiSpy->checkOnlySignalByMask(statusMessageSignalMask | resetStatusMessagesSignalMask), true);
_multiSpy->clearAllSignals(); _multiSpy->clearAllSignals();
// We should get a single Terminate command to close the session // We should get a single Terminate command to close the session
......
src/qgcunittest/QGCUASFileManagerTest.h
View file @ 93a24d4b
...@@ -56,7 +56,7 @@ private slots: ...@@ -56,7 +56,7 @@ private slots:
void _noAckTest(void); void _noAckTest(void);
void _resetTest(void); void _resetTest(void);
void _listTest(void); void _listTest(void);
void _openTest(void); void _downloadTest(void);
// Connected to QGCUASFileManager statusMessage signal // Connected to QGCUASFileManager statusMessage signal
void statusMessage(const QString&); void statusMessage(const QString&);
...@@ -68,7 +68,8 @@ private: ...@@ -68,7 +68,8 @@ private:
statusMessageSignalIndex = 0, statusMessageSignalIndex = 0,
errorMessageSignalIndex, errorMessageSignalIndex,
resetStatusMessagesSignalIndex, resetStatusMessagesSignalIndex,
listCompleteSignalIndex,
openFileLengthSignalIndex,
maxSignalIndex maxSignalIndex
}; };
...@@ -76,6 +77,8 @@ private: ...@@ -76,6 +77,8 @@ private:
statusMessageSignalMask = 1 << statusMessageSignalIndex, statusMessageSignalMask = 1 << statusMessageSignalIndex,
errorMessageSignalMask = 1 << errorMessageSignalIndex, errorMessageSignalMask = 1 << errorMessageSignalIndex,
resetStatusMessagesSignalMask = 1 << resetStatusMessagesSignalIndex, resetStatusMessagesSignalMask = 1 << resetStatusMessagesSignalIndex,
listCompleteSignalMask = 1 << listCompleteSignalIndex,
openFileLengthSignalMask = 1 << openFileLengthSignalIndex,
}; };
MockUAS _mockUAS; MockUAS _mockUAS;
......
src/uas/QGCUASFileManager.cc
View file @ 93a24d4b
...@@ -70,7 +70,7 @@ QGCUASFileManager::QGCUASFileManager(QObject* parent, UASInterface* uas) : ...@@ -70,7 +70,7 @@ QGCUASFileManager::QGCUASFileManager(QObject* parent, UASInterface* uas) :
QObject(parent), QObject(parent),
_currentOperation(kCOIdle), _currentOperation(kCOIdle),
_mav(uas), _mav(uas),
_encdata_seq(0), _lastOutgoingSeqNumber(0),
_activeSession(0) _activeSession(0)
{ {
bool connected = connect(&_ackTimer, SIGNAL(timeout()), this, SLOT(_ackTimeout())); bool connected = connect(&_ackTimer, SIGNAL(timeout()), this, SLOT(_ackTimeout()));
...@@ -104,12 +104,16 @@ void QGCUASFileManager::_openAckResponse(Request* openAck) ...@@ -104,12 +104,16 @@ void QGCUASFileManager::_openAckResponse(Request* openAck)
{ {
_currentOperation = kCORead; _currentOperation = kCORead;
_activeSession = openAck->hdr.session; _activeSession = openAck->hdr.session;
// File length comes back in data
Q_ASSERT(openAck->hdr.size == sizeof(uint32_t));
uint32_t fileLength = *((uint32_t*)openAck->data);
emit openFileLength(fileLength);
_readOffset = 0; // Start reading at beginning of file _readOffset = 0; // Start reading at beginning of file
_readFileAccumulator.clear(); // Start with an empty file _readFileAccumulator.clear(); // Start with an empty file
Request request; Request request;
request.hdr.magic = 'f';
request.hdr.session = _activeSession; request.hdr.session = _activeSession;
request.hdr.opcode = kCmdRead; request.hdr.opcode = kCmdRead;
request.hdr.offset = _readOffset; request.hdr.offset = _readOffset;
...@@ -173,7 +177,6 @@ void QGCUASFileManager::_readAckResponse(Request* readAck) ...@@ -173,7 +177,6 @@ void QGCUASFileManager::_readAckResponse(Request* readAck)
_readOffset += readAck->hdr.size; _readOffset += readAck->hdr.size;
Request request; Request request;
request.hdr.magic = 'f';
request.hdr.session = _activeSession; request.hdr.session = _activeSession;
request.hdr.opcode = kCmdRead; request.hdr.opcode = kCmdRead;
request.hdr.offset = _readOffset; request.hdr.offset = _readOffset;
...@@ -251,23 +254,42 @@ void QGCUASFileManager::receiveMessage(LinkInterface* link, mavlink_message_t me ...@@ -251,23 +254,42 @@ void QGCUASFileManager::receiveMessage(LinkInterface* link, mavlink_message_t me
} }
// XXX: hack to prevent files from videostream to interfere // XXX: hack to prevent files from videostream to interfere
if (message.compid != MAV_COMP_ID_IMU) { // FIXME: magic number
if (message.compid != 50) {
return; return;
} }
_clearAckTimeout();
mavlink_encapsulated_data_t data; mavlink_encapsulated_data_t data;
mavlink_msg_encapsulated_data_decode(&message, &data); mavlink_msg_encapsulated_data_decode(&message, &data);
Request* request = (Request*)&data.data[0]; Request* request = (Request*)&data.data[0];
if (request->hdr.magic != kProtocolMagic) {
return;
}
_clearAckTimeout();
uint16_t incomingSeqNumber = data.seqnr;
// Make sure we have a good CRC // Make sure we have a good CRC
if (request->hdr.crc32 != crc32(request)) { quint32 expectedCRC = crc32(request);
quint32 receivedCRC = request->hdr.crc32;
if (receivedCRC != expectedCRC) {
_currentOperation = kCOIdle; _currentOperation = kCOIdle;
_emitErrorMessage(tr("Bad CRC on received message")); _emitErrorMessage(tr("Bad CRC on received message: expected(%1) received(%2)").arg(expectedCRC).arg(receivedCRC));
return; return;
} }
// Make sure we have a good sequence number
uint16_t expectedSeqNumber = _lastOutgoingSeqNumber + 1;
if (incomingSeqNumber != expectedSeqNumber) {
_currentOperation = kCOIdle;
_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
_lastOutgoingSeqNumber = incomingSeqNumber;
if (request->hdr.opcode == kRspAck) { if (request->hdr.opcode == kRspAck) {
...@@ -474,8 +496,6 @@ void QGCUASFileManager::_setupAckTimeout(void) ...@@ -474,8 +496,6 @@ void QGCUASFileManager::_setupAckTimeout(void)
/// @brief Clears the ack timeout timer /// @brief Clears the ack timeout timer
void QGCUASFileManager::_clearAckTimeout(void) void QGCUASFileManager::_clearAckTimeout(void)
{ {
Q_ASSERT(_ackTimer.isActive());
_ackTimer.stop(); _ackTimer.stop();
} }
...@@ -502,7 +522,6 @@ void QGCUASFileManager::_ackTimeout(void) ...@@ -502,7 +522,6 @@ void QGCUASFileManager::_ackTimeout(void)
void QGCUASFileManager::_sendTerminateCommand(void) void QGCUASFileManager::_sendTerminateCommand(void)
{ {
Request request; Request request;
request.hdr.magic = 'f';
request.hdr.session = _activeSession; request.hdr.session = _activeSession;
request.hdr.opcode = kCmdTerminate; request.hdr.opcode = kCmdTerminate;
_sendRequest(&request); _sendRequest(&request);
...@@ -526,9 +545,13 @@ void QGCUASFileManager::_sendRequest(Request* request) ...@@ -526,9 +545,13 @@ void QGCUASFileManager::_sendRequest(Request* request)
mavlink_message_t message; mavlink_message_t message;
_setupAckTimeout(); _setupAckTimeout();
_lastOutgoingSeqNumber++;
request->hdr.magic = kProtocolMagic;
request->hdr.crc32 = crc32(request); request->hdr.crc32 = crc32(request);
// FIXME: Send correct system id instead of harcoded 250 // FIXME: Send correct system id instead of harcoded 250
mavlink_msg_encapsulated_data_pack(250, 0, &message, _encdata_seq, (uint8_t*)request); // FIXME: What about the component id? Should it be set to something specific.
mavlink_msg_encapsulated_data_pack(250, 0, &message, _lastOutgoingSeqNumber, (uint8_t*)request);
_mav->sendMessage(message); _mav->sendMessage(message);
} }
src/uas/QGCUASFileManager.h
View file @ 93a24d4b
...@@ -49,6 +49,7 @@ signals: ...@@ -49,6 +49,7 @@ signals:
void resetStatusMessages(); void resetStatusMessages();
void errorMessage(const QString& msg); void errorMessage(const QString& msg);
void listComplete(void); void listComplete(void);
void openFileLength(unsigned int length);
public slots: public slots:
void receiveMessage(LinkInterface* link, mavlink_message_t message); void receiveMessage(LinkInterface* link, mavlink_message_t message);
...@@ -56,6 +57,7 @@ public slots: ...@@ -56,6 +57,7 @@ public slots:
void downloadPath(const QString& from, const QDir& downloadDir); void downloadPath(const QString& from, const QDir& downloadDir);
protected: protected:
static const uint8_t kProtocolMagic = 'f';
struct RequestHeader struct RequestHeader
{ {
uint8_t magic; ///> Magic byte 'f' to idenitfy FTP protocol uint8_t magic; ///> Magic byte 'f' to idenitfy FTP protocol
...@@ -148,7 +150,8 @@ protected: ...@@ -148,7 +150,8 @@ protected:
QTimer _ackTimer; ///> Used to signal a timeout waiting for an ack QTimer _ackTimer; ///> Used to signal a timeout waiting for an ack
UASInterface* _mav; UASInterface* _mav;
quint16 _encdata_seq;
uint16_t _lastOutgoingSeqNumber; ///< Sequence number sent in last outgoing packet
unsigned _listOffset; ///> offset for the current List operation unsigned _listOffset; ///> offset for the current List operation
QString _listPath; ///> path for the current List operation QString _listPath; ///> path for the current List operation
......
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