Re-enable FileManager unit test

QGCApplication.pro

@@ -236,6 +236,7 @@ HEADERS += \
     src/comm/LinkManager.h \
     src/comm/MAVLinkProtocol.h \
     src/comm/MockLink.h \
+    src/comm/MockLinkFileServer.h \
     src/comm/MockLinkMissionItemHandler.h \
     src/comm/ProtocolInterface.h \
     src/comm/QGCFlightGearLink.h \
@@ -374,6 +375,7 @@ SOURCES += \
     src/comm/LinkManager.cc \
     src/comm/MAVLinkProtocol.cc \
     src/comm/MockLink.cc \
+    src/comm/MockLinkFileServer.cc \
     src/comm/MockLinkMissionItemHandler.cc \
     src/comm/QGCFlightGearLink.cc \
     src/comm/QGCJSBSimLink.cc \
@@ -518,8 +520,6 @@ INCLUDEPATH += \
 
 HEADERS += \
     src/qgcunittest/FlightGearTest.h \
-    src/qgcunittest/MockMavlinkFileServer.h \
-    src/qgcunittest/MockMavlinkInterface.h \
     src/qgcunittest/MultiSignalSpy.h \
     src/qgcunittest/TCPLinkTest.h \
     src/qgcunittest/TCPLoopBackServer.h \
@@ -534,10 +534,10 @@ HEADERS += \
     src/qgcunittest/PX4RCCalibrationTest.h \
     src/qgcunittest/UnitTest.h \
     src/VehicleSetup/SetupViewTest.h \
+    src/qgcunittest/FileManagerTest.h \
 
 SOURCES += \
     src/qgcunittest/FlightGearTest.cc \
-    src/qgcunittest/MockMavlinkFileServer.cc \
     src/qgcunittest/MultiSignalSpy.cc \
     src/qgcunittest/TCPLinkTest.cc \
     src/qgcunittest/TCPLoopBackServer.cc \
@@ -552,6 +552,7 @@ SOURCES += \
     src/qgcunittest/PX4RCCalibrationTest.cc \
     src/qgcunittest/UnitTest.cc \
     src/VehicleSetup/SetupViewTest.cc \
+    src/qgcunittest/FileManagerTest.cc \
 
 } # DebugBuild|WindowsDebugAndRelease
 } # AndroidBuild

src/comm/MockLink.cc

@@ -75,7 +75,8 @@ MockLink::MockLink(MockConfiguration* config) :
     _mavlinkStarted(false),
     _mavBaseMode(MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_CUSTOM_MODE_ENABLED),
     _mavState(MAV_STATE_STANDBY),
-    _autopilotType(MAV_AUTOPILOT_PX4)
+    _autopilotType(MAV_AUTOPILOT_PX4),
+    _fileServer(NULL)
 {
     _config = config;
     union px4_custom_mode   px4_cm;
@@ -84,6 +85,9 @@ MockLink::MockLink(MockConfiguration* config) :
     px4_cm.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
     _mavCustomMode = px4_cm.data;
 
+    _fileServer = new MockLinkFileServer(_vehicleSystemId, _vehicleComponentId, this);
+    Q_CHECK_PTR(_fileServer);
+    
     _missionItemHandler = new MockLinkMissionItemHandler(_vehicleSystemId, this);
     Q_CHECK_PTR(_missionItemHandler);
 
@@ -218,7 +222,6 @@ void MockLink::_loadParams(void)
 void MockLink::_sendHeartBeat(void)
 {
     mavlink_message_t   msg;
-    uint8_t             buffer[MAVLINK_MAX_PACKET_LEN];
 
     mavlink_msg_heartbeat_pack(_vehicleSystemId,
                                _vehicleComponentId,
@@ -228,7 +231,14 @@ void MockLink::_sendHeartBeat(void)
                                _mavBaseMode,        // MAV_MODE
                                _mavCustomMode,      // custom mode
                                _mavState);          // MAV_STATE
+    
+    respondWithMavlinkMessage(msg);
+}
 
+void MockLink::respondWithMavlinkMessage(const mavlink_message_t& msg)
+{
+    uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+    
     int cBuffer = mavlink_msg_to_send_buffer(buffer, &msg);
     QByteArray bytes((char *)buffer, cBuffer);
     emit bytesReceived(this, bytes);
@@ -332,6 +342,10 @@ void MockLink::_handleIncomingMavlinkBytes(const uint8_t* bytes, int cBytes)
                 _handleMissionCount(msg);
                 break;
 #endif
+                
+            case MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL:
+                _handleFTP(msg);
+                break;
 
             default:
                 qDebug() << "MockLink: Unhandled mavlink message, id:" << msg.msgid;
@@ -340,15 +354,6 @@ void MockLink::_handleIncomingMavlinkBytes(const uint8_t* bytes, int cBytes)
     }
 }
 
-void MockLink::_emitMavlinkMessage(const mavlink_message_t& msg)
-{
-    uint8_t outputBuffer[MAVLINK_MAX_PACKET_LEN];
-
-    int cBuffer = mavlink_msg_to_send_buffer(outputBuffer, &msg);
-    QByteArray bytes((char *)outputBuffer, cBuffer);
-    emit bytesReceived(this, bytes);
-}
-
 void MockLink::_handleHeartBeat(const mavlink_message_t& msg)
 {
     Q_UNUSED(msg);
@@ -494,7 +499,7 @@ void MockLink::_handleParamRequestList(const mavlink_message_t& msg)
                                          paramType,                         // MAV_PARAM_TYPE
                                          cParameters,                       // Total number of parameters
                                          paramIndex++);                     // Index of this parameter
-            _emitMavlinkMessage(responseMsg);
+            respondWithMavlinkMessage(responseMsg);
             
             // Only first parameter the first time through
             break;
@@ -533,7 +538,7 @@ void MockLink::_handleParamRequestList(const mavlink_message_t& msg)
                                              paramType,                         // MAV_PARAM_TYPE
                                              cParameters,                       // Total number of parameters
                                              paramIndex++);                     // Index of this parameter
-                _emitMavlinkMessage(responseMsg);
+                respondWithMavlinkMessage(responseMsg);
             }
         }
     }
@@ -571,7 +576,7 @@ void MockLink::_handleParamSet(const mavlink_message_t& msg)
                                  request.param_type,                                        // Send same type back
                                  _mapParamName2Value[componentId].count(),                  // Total number of parameters
                                  _mapParamName2Value[componentId].keys().indexOf(paramId)); // Index of this parameter
-    _emitMavlinkMessage(responseMsg);
+    respondWithMavlinkMessage(responseMsg);
 }
 
 void MockLink::_handleParamRequestRead(const mavlink_message_t& msg)
@@ -613,7 +618,7 @@ void MockLink::_handleParamRequestRead(const mavlink_message_t& msg)
                                  _mapParamName2MavParamType[paramId],                       // Parameter type
                                  _mapParamName2Value[componentId].count(),                  // Total number of parameters
                                  _mapParamName2Value[componentId].keys().indexOf(paramId)); // Index of this parameter
-    _emitMavlinkMessage(responseMsg);
+    respondWithMavlinkMessage(responseMsg);
 }
 
 void MockLink::_handleMissionRequestList(const mavlink_message_t& msg)
@@ -632,7 +637,7 @@ void MockLink::_handleMissionRequestList(const mavlink_message_t& msg)
                                    msg.sysid,               // Target is original sender
                                    msg.compid,              // Target is original sender
                                    _missionItems.count());  // Number of mission items
-    _emitMavlinkMessage(responseMsg);
+    respondWithMavlinkMessage(responseMsg);
 }
 
 void MockLink::_handleMissionRequest(const mavlink_message_t& msg)
@@ -660,7 +665,7 @@ void MockLink::_handleMissionRequest(const mavlink_message_t& msg)
                                   item.autocontinue,
                                   item.param1, item.param2, item.param3, item.param4,
                                   item.x, item.y, item.z);
-    _emitMavlinkMessage(responseMsg);
+    respondWithMavlinkMessage(responseMsg);
 }
 
 void MockLink::_handleMissionItem(const mavlink_message_t& msg)
@@ -711,5 +716,11 @@ void MockLink::emitRemoteControlChannelRawChanged(int channel, uint16_t raw)
                                  chanRaw[16],           // channel raw value
                                  chanRaw[17],           // channel raw value
                                  0);                    // rss
-    _emitMavlinkMessage(responseMsg);
+    respondWithMavlinkMessage(responseMsg);
+}
+
+void MockLink::_handleFTP(const mavlink_message_t& msg)
+{
+    Q_ASSERT(_fileServer);
+    _fileServer->handleFTPMessage(msg);
 }

src/comm/MockLink.h

@@ -28,6 +28,7 @@
 #include <QLoggingCategory>
 
 #include "MockLinkMissionItemHandler.h"
+#include "MockLinkFileServer.h"
 #include "LinkManager.h"
 #include "QGCMAVLink.h"
 
@@ -71,6 +72,11 @@ public:
     MAV_AUTOPILOT getAutopilotType(void) { return _autopilotType; }
     void setAutopilotType(MAV_AUTOPILOT autopilot) { _autopilotType = autopilot; }
     void emitRemoteControlChannelRawChanged(int channel, uint16_t raw);
+    
+    /// Sends the specified mavlink message to QGC
+    void respondWithMavlinkMessage(const mavlink_message_t& msg);
+    
+    MockLinkFileServer* getFileServer(void) { return _fileServer; }
 
     // These are left unimplemented in order to cause linker errors which indicate incorrect usage of
     // connect/disconnect on link directly. All connect/disconnect calls should be made through LinkManager.
@@ -109,7 +115,6 @@ private:
     void _handleIncomingNSHBytes(const char* bytes, int cBytes);
     void _handleIncomingMavlinkBytes(const uint8_t* bytes, int cBytes);
     void _loadParams(void);
-    void _emitMavlinkMessage(const mavlink_message_t& msg);
     void _handleHeartBeat(const mavlink_message_t& msg);
     void _handleSetMode(const mavlink_message_t& msg);
     void _handleParamRequestList(const mavlink_message_t& msg);
@@ -118,6 +123,7 @@ private:
     void _handleMissionRequestList(const mavlink_message_t& msg);
     void _handleMissionRequest(const mavlink_message_t& msg);
     void _handleMissionItem(const mavlink_message_t& msg);
+    void _handleFTP(const mavlink_message_t& msg);
     float _floatUnionForParam(int componentId, const QString& paramName);
     void _setParamFloatUnionIntoMap(int componentId, const QString& paramName, float paramFloat);
 
@@ -144,6 +150,8 @@ private:
 
     MockConfiguration* _config;
     MAV_AUTOPILOT _autopilotType;
+    
+    MockLinkFileServer* _fileServer;
 };
 
 #endif

src/qgcunittest/MockMavlinkFileServer.h → src/comm/MockLinkFileServer.h

@@ -21,29 +21,25 @@
  
  ======================================================================*/
 
-#ifndef MOCKMAVLINKFILESERVER_H
-#define MOCKMAVLINKFILESERVER_H
-
-#include "MockMavlinkInterface.h"
-#include "FileManager.h"
-
 /// @file
-///     @brief Mock implementation of Mavlink FTP server. Used as mavlink plugin to MockUAS.
-///             Only root directory access is supported.
-///
 ///     @author Don Gagne <don@thegagnes.com>
 
+#ifndef MockLinkFileServer_H
+#define MockLinkFileServer_H
+
+#include "FileManager.h"
+
 #include <QStringList>
 
-class MockMavlinkFileServer : public MockMavlinkInterface
+class MockLink;
+
+/// Mock implementation of Mavlink FTP server.
+class MockLinkFileServer : public QObject
 {
     Q_OBJECT
     
 public:
-    /// @brief Constructor for MockMavlinkFileServer
-    ///     @param System ID for QGroundControl App
-    ///     @pqram System ID for this Server
-    MockMavlinkFileServer(uint8_t systemIdQGC, uint8_t systemIdServer);
+    MockLinkFileServer(uint8_t systemIdServer, uint8_t componentIdServer, MockLink* mockLink);
     
     /// @brief Sets the list of files returned by the List command. Prepend names with F or D
     /// to indicate (F)ile or (D)irectory.
@@ -70,8 +66,8 @@ public:
     /// @brief The number of ErrorModes in the rgFailureModes array.
     static const size_t cFailureModes;
     
-    // From MockMavlinkInterface
-    virtual void sendMessage(mavlink_message_t message);
+    /// Called to handle an FTP message
+    void handleFTPMessage(const mavlink_message_t& message);
     
     /// @brief Used to represent a single test case for download testing.
     struct FileTestCase {
@@ -88,18 +84,22 @@ public:
     static const FileTestCase rgFileTestCases[cFileTestCases];
     
 signals:
-    /// @brief You can connect to this signal to be notified when the server receives a Terminate command.
+    /// You can connect to this signal to be notified when the server receives a Terminate command.
     void terminateCommandReceived(void);
     
+    /// You can connect to this signal to be notified when the server receives a Reset command.
+    void resetCommandReceived(void);
+    
 private:
-	void _sendAck(uint16_t seqNumber, FileManager::Opcode reqOpcode);
-    void _sendNak(FileManager::ErrorCode error, uint16_t seqNumber, FileManager::Opcode reqOpcode);
-    void _emitResponse(FileManager::Request* request, uint16_t seqNumber);
-    void _listCommand(FileManager::Request* request, uint16_t seqNumber);
-    void _openCommand(FileManager::Request* request, uint16_t seqNumber);
-    void _readCommand(FileManager::Request* request, uint16_t seqNumber);
-	void _streamCommand(FileManager::Request* request, uint16_t seqNumber);
-    void _terminateCommand(FileManager::Request* request, uint16_t seqNumber);
+	void _sendAck(uint8_t targetSystemId, uint8_t targetComponentId, uint16_t seqNumber, FileManager::Opcode reqOpcode);
+    void _sendNak(uint8_t targetSystemId, uint8_t targetComponentId, FileManager::ErrorCode error, uint16_t seqNumber, FileManager::Opcode reqOpcode);
+    void _sendResponse(uint8_t targetSystemId, uint8_t targetComponentId, FileManager::Request* request, uint16_t seqNumber);
+    void _listCommand(uint8_t senderSystemId, uint8_t senderComponentId, FileManager::Request* request, uint16_t seqNumber);
+    void _openCommand(uint8_t senderSystemId, uint8_t senderComponentId, FileManager::Request* request, uint16_t seqNumber);
+    void _readCommand(uint8_t senderSystemId, uint8_t senderComponentId, FileManager::Request* request, uint16_t seqNumber);
+	void _streamCommand(uint8_t senderSystemId, uint8_t senderComponentId, FileManager::Request* request, uint16_t seqNumber);
+    void _terminateCommand(uint8_t senderSystemId, uint8_t senderComponentId, FileManager::Request* request, uint16_t seqNumber);
+    void _resetCommand(uint8_t senderSystemId, uint8_t senderComponentId, uint16_t seqNumber);
     uint16_t _nextSeqNumber(uint16_t seqNumber);
     
     QStringList _fileList;  ///< List of files returned by List command
@@ -108,7 +108,8 @@ private:
     uint8_t                 _readFileLength;    ///< Length of active file being read
     ErrorMode_t             _errMode;           ///< Currently set error mode, as specified by setErrorMode
     const uint8_t           _systemIdServer;    ///< System ID for server
-    const uint8_t           _systemIdQGC;       ///< QGC System ID
+    const uint8_t           _componentIdServer; ///< Component ID for server
+    MockLink*               _mockLink;          ///< MockLink to communicate through
 };
 
 #endif

src/qgcunittest/FileManagerTest.h

@@ -28,9 +28,8 @@
 #include <QtTest/QtTest>
 
 #include "UnitTest.h"
-#include "MockUAS.h"
-#include "MockMavlinkFileServer.h"
 #include "FileManager.h"
+#include "MockLink.h"
 #include "MultiSignalSpy.h"
 
 /// @file
@@ -47,18 +46,13 @@ public:
     
 private slots:
     // Test case initialization
-    void initTestCase(void);
-    void cleanupTestCase(void);
     void init(void);
     void cleanup(void);
     
     // Test cases
     void _ackTest(void);
     void _noAckTest(void);
-    void _resetTest(void);
     void _listTest(void);
-    void _readDownloadTest(void);
-	void _streamDownloadTest(void);
 	
     // Connected to FileManager listEntry signal
     void listEntry(const QString& entry);
@@ -76,16 +70,15 @@ private:
     enum {
         listEntrySignalMask =       1 << listEntrySignalIndex,
         commandCompleteSignalMask = 1 << commandCompleteSignalIndex,
-        commandErrorSignalMask =    1 << errorMessageSignalIndex,
+        commandErrorSignalMask =    1 << commandErrorSignalIndex,
     };
 
     static const uint8_t    _systemIdQGC = 255;
     static const uint8_t    _systemIdServer = 128;
 
-    MockUAS*                _mockUAS;
-    MockMavlinkFileServer   _mockFileServer;
-    
-    FileManager*  _fileManager;
+    MockLink*           _mockLink;
+    MockLinkFileServer* _fileServer;
+    FileManager*        _fileManager;
 
     MultiSignalSpy*     _multiSpy;
     static const size_t _cSignals = maxSignalIndex;

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