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

src/qgcunittest/MockMavlinkFileServer.h

@@ -54,7 +54,7 @@ public:
         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, NYI: Waiting on Firmware sequence # support
+        errModeBadSequence          ///< Return response with bad sequence number
     } ErrorMode_t;
     
     /// @brief Sets the error mode for command responses. This allows you to simulate various server errors.
@@ -89,13 +89,14 @@ signals:
     void terminateCommandReceived(void);
     
 private:
-    void _sendAck(void);
-    void _sendNak(QGCUASFileManager::ErrorCode error);
-    void _emitResponse(QGCUASFileManager::Request* request);
-    void _listCommand(QGCUASFileManager::Request* request);
-    void _openCommand(QGCUASFileManager::Request* request);
-    void _readCommand(QGCUASFileManager::Request* request);
-    void _terminateCommand(QGCUASFileManager::Request* request);
+    void _sendAck(uint16_t seqNumber);
+    void _sendNak(QGCUASFileManager::ErrorCode error, uint16_t seqNumber);
+    void _emitResponse(QGCUASFileManager::Request* request, uint16_t seqNumber);
+    void _listCommand(QGCUASFileManager::Request* request, uint16_t seqNumber);
+    void _openCommand(QGCUASFileManager::Request* request, uint16_t seqNumber);
+    void _readCommand(QGCUASFileManager::Request* request, uint16_t seqNumber);
+    void _terminateCommand(QGCUASFileManager::Request* request, uint16_t seqNumber);
+    uint16_t _nextSeqNumber(uint16_t seqNumber);
     
     QStringList _fileList;  ///< List of files returned by List command
     

src/qgcunittest/QGCUASFileManagerTest.h

@@ -56,7 +56,7 @@ private slots:
     void _noAckTest(void);
     void _resetTest(void);
     void _listTest(void);
-    void _openTest(void);
+    void _downloadTest(void);
     
     // Connected to QGCUASFileManager statusMessage signal
     void statusMessage(const QString&);
@@ -68,7 +68,8 @@ private:
         statusMessageSignalIndex = 0,
         errorMessageSignalIndex,
         resetStatusMessagesSignalIndex,
-
+        listCompleteSignalIndex,
+        openFileLengthSignalIndex,
         maxSignalIndex
     };
     
@@ -76,6 +77,8 @@ private:
         statusMessageSignalMask =           1 << statusMessageSignalIndex,
         errorMessageSignalMask =            1 << errorMessageSignalIndex,
         resetStatusMessagesSignalMask =     1 << resetStatusMessagesSignalIndex,
+        listCompleteSignalMask =            1 << listCompleteSignalIndex,
+        openFileLengthSignalMask =          1 << openFileLengthSignalIndex,
     };
     
     MockUAS                 _mockUAS;

src/uas/QGCUASFileManager.cc

@@ -70,7 +70,7 @@ QGCUASFileManager::QGCUASFileManager(QObject* parent, UASInterface* uas) :
     QObject(parent),
     _currentOperation(kCOIdle),
     _mav(uas),
-    _encdata_seq(0),
+    _lastOutgoingSeqNumber(0),
     _activeSession(0)
 {
     bool connected = connect(&_ackTimer, SIGNAL(timeout()), this, SLOT(_ackTimeout()));
@@ -104,12 +104,16 @@ void QGCUASFileManager::_openAckResponse(Request* openAck)
 {
     _currentOperation = kCORead;
     _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
     _readFileAccumulator.clear();   // Start with an empty file
 
     Request request;
-    request.hdr.magic = 'f';
     request.hdr.session = _activeSession;
     request.hdr.opcode = kCmdRead;
     request.hdr.offset = _readOffset;
@@ -173,7 +177,6 @@ void QGCUASFileManager::_readAckResponse(Request* readAck)
         _readOffset += readAck->hdr.size;
 
         Request request;
-        request.hdr.magic = 'f';
         request.hdr.session = _activeSession;
         request.hdr.opcode = kCmdRead;
         request.hdr.offset = _readOffset;
@@ -251,23 +254,42 @@ void QGCUASFileManager::receiveMessage(LinkInterface* link, mavlink_message_t me
     }
 
     // XXX: hack to prevent files from videostream to interfere
-    if (message.compid != MAV_COMP_ID_IMU) {
+    // FIXME: magic number
+    if (message.compid != 50) {
         return;
     }
 
-    _clearAckTimeout();
-
     mavlink_encapsulated_data_t data;
     mavlink_msg_encapsulated_data_decode(&message, &data);
     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
-    if (request->hdr.crc32 != crc32(request)) {
+    quint32 expectedCRC = crc32(request);
+    quint32 receivedCRC = request->hdr.crc32;
+    if (receivedCRC != expectedCRC) {
         _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;
     }
-
+    
+    // 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) {
 
@@ -474,8 +496,6 @@ void QGCUASFileManager::_setupAckTimeout(void)
 /// @brief Clears the ack timeout timer
 void QGCUASFileManager::_clearAckTimeout(void)
 {
-    Q_ASSERT(_ackTimer.isActive());
-
     _ackTimer.stop();
 }
 
@@ -502,7 +522,6 @@ void QGCUASFileManager::_ackTimeout(void)
 void QGCUASFileManager::_sendTerminateCommand(void)
 {
     Request request;
-    request.hdr.magic = 'f';
     request.hdr.session = _activeSession;
     request.hdr.opcode = kCmdTerminate;
     _sendRequest(&request);
@@ -526,9 +545,13 @@ void QGCUASFileManager::_sendRequest(Request* request)
     mavlink_message_t message;
 
     _setupAckTimeout();
+    
+    _lastOutgoingSeqNumber++;
 
+    request->hdr.magic = kProtocolMagic;
     request->hdr.crc32 = crc32(request);
     // 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);
 }

src/uas/QGCUASFileManager.h

@@ -49,6 +49,7 @@ signals:
     void resetStatusMessages();
     void errorMessage(const QString& msg);
     void listComplete(void);
+    void openFileLength(unsigned int length);
 
 public slots:
     void receiveMessage(LinkInterface* link, mavlink_message_t message);
@@ -56,6 +57,7 @@ public slots:
     void downloadPath(const QString& from, const QDir& downloadDir);
 
 protected:
+    static const uint8_t kProtocolMagic = 'f';
     struct RequestHeader
         {
             uint8_t		magic;      ///> Magic byte 'f' to idenitfy FTP protocol
@@ -148,7 +150,8 @@ protected:
     QTimer          _ackTimer;                      ///> Used to signal a timeout waiting for an ack
     
     UASInterface* _mav;
-    quint16 _encdata_seq;
+    
+    uint16_t _lastOutgoingSeqNumber; ///< Sequence number sent in last outgoing packet
 
     unsigned    _listOffset;    ///> offset for the current List operation
     QString     _listPath;      ///> path for the current List operation