Merge pull request #1557 from DonLakeFlyer/FileManager

File Manager fixes and 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.cc → src/comm/MockLinkFileServer.cc

@@ -21,18 +21,19 @@
  
  ======================================================================*/
 
-#include "MockMavlinkFileServer.h"
-
-const MockMavlinkFileServer::ErrorMode_t MockMavlinkFileServer::rgFailureModes[] = {
-    MockMavlinkFileServer::errModeNoResponse,
-    MockMavlinkFileServer::errModeNakResponse,
-    MockMavlinkFileServer::errModeNoSecondResponse,
-    MockMavlinkFileServer::errModeNakSecondResponse,
-    MockMavlinkFileServer::errModeBadSequence,
+#include "MockLinkFileServer.h"
+#include "MockLink.h"
+
+const MockLinkFileServer::ErrorMode_t MockLinkFileServer::rgFailureModes[] = {
+    MockLinkFileServer::errModeNoResponse,
+    MockLinkFileServer::errModeNakResponse,
+    MockLinkFileServer::errModeNoSecondResponse,
+    MockLinkFileServer::errModeNakSecondResponse,
+    MockLinkFileServer::errModeBadSequence,
 };
-const size_t MockMavlinkFileServer::cFailureModes = sizeof(MockMavlinkFileServer::rgFailureModes) / sizeof(MockMavlinkFileServer::rgFailureModes[0]);
+const size_t MockLinkFileServer::cFailureModes = sizeof(MockLinkFileServer::rgFailureModes) / sizeof(MockLinkFileServer::rgFailureModes[0]);
 
-const MockMavlinkFileServer::FileTestCase MockMavlinkFileServer::rgFileTestCases[MockMavlinkFileServer::cFileTestCases] = {
+const MockLinkFileServer::FileTestCase MockLinkFileServer::rgFileTestCases[MockLinkFileServer::cFileTestCases] = {
     // File fits one Read Ack packet, partially filling data
     { "partial.qgc",    sizeof(((FileManager::Request*)0)->data) - 1,     1,    false},
     // File fits one Read Ack packet, exactly filling all data
@@ -42,19 +43,20 @@ const MockMavlinkFileServer::FileTestCase MockMavlinkFileServer::rgFileTestCases
 };
 
 // We only support a single fixed session
-const uint8_t MockMavlinkFileServer::_sessionId = 1;
+const uint8_t MockLinkFileServer::_sessionId = 1;
 
-MockMavlinkFileServer::MockMavlinkFileServer(uint8_t systemIdQGC, uint8_t systemIdServer) :
+MockLinkFileServer::MockLinkFileServer(uint8_t systemIdServer, uint8_t componentIdServer, MockLink* mockLink) :
     _errMode(errModeNone),
     _systemIdServer(systemIdServer),
-    _systemIdQGC(systemIdQGC)
+    _componentIdServer(componentIdServer),
+    _mockLink(mockLink)
 {
 
 }
 
 /// @brief Handles List command requests. Only supports root folder paths.
 ///         File list returned is set using the setFileList method.
-void MockMavlinkFileServer::_listCommand(FileManager::Request* request, uint16_t seqNumber)
+void MockLinkFileServer::_listCommand(uint8_t senderSystemId, uint8_t senderComponentId, FileManager::Request* request, uint16_t seqNumber)
 {
     // FIXME: Does not support directories that span multiple packets
     
@@ -65,17 +67,18 @@ void MockMavlinkFileServer::_listCommand(FileManager::Request* request, uint16_t
     // We only support root path
     path = (char *)&request->data[0];
     if (!path.isEmpty() && path != "/") {
-		_sendNak(FileManager::kErrFail, outgoingSeqNumber, FileManager::kCmdListDirectory);
+		_sendNak(senderSystemId, senderComponentId, FileManager::kErrFail, outgoingSeqNumber, FileManager::kCmdListDirectory);
         return;
     }
     
     // Offset requested is past the end of the list
     if (request->hdr.offset > (uint32_t)_fileList.size()) {
-        _sendNak(FileManager::kErrEOF, outgoingSeqNumber, FileManager::kCmdListDirectory);
+        _sendNak(senderSystemId, senderComponentId, FileManager::kErrEOF, outgoingSeqNumber, FileManager::kCmdListDirectory);
         return;
     }
     
     ackResponse.hdr.opcode = FileManager::kRspAck;
+    ackResponse.hdr.req_opcode = FileManager::kCmdListDirectory;
     ackResponse.hdr.session = 0;
     ackResponse.hdr.offset = request->hdr.offset;
     ackResponse.hdr.size = 0;
@@ -92,22 +95,22 @@ void MockMavlinkFileServer::_listCommand(FileManager::Request* request, uint16_t
             bufPtr += cchFilename + 1;
         }
 
-        _emitResponse(&ackResponse, outgoingSeqNumber);
+        _sendResponse(senderSystemId, senderComponentId, &ackResponse, outgoingSeqNumber);
     } else if (_errMode == errModeNakSecondResponse) {
         // Nak error all subsequent requests
-        _sendNak(FileManager::kErrFail, outgoingSeqNumber, FileManager::kCmdListDirectory);
+        _sendNak(senderSystemId, senderComponentId, FileManager::kErrFail, outgoingSeqNumber, FileManager::kCmdListDirectory);
         return;
     } else if (_errMode == errModeNoSecondResponse) {
         // No response for all subsequent requests
         return;
     } else {
         // FIXME: Does not support directories that span multiple packets
-        _sendNak(FileManager::kErrEOF, outgoingSeqNumber, FileManager::kCmdListDirectory);
+        _sendNak(senderSystemId, senderComponentId, FileManager::kErrEOF, outgoingSeqNumber, FileManager::kCmdListDirectory);
     }
 }
 
 /// @brief Handles Open command requests.
-void MockMavlinkFileServer::_openCommand(FileManager::Request* request, uint16_t seqNumber)
+void MockLinkFileServer::_openCommand(uint8_t senderSystemId, uint8_t senderComponentId, FileManager::Request* request, uint16_t seqNumber)
 {
     FileManager::Request  response;
     QString                     path;
@@ -129,7 +132,7 @@ void MockMavlinkFileServer::_openCommand(FileManager::Request* request, uint16_t
         }
     }
     if (!found) {
-        _sendNak(FileManager::kErrFail, outgoingSeqNumber, FileManager::kCmdOpenFileRO);
+        _sendNak(senderSystemId, senderComponentId, FileManager::kErrFail, outgoingSeqNumber, FileManager::kCmdOpenFileRO);
         return;
     }
     
@@ -141,16 +144,16 @@ void MockMavlinkFileServer::_openCommand(FileManager::Request* request, uint16_t
     response.hdr.size = sizeof(uint32_t);
     response.openFileLength = _readFileLength;
     
-    _emitResponse(&response, outgoingSeqNumber);
+    _sendResponse(senderSystemId, senderComponentId, &response, outgoingSeqNumber);
 }
 
-void MockMavlinkFileServer::_readCommand(FileManager::Request* request, uint16_t seqNumber)
+void MockLinkFileServer::_readCommand(uint8_t senderSystemId, uint8_t senderComponentId, FileManager::Request* request, uint16_t seqNumber)
 {
     FileManager::Request	response;
     uint16_t				outgoingSeqNumber = _nextSeqNumber(seqNumber);
 
     if (request->hdr.session != _sessionId) {
-		_sendNak(FileManager::kErrFail, outgoingSeqNumber, FileManager::kCmdReadFile);
+		_sendNak(senderSystemId, senderComponentId, FileManager::kErrFail, outgoingSeqNumber, FileManager::kCmdReadFile);
         return;
     }
     
@@ -161,7 +164,7 @@ void MockMavlinkFileServer::_readCommand(FileManager::Request* request, uint16_t
         // If we get here it means the client is requesting additional data past the first request
         if (_errMode == errModeNakSecondResponse) {
             // Nak error all subsequent requests
-            _sendNak(FileManager::kErrFail, outgoingSeqNumber, FileManager::kCmdReadFile);
+            _sendNak(senderSystemId, senderComponentId, FileManager::kErrFail, outgoingSeqNumber, FileManager::kCmdReadFile);
             return;
         } else if (_errMode == errModeNoSecondResponse) {
             // No rsponse for all subsequent requests
@@ -170,7 +173,7 @@ void MockMavlinkFileServer::_readCommand(FileManager::Request* request, uint16_t
     }
     
     if (readOffset >= _readFileLength) {
-        _sendNak(FileManager::kErrEOF, outgoingSeqNumber, FileManager::kCmdReadFile);
+        _sendNak(senderSystemId, senderComponentId, FileManager::kErrEOF, outgoingSeqNumber, FileManager::kCmdReadFile);
         return;
     }
     
@@ -188,16 +191,16 @@ void MockMavlinkFileServer::_readCommand(FileManager::Request* request, uint16_t
     response.hdr.opcode = FileManager::kRspAck;
 	response.hdr.req_opcode = FileManager::kCmdReadFile;
 
-    _emitResponse(&response, outgoingSeqNumber);
+    _sendResponse(senderSystemId, senderComponentId, &response, outgoingSeqNumber);
 }
 
-void MockMavlinkFileServer::_streamCommand(FileManager::Request* request, uint16_t seqNumber)
+void MockLinkFileServer::_streamCommand(uint8_t senderSystemId, uint8_t senderComponentId, FileManager::Request* request, uint16_t seqNumber)
 {
     uint16_t                outgoingSeqNumber = _nextSeqNumber(seqNumber);
     FileManager::Request    response;
 
     if (request->hdr.session != _sessionId) {
-		_sendNak(FileManager::kErrFail, outgoingSeqNumber, FileManager::kCmdBurstReadFile);
+		_sendNak(senderSystemId, senderComponentId, FileManager::kErrFail, outgoingSeqNumber, FileManager::kCmdBurstReadFile);
         return;
     }
     
@@ -212,7 +215,7 @@ void MockMavlinkFileServer::_streamCommand(FileManager::Request* request, uint16
             // If we get here it means the client is requesting additional data past the first request
             if (_errMode == errModeNakSecondResponse) {
                 // Nak error all subsequent requests
-                _sendNak(FileManager::kErrFail, outgoingSeqNumber, FileManager::kCmdBurstReadFile);
+                _sendNak(senderSystemId, senderComponentId, FileManager::kErrFail, outgoingSeqNumber, FileManager::kCmdBurstReadFile);
                 return;
             } else if (_errMode == errModeNoSecondResponse) {
                 // No response for all subsequent requests
@@ -234,55 +237,67 @@ void MockMavlinkFileServer::_streamCommand(FileManager::Request* request, uint16
         response.hdr.opcode = FileManager::kRspAck;
         response.hdr.req_opcode = FileManager::kCmdBurstReadFile;
         
-        _emitResponse(&response, outgoingSeqNumber);
+        _sendResponse(senderSystemId, senderComponentId, &response, outgoingSeqNumber);
         
         outgoingSeqNumber = _nextSeqNumber(outgoingSeqNumber);
         ackOffset += cDataAck;
     }
 	
-    _sendNak(FileManager::kErrEOF, outgoingSeqNumber, FileManager::kCmdBurstReadFile);
+    _sendNak(senderSystemId, senderComponentId, FileManager::kErrEOF, outgoingSeqNumber, FileManager::kCmdBurstReadFile);
 }
 
-/// @brief Handles Terminate commands
-void MockMavlinkFileServer::_terminateCommand(FileManager::Request* request, uint16_t seqNumber)
+void MockLinkFileServer::_terminateCommand(uint8_t senderSystemId, uint8_t senderComponentId, FileManager::Request* request, uint16_t seqNumber)
 {
     uint16_t outgoingSeqNumber = _nextSeqNumber(seqNumber);
 
     if (request->hdr.session != _sessionId) {
-		_sendNak(FileManager::kErrInvalidSession, outgoingSeqNumber, FileManager::kCmdTerminateSession);
+		_sendNak(senderSystemId, senderComponentId, FileManager::kErrInvalidSession, outgoingSeqNumber, FileManager::kCmdTerminateSession);
         return;
     }
     
-	_sendAck(outgoingSeqNumber, FileManager::kCmdTerminateSession);
+	_sendAck(senderSystemId, senderComponentId, outgoingSeqNumber, FileManager::kCmdTerminateSession);
 	
-    // 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.
     emit terminateCommandReceived();
 }
 
-/// @brief Handles messages sent to the FTP server.
-void MockMavlinkFileServer::sendMessage(mavlink_message_t message)
+void MockLinkFileServer::_resetCommand(uint8_t senderSystemId, uint8_t senderComponentId, uint16_t seqNumber)
 {
-    FileManager::Request  ackResponse;
+    uint16_t outgoingSeqNumber = _nextSeqNumber(seqNumber);
+    
+    _sendAck(senderSystemId, senderComponentId, outgoingSeqNumber, FileManager::kCmdResetSessions);
+    
+    emit resetCommandReceived();
+}
 
-    Q_ASSERT(message.msgid == MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL);
+void MockLinkFileServer::handleFTPMessage(const mavlink_message_t& message)
+{
+    if (message.msgid != MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL) {
+        return;
+    }
     
-    mavlink_file_transfer_protocol_t requestFileTransferProtocol;
-    mavlink_msg_file_transfer_protocol_decode(&message, &requestFileTransferProtocol);
-    FileManager::Request* request = (FileManager::Request*)&requestFileTransferProtocol.payload[0];
+    FileManager::Request  ackResponse;
 
-    Q_ASSERT(requestFileTransferProtocol.target_system == _systemIdServer);
+    mavlink_file_transfer_protocol_t requestFTP;
+    mavlink_msg_file_transfer_protocol_decode(&message, &requestFTP);
+    
+    if (requestFTP.target_system != _systemIdServer) {
+        return;
+    }
     
+    FileManager::Request* request = (FileManager::Request*)&requestFTP.payload[0];
+
     uint16_t incomingSeqNumber = request->hdr.seqNumber;
     uint16_t outgoingSeqNumber = _nextSeqNumber(incomingSeqNumber);
     
-    if (_errMode == errModeNoResponse) {
-        // Don't respond to any requests, this shold cause the client to eventually timeout waiting for the ack
-        return;
-    } else if (_errMode == errModeNakResponse) {
-        // Nak all requests, the actual error send back doesn't really matter as long as it's an error
-		_sendNak(FileManager::kErrFail, outgoingSeqNumber, (FileManager::Opcode)request->hdr.opcode);
-        return;
+    if (request->hdr.opcode != FileManager::kCmdResetSessions && request->hdr.opcode != FileManager::kCmdTerminateSession) {
+        if (_errMode == errModeNoResponse) {
+            // Don't respond to any requests, this shold cause the client to eventually timeout waiting for the ack
+            return;
+        } else if (_errMode == errModeNakResponse) {
+            // Nak all requests, the actual error send back doesn't really matter as long as it's an error
+            _sendNak(message.sysid, message.compid, FileManager::kErrFail, outgoingSeqNumber, (FileManager::Opcode)request->hdr.opcode);
+            return;
+        }
     }
 
     switch (request->hdr.opcode) {
@@ -290,47 +305,47 @@ void MockMavlinkFileServer::sendMessage(mavlink_message_t message)
             // ignored, ack not sent back, for testing only
             break;
             
-        case FileManager::kCmdResetSessions:
-            // terminates all sessions
-            // Fall through to send back Ack
-
         case FileManager::kCmdNone:
             // ignored, always acked
             ackResponse.hdr.opcode = FileManager::kRspAck;
             ackResponse.hdr.session = 0;
             ackResponse.hdr.size = 0;
-            _emitResponse(&ackResponse, outgoingSeqNumber);
+            _sendResponse(message.sysid, message.compid, &ackResponse, outgoingSeqNumber);
             break;
 
         case FileManager::kCmdListDirectory:
-            _listCommand(request, incomingSeqNumber);
+            _listCommand(message.sysid, message.compid, request, incomingSeqNumber);
             break;
             
         case FileManager::kCmdOpenFileRO:
-            _openCommand(request, incomingSeqNumber);
+            _openCommand(message.sysid, message.compid, request, incomingSeqNumber);
             break;
 
         case FileManager::kCmdReadFile:
-            _readCommand(request, incomingSeqNumber);
+            _readCommand(message.sysid, message.compid, request, incomingSeqNumber);
             break;
 
         case FileManager::kCmdBurstReadFile:
-            _streamCommand(request, incomingSeqNumber);
+            _streamCommand(message.sysid, message.compid, request, incomingSeqNumber);
             break;
 
         case FileManager::kCmdTerminateSession:
-            _terminateCommand(request, incomingSeqNumber);
+            _terminateCommand(message.sysid, message.compid, request, incomingSeqNumber);
             break;
 
+        case FileManager::kCmdResetSessions:
+            _resetCommand(message.sysid, message.compid, incomingSeqNumber);
+            break;
+            
         default:
             // nack for all NYI opcodes
-            _sendNak(FileManager::kErrUnknownCommand, outgoingSeqNumber, (FileManager::Opcode)request->hdr.opcode);
+            _sendNak(message.sysid, message.compid, FileManager::kErrUnknownCommand, outgoingSeqNumber, (FileManager::Opcode)request->hdr.opcode);
             break;
     }
 }
 
 /// @brief Sends an Ack
-void MockMavlinkFileServer::_sendAck(uint16_t seqNumber, FileManager::Opcode reqOpcode)
+void MockLinkFileServer::_sendAck(uint8_t targetSystemId, uint8_t targetComponentId, uint16_t seqNumber, FileManager::Opcode reqOpcode)
 {
     FileManager::Request ackResponse;
     
@@ -339,11 +354,11 @@ void MockMavlinkFileServer::_sendAck(uint16_t seqNumber, FileManager::Opcode req
     ackResponse.hdr.session = 0;
     ackResponse.hdr.size = 0;
     
-    _emitResponse(&ackResponse, seqNumber);
+    _sendResponse(targetSystemId, targetComponentId, &ackResponse, seqNumber);
 }
 
 /// @brief Sends a Nak with the specified error code.
-void MockMavlinkFileServer::_sendNak(FileManager::ErrorCode error, uint16_t seqNumber, FileManager::Opcode reqOpcode)
+void MockLinkFileServer::_sendNak(uint8_t targetSystemId, uint8_t targetComponentId, FileManager::ErrorCode error, uint16_t seqNumber, FileManager::Opcode reqOpcode)
 {
     FileManager::Request nakResponse;
 
@@ -353,11 +368,11 @@ void MockMavlinkFileServer::_sendNak(FileManager::ErrorCode error, uint16_t seqN
     nakResponse.hdr.size = 1;
     nakResponse.data[0] = error;
     
-    _emitResponse(&nakResponse, seqNumber);
+    _sendResponse(targetSystemId, targetComponentId, &nakResponse, seqNumber);
 }
 
 /// @brief Emits a Request through the messageReceived signal.
-void MockMavlinkFileServer::_emitResponse(FileManager::Request* request, uint16_t seqNumber)
+void MockLinkFileServer::_sendResponse(uint8_t targetSystemId, uint8_t targetComponentId, FileManager::Request* request, uint16_t seqNumber)
 {
     mavlink_message_t   mavlinkMessage;
     
@@ -367,16 +382,16 @@ void MockMavlinkFileServer::_emitResponse(FileManager::Request* request, uint16_
                                             0,                  // Component ID
                                             &mavlinkMessage,    // Mavlink Message to pack into
                                             0,                  // Target network
-                                            _systemIdQGC,       // QGC Target System ID
-                                            0,                  // Target component
+                                            targetSystemId,
+                                            targetComponentId,
                                             (uint8_t*)request); // Payload
     
-    emit messageReceived(NULL, mavlinkMessage);
+    _mockLink->respondWithMavlinkMessage(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 MockLinkFileServer::_nextSeqNumber(uint16_t seqNumber)
 {
     uint16_t outgoingSeqNumber = seqNumber + 1;
     

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.cc

@@ -21,37 +21,21 @@
  
  ======================================================================*/
 
-#include "FileManagerTest.h"
-
 /// @file
-///     @brief FileManager unit test. Note: All code here assumes all work between
-///             the unit test, mack mavlink file server and file manager is happening on
-///             the same thread.
-///
 ///     @author Don Gagne <don@thegagnes.com>
 
+#include "FileManagerTest.h"
+#include "UASManager.h"
+
 UT_REGISTER_TEST(FileManagerTest)
 
 FileManagerTest::FileManagerTest(void) :
-    _mockFileServer(_systemIdQGC, _systemIdServer),
+    _mockLink(NULL),
+    _fileServer(NULL),
     _fileManager(NULL),
     _multiSpy(NULL)
 {
-}
-
-// Called once before all test cases are run
-void FileManagerTest::initTestCase(void)
-{
-    _mockUAS = new MockUAS();
-    Q_CHECK_PTR(_mockUAS);
-    
-    _mockUAS->setMockSystemId(_systemIdServer);
-    _mockUAS->setMockMavlinkPlugin(&_mockFileServer);
-}
 
-void FileManagerTest::cleanupTestCase(void)
-{
-    delete _mockUAS;
 }
 
 // Called before every test case
@@ -59,26 +43,37 @@ void FileManagerTest::init(void)
 {
     UnitTest::init();
     
-    Q_ASSERT(_multiSpy == NULL);
+    _mockLink = new MockLink();
+    Q_CHECK_PTR(_mockLink);
+    LinkManager::instance()->_addLink(_mockLink);
+    LinkManager::instance()->connectLink(_mockLink);
+
+    _fileServer = _mockLink->getFileServer();
+    QVERIFY(_fileServer != NULL);
     
-    _fileManager = new FileManager(NULL, _mockUAS, _systemIdQGC);
-    Q_CHECK_PTR(_fileManager);
+    // Wait or the UAS to show up
+    UASManagerInterface* uasManager = UASManager::instance();
+    QSignalSpy spyUasCreate(uasManager, SIGNAL(UASCreated(UASInterface*)));
+    if (!uasManager->getActiveUAS()) {
+        QCOMPARE(spyUasCreate.wait(10000), true);
+    }
+    UASInterface* uas = uasManager->getActiveUAS();
+    QVERIFY(uas != NULL);
+    
+    _fileManager = uas->getFileManager();
+    QVERIFY(_fileManager != NULL);
+    
+    Q_ASSERT(_multiSpy == NULL);
     
     // Reset any internal state back to normal
-    _mockFileServer.setErrorMode(MockMavlinkFileServer::errModeNone);
+    _fileServer->setErrorMode(MockLinkFileServer::errModeNone);
     _fileListReceived.clear();
-    
-    connect(&_mockFileServer, &MockMavlinkFileServer::messageReceived, _fileManager, &FileManager::receiveMessage);
 
     connect(_fileManager, &FileManager::listEntry, this, &FileManagerTest::listEntry);
 
     _rgSignals[listEntrySignalIndex] = SIGNAL(listEntry(const QString&));
-    _rgSignals[listCompleteSignalIndex] = SIGNAL(listComplete(void));
-
-    _rgSignals[downloadFileLengthSignalIndex] = SIGNAL(downloadFileLength(unsigned int));
-    _rgSignals[downloadFileCompleteSignalIndex] = SIGNAL(downloadFileComplete(void));
-    
-    _rgSignals[errorMessageSignalIndex] = SIGNAL(errorMessage(const QString&));
+    _rgSignals[commandCompleteSignalIndex] = SIGNAL(commandComplete(void));
+    _rgSignals[commandErrorSignalIndex] = SIGNAL(commandError(const QString&));
 
     _multiSpy = new MultiSignalSpy();
     Q_CHECK_PTR(_multiSpy);
@@ -91,10 +86,15 @@ void FileManagerTest::cleanup(void)
     Q_ASSERT(_multiSpy);
     Q_ASSERT(_fileManager);
     
-    delete _fileManager;
+    // Disconnecting the link will prompt for log file save
+    setExpectedFileDialog(getSaveFileName, QStringList());
+    LinkManager::instance()->disconnectLink(_mockLink);
+    _fileServer = NULL;
+    _mockLink = NULL;
+    _fileManager = NULL;
+    
     delete _multiSpy;
     
-    _fileManager = NULL;
     _multiSpy = NULL;
     
     UnitTest::cleanup();
@@ -108,7 +108,6 @@ void FileManagerTest::listEntry(const QString& entry)
 }
 
 
-#if 0
 void FileManagerTest::_ackTest(void)
 {
     Q_ASSERT(_fileManager);
@@ -122,16 +121,17 @@ void FileManagerTest::_ackTest(void)
     QVERIFY(_multiSpy->checkNoSignals());
     
     // Setup for no response from ack. This should cause a timeout error
-    _mockFileServer.setErrorMode(MockMavlinkFileServer::errModeNoResponse);
+    _fileServer->setErrorMode(MockLinkFileServer::errModeNoResponse);
     QVERIFY(_fileManager->_sendCmdTestAck());
-    QTest::qWait(_ackTimerTimeoutMsecs); // Let the file manager timeout
-    QCOMPARE(_multiSpy->checkOnlySignalByMask(errorMessageSignalMask), true);
+    _multiSpy->waitForSignalByIndex(commandErrorSignalIndex, _ackTimerTimeoutMsecs);
+    QCOMPARE(_multiSpy->checkOnlySignalByMask(commandErrorSignalMask), true);
     _multiSpy->clearAllSignals();
 
     // Setup for a bad sequence number in the ack. This should cause an error;
-    _mockFileServer.setErrorMode(MockMavlinkFileServer::errModeBadSequence);
+    _fileServer->setErrorMode(MockLinkFileServer::errModeBadSequence);
     QVERIFY(_fileManager->_sendCmdTestAck());
-    QCOMPARE(_multiSpy->checkOnlySignalByMask(errorMessageSignalMask), true);
+    _multiSpy->waitForSignalByIndex(commandErrorSignalIndex, _ackTimerTimeoutMsecs);
+    QCOMPARE(_multiSpy->checkOnlySignalByMask(commandErrorSignalMask), true);
     _multiSpy->clearAllSignals();
 }
 
@@ -144,19 +144,7 @@ void FileManagerTest::_noAckTest(void)
     // This should not get the ack back and timeout.
     QVERIFY(_fileManager->_sendCmdTestNoAck());
     QTest::qWait(_ackTimerTimeoutMsecs); // Let the file manager timeout
-    QCOMPARE(_multiSpy->checkOnlySignalByMask(errorMessageSignalMask), true);
-}
-
-void FileManagerTest::_resetTest(void)
-{
-    Q_ASSERT(_fileManager);
-    Q_ASSERT(_multiSpy);
-    Q_ASSERT(_multiSpy->checkNoSignals() == true);
-    
-    // Send a reset command
-    //  We should not get any signals back from this
-    QVERIFY(_fileManager->_sendCmdReset());
-    QVERIFY(_multiSpy->checkNoSignals());
+    QCOMPARE(_multiSpy->checkOnlySignalByMask(commandErrorSignalMask), true);
 }
 
 void FileManagerTest::_listTest(void)
@@ -167,37 +155,49 @@ void FileManagerTest::_listTest(void)
     
     // FileManager::listDirectory signalling as follows:
     //  Emits a listEntry signal for each list entry
-    //  Emits an errorMessage signal if:
+    //  Emits an commandError 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 listEntry 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
+    //  It is possible to get a number of good listEntry signals, followed by an commandError signal
+    //  Emits commandComplete after it receives the final list entry
+    //      If an commandError signal is signalled no listComplete is signalled
     
     // Send a bogus path
-    //  We should get a single resetStatusMessages signal
-    //  We should get a single errorMessage signal
+    //  We should get a single commandError signal
     _fileManager->listDirectory("/bogus");
-    QCOMPARE(_multiSpy->checkOnlySignalByMask(errorMessageSignalMask), true);
+    _multiSpy->waitForSignalByIndex(commandErrorSignalIndex, _ackTimerTimeoutMsecs);
+    QCOMPARE(_multiSpy->checkOnlySignalByMask(commandErrorSignalMask), true);
     _multiSpy->clearAllSignals();
 
     // Setup the mock file server with a valid directory list
     QStringList fileList;
     fileList << "Ddir" << "Ffoo" << "Fbar";
-    _mockFileServer.setFileList(fileList);
+    _fileServer->setFileList(fileList);
+    
+    // Send a list command at the root of the directory tree which should succeed
+    _fileManager->listDirectory("/");
+    QTest::qWait(_ackTimerTimeoutMsecs); // Let the file manager timeout
+    QCOMPARE(_multiSpy->checkSignalByMask(commandCompleteSignalMask), true);
+    QCOMPARE(_multiSpy->checkNoSignalByMask(commandErrorSignalMask), true);
+    QCOMPARE(_multiSpy->getSpyByIndex(listEntrySignalIndex)->count(), fileList.count());
+    QVERIFY(_fileListReceived == fileList);
+    
+    // Set everything back to initial state
+    _fileListReceived.clear();
+    _multiSpy->clearAllSignals();
     
     // Run through the various server side failure modes
-    for (size_t i=0; i<MockMavlinkFileServer::cFailureModes; i++) {
-        MockMavlinkFileServer::ErrorMode_t errMode = MockMavlinkFileServer::rgFailureModes[i];
+    for (size_t i=0; i<MockLinkFileServer::cFailureModes; i++) {
+        MockLinkFileServer::ErrorMode_t errMode = MockLinkFileServer::rgFailureModes[i];
         qDebug() << "Testing failure mode:" << errMode;
-        _mockFileServer.setErrorMode(errMode);
+        _fileServer->setErrorMode(errMode);
         
         _fileManager->listDirectory("/");
         QTest::qWait(_ackTimerTimeoutMsecs); // Let the file manager timeout
         
-        if (errMode == MockMavlinkFileServer::errModeNoSecondResponse || errMode == MockMavlinkFileServer::errModeNakSecondResponse) {
+        if (errMode == MockLinkFileServer::errModeNoSecondResponse || errMode == MockLinkFileServer::errModeNakSecondResponse) {
             // For simulated server errors on subsequent Acks, the first Ack will go through. This means we should have gotten some
             // partial results. In the case of the directory list test set, all entries fit into the first ack, so we should have
             // gotten back all of them.
@@ -205,262 +205,193 @@ void FileManagerTest::_listTest(void)
             _multiSpy->clearSignalByIndex(listEntrySignalIndex);
             
             // And then it should have errored out because the next list Request would have failed.
-            QCOMPARE(_multiSpy->checkOnlySignalByMask(errorMessageSignalMask), true);
+            QCOMPARE(_multiSpy->checkOnlySignalByMask(commandErrorSignalMask), true);
         } else {
             // For the simulated errors which failed the intial response we should not have gotten any results back at all.
             // Just an error.
-            QCOMPARE(_multiSpy->checkOnlySignalByMask(errorMessageSignalMask), true);
+            QCOMPARE(_multiSpy->checkOnlySignalByMask(commandErrorSignalMask), true);
         }
 
         // Set everything back to initial state
         _fileListReceived.clear();
         _multiSpy->clearAllSignals();
-        _mockFileServer.setErrorMode(MockMavlinkFileServer::errModeNone);
+        _fileServer->setErrorMode(MockLinkFileServer::errModeNone);
     }
-
-    // Send a list command at the root of the directory tree which should succeed    
-    _fileManager->listDirectory("/");
-    QCOMPARE(_multiSpy->checkSignalByMask(listCompleteSignalMask), true);
-    QCOMPARE(_multiSpy->checkNoSignalByMask(errorMessageSignalMask), true);
-    QCOMPARE(_multiSpy->getSpyByIndex(listEntrySignalIndex)->count(), fileList.count());
-    QVERIFY(_fileListReceived == fileList);
 }
 
+#if 0
+// Trying to write test code for read and burst mode download as well as implement support in MockLineFileServer reached a point
+// of diminishing returns where the test code and mock server were generating more bugs in themselves than finding problems.
 void FileManagerTest::_readDownloadTest(void)
 {
     Q_ASSERT(_fileManager);
     Q_ASSERT(_multiSpy);
     Q_ASSERT(_multiSpy->checkNoSignals() == true);
     
-    // FileManager::downloadPath works as follows:
-    //  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 downloadFileLength 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
-    //      Emits a downloadFileProgress for each read command ack it gets 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 downloadFileComplete 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 = errorMessageSignalMask;
-
-    // Expected signals if the Read command fails for any reason
-    quint16 signalMaskReadFailure = downloadFileLengthSignalMask | errorMessageSignalMask;
+    // We setup a spy on the Reset command signal of the mock file server so that we can determine that a
+    // Reset command was correctly sent after the Open/Read commands complete.
+    QSignalSpy resetSpy(_fileServer, SIGNAL(resetCommandReceived()));
     
-    // Expected signals if the downloadPath command succeeds
-    quint16 signalMaskDownloadSuccess = downloadFileLengthSignalMask | downloadFileCompleteSignalMask;
-
     // Send a bogus path
-    //  We should get a single resetStatusMessages signal
-    //  We should get a single errorMessage signal
     _fileManager->downloadPath("bogus", QDir::temp());
-    QCOMPARE(_multiSpy->checkOnlySignalByMask(signalMaskOpenFailure), true);
+    _multiSpy->waitForSignalByIndex(commandErrorSignalIndex, _ackTimerTimeoutMsecs);
+    QCOMPARE(_multiSpy->checkOnlySignalByMask(commandErrorSignalMask), true);
     _multiSpy->clearAllSignals();
-    
+    QCOMPARE(resetSpy.count(), 0);
+
     // Clean previous downloads
-    for (size_t i=0; i<MockMavlinkFileServer::cFileTestCases; i++) {
-        QString filePath = QDir::temp().absoluteFilePath(MockMavlinkFileServer::rgFileTestCases[i].filename);
+    for (size_t i=0; i<MockLinkFileServer::cFileTestCases; i++) {
+        QString filePath = QDir::temp().absoluteFilePath(MockLinkFileServer::rgFileTestCases[i].filename);
         if (QFile::exists(filePath)) {
             Q_ASSERT(QFile::remove(filePath));
         }
     }
     
-    // We setup a spy on the Terminate command signal of the mock file server so that we can determine that a
-    // Terminate command was correctly sent after the Open/Read commands complete.
-    QSignalSpy terminateSpy(&_mockFileServer, SIGNAL(terminateCommandReceived()));
-    
     // Run through the set of file test cases
-    for (size_t i=0; i<MockMavlinkFileServer::cFileTestCases; i++) {
-        const MockMavlinkFileServer::FileTestCase* testCase = &MockMavlinkFileServer::rgFileTestCases[i];
+    for (size_t i=0; i<MockLinkFileServer::cFileTestCases; i++) {
+        const MockLinkFileServer::FileTestCase* testCase = &MockLinkFileServer::rgFileTestCases[i];
         
         // 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<MockLinkFileServer::cFailureModes; j++) {
+            qDebug() << "Testing successful download";
 			
-            MockMavlinkFileServer::ErrorMode_t errMode = MockMavlinkFileServer::rgFailureModes[j];
+            // Run what should be a successful file download test case. No servers errors are being simulated.
+            _fileServer->setErrorMode(MockLinkFileServer::errModeNone);
+            _fileManager->downloadPath(testCase->filename, QDir::temp());
+            QTest::qWait(_ackTimerTimeoutMsecs); // Let the file manager timeout
+            
+            // This should be a succesful download
+            QCOMPARE(_multiSpy->checkOnlySignalByMask(commandCompleteSignalMask), true);
+            _multiSpy->clearAllSignals();
+            
+            // We should get a single Reset command to close the session
+            QCOMPARE(resetSpy.count(), 1);
+            resetSpy.clear();
+            
+            // Validate file contents
+            QString filePath = QDir::temp().absoluteFilePath(MockLinkFileServer::rgFileTestCases[i].filename);
+            _validateFileContents(filePath, MockLinkFileServer::rgFileTestCases[i].length);
+            MockLinkFileServer::ErrorMode_t errMode = MockLinkFileServer::rgFailureModes[j];
+            
             qDebug() << "Testing failure mode:" << errMode;
-            _mockFileServer.setErrorMode(errMode);
+            _fileServer->setErrorMode(errMode);
             
             _fileManager->downloadPath(testCase->filename, QDir::temp());
             QTest::qWait(_ackTimerTimeoutMsecs); // Let the file manager timeout
             
-            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
-                // on whether the downloaded file requires multiple packets to complete the download.
-                if (testCase->fMultiPacketResponse) {
-                    // The downloaded file requires multiple Acks to complete. Hence first Read should have succeeded and sent one downloadFileComplete.
-                    // Second Read should have failed.
-                    QCOMPARE(_multiSpy->checkOnlySignalByMask(signalMaskReadFailure), true);
-
-                    // Open command succeeded, so we should get a Terminate for the open
-                    QCOMPARE(terminateSpy.count(), 1);
-                } else {
+            if (errMode == MockLinkFileServer::errModeNakResponse) {
+                // This will Nak the Open call which will fail the download, but not cause a Reset
+                QCOMPARE(_multiSpy->checkOnlySignalByMask(commandErrorSignalMask), true);
+                QCOMPARE(resetSpy.count(), 0);
+            } else {
+                if (testCase->packetCount == 1 && (errMode == MockLinkFileServer::errModeNoSecondResponse || errMode == MockLinkFileServer::errModeNakSecondResponse)) {
                     // The downloaded file fits within a single Ack response, hence there is no second Read issued.
-                    // This should result in a successful download.
-                    QCOMPARE(_multiSpy->checkOnlySignalByMask(signalMaskDownloadSuccess), true);
-                    
-                    // We should get a single Terminate command to close the Open session
-                    QCOMPARE(terminateSpy.count(), 1);
+                    // This should result in a successful download, followed by a Reset
+                    QCOMPARE(_multiSpy->checkOnlySignalByMask(commandCompleteSignalMask), true);
+                    QCOMPARE(resetSpy.count(), 1);
                     
                     // Validate file contents
                     QString filePath = QDir::temp().absoluteFilePath(testCase->filename);
                     _validateFileContents(filePath, testCase->length);
+                } else {
+                    // Download should have failed, followed by a aReset
+                    QCOMPARE(_multiSpy->checkOnlySignalByMask(commandErrorSignalMask), true);
+                    QCOMPARE(resetSpy.count(), 1);
                 }
-            } else {
-                // 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.
-                QCOMPARE(_multiSpy->checkOnlySignalByMask(signalMaskOpenFailure), true);
-                QCOMPARE(terminateSpy.count(), 0);
             }
 
             // Cleanup for next iteration
             _multiSpy->clearAllSignals();
-            terminateSpy.clear();
-            _mockFileServer.setErrorMode(MockMavlinkFileServer::errModeNone);
+            resetSpy.clear();
+            _fileServer->setErrorMode(MockLinkFileServer::errModeNone);
         }
-
-        // Run what should be a successful file download test case. No servers errors are being simulated.
-		_mockFileServer.setErrorMode(MockMavlinkFileServer::errModeNone);
-        _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(downloadFileLengthSignalIndex)->takeFirst().at(0).toInt() == testCase->length);
-
-        _multiSpy->clearAllSignals();
-        
-        // We should get a single Terminate command to close the session
-        QCOMPARE(terminateSpy.count(), 1);
-        terminateSpy.clear();
-        
-        // Validate file contents
-        QString filePath = QDir::temp().absoluteFilePath(MockMavlinkFileServer::rgFileTestCases[i].filename);
-        _validateFileContents(filePath, MockMavlinkFileServer::rgFileTestCases[i].length);
     }
 }
-#endif
 
 void FileManagerTest::_streamDownloadTest(void)
 {
-	Q_ASSERT(_fileManager);
-	Q_ASSERT(_multiSpy);
-	Q_ASSERT(_multiSpy->checkNoSignals() == true);
-	
-	// FileManager::streamPath works as follows:
-	//  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 downloadFileLength signal with the file length if it gets back a good Ack
-	//  Sends a single Stream command to the server
-	//		Expects continuous Ack responses back with file contents
-	//      Emits a downloadFileProgress for each ack it gets 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 downloadFileComplete 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 = errorMessageSignalMask;
-	
-	// Expected signals if the Read command fails for any reason
-	quint16 signalMaskReadFailure = downloadFileLengthSignalMask | errorMessageSignalMask;
-	
-	// Expected signals if the downloadPath command succeeds
-	quint16 signalMaskDownloadSuccess = downloadFileLengthSignalMask | downloadFileCompleteSignalMask;
-	
-	// Send a bogus path
-	//  We should get a single resetStatusMessages signal
-	//  We should get a single errorMessage signal
-	_fileManager->streamPath("bogus", QDir::temp());
-	QCOMPARE(_multiSpy->checkOnlySignalByMask(signalMaskOpenFailure), true);
-	_multiSpy->clearAllSignals();
-	
-	// Clean previous downloads
-	for (size_t i=0; i<MockMavlinkFileServer::cFileTestCases; i++) {
-		QString filePath = QDir::temp().absoluteFilePath(MockMavlinkFileServer::rgFileTestCases[i].filename);
-		if (QFile::exists(filePath)) {
-			Q_ASSERT(QFile::remove(filePath));
-		}
-	}
-	
-	// We setup a spy on the Terminate command signal of the mock file server so that we can determine that a
-	// Terminate command was correctly sent after the Open/Read commands complete.
-	QSignalSpy terminateSpy(&_mockFileServer, SIGNAL(terminateCommandReceived()));
-	
-	// Run through the set of file test cases
-	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
-		for (size_t j=0; j<MockMavlinkFileServer::cFailureModes; j++) {
-			
-			MockMavlinkFileServer::ErrorMode_t errMode = MockMavlinkFileServer::rgFailureModes[j];
-			qDebug() << "Testing failure mode:" << errMode;
-			_mockFileServer.setErrorMode(errMode);
-			
-			_fileManager->streamPath(testCase->filename, QDir::temp());
-			QTest::qWait(_ackTimerTimeoutMsecs); // Let the file manager timeout
-			
-			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
-				// on whether the downloaded file requires multiple packets to complete the download.
-				if (testCase->packetCount != 1) {
-					// The downloaded file requires multiple Acks to complete. Second Ack should have failed.
-					QCOMPARE(_multiSpy->checkOnlySignalByMask(signalMaskReadFailure), true);
-					
-					// Open command succeeded, so we should get a Terminate for the open
-					QCOMPARE(terminateSpy.count(), 1);
-				} else {
-					// The downloaded file fits within a single Ack response, hence there is no second Read issued.
-					// This should result in a successful download.
-					QCOMPARE(_multiSpy->checkOnlySignalByMask(signalMaskDownloadSuccess), true);
-					
-					// We should get a single Terminate command to close the Open session
-					QCOMPARE(terminateSpy.count(), 1);
-					
-					// Validate file contents
-					QString filePath = QDir::temp().absoluteFilePath(testCase->filename);
-					_validateFileContents(filePath, testCase->length);
-				}
-			} else {
-				// 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.
-				QCOMPARE(_multiSpy->checkOnlySignalByMask(signalMaskOpenFailure), true);
-				QCOMPARE(terminateSpy.count(), 0);
-			}
+    Q_ASSERT(_fileManager);
+    Q_ASSERT(_multiSpy);
+    Q_ASSERT(_multiSpy->checkNoSignals() == true);
+    
+    // We setup a spy on the Reset command signal of the mock file server so that we can determine that a
+    // Reset command was correctly sent after the Open/Read commands complete.
+    QSignalSpy resetSpy(_fileServer, SIGNAL(resetCommandReceived()));
+    
+    // Send a bogus path
+    _fileManager->streamPath("bogus", QDir::temp());
+    _multiSpy->waitForSignalByIndex(commandErrorSignalIndex, _ackTimerTimeoutMsecs);
+    QCOMPARE(_multiSpy->checkOnlySignalByMask(commandErrorSignalMask), true);
+    _multiSpy->clearAllSignals();
+    QCOMPARE(resetSpy.count(), 0);
+
+    // Clean previous downloads
+    for (size_t i=0; i<MockLinkFileServer::cFileTestCases; i++) {
+        QString filePath = QDir::temp().absoluteFilePath(MockLinkFileServer::rgFileTestCases[i].filename);
+        if (QFile::exists(filePath)) {
+            Q_ASSERT(QFile::remove(filePath));
+        }
+    }
+    
+    // Run through the set of file test cases
+    for (size_t i=0; i<MockLinkFileServer::cFileTestCases; i++) {
+        const MockLinkFileServer::FileTestCase* testCase = &MockLinkFileServer::rgFileTestCases[i];
+        
+        // Run through the various failure modes for this test case
+        for (size_t j=0; j<MockLinkFileServer::cFailureModes; j++) {
+            qDebug() << "Testing successful download";
 			
-			// Cleanup for next iteration
-			_multiSpy->clearAllSignals();
-			terminateSpy.clear();
-			_mockFileServer.setErrorMode(MockMavlinkFileServer::errModeNone);
-		}
-		
-		// Run what should be a successful file download test case. No servers errors are being simulated.
-		_mockFileServer.setErrorMode(MockMavlinkFileServer::errModeNone);
-		_fileManager->streamPath(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(downloadFileLengthSignalIndex)->takeFirst().at(0).toInt() == testCase->length);
-		
-		_multiSpy->clearAllSignals();
-		
-		// We should get a single Terminate command to close the session
-		QCOMPARE(terminateSpy.count(), 1);
-		terminateSpy.clear();
-		
-		// Validate file contents
-		QString filePath = QDir::temp().absoluteFilePath(MockMavlinkFileServer::rgFileTestCases[i].filename);
-		_validateFileContents(filePath, MockMavlinkFileServer::rgFileTestCases[i].length);
-	}
+            // Run what should be a successful file download test case. No servers errors are being simulated.
+            _fileServer->setErrorMode(MockLinkFileServer::errModeNone);
+            _fileManager->streamPath(testCase->filename, QDir::temp());
+            QTest::qWait(_ackTimerTimeoutMsecs); // Let the file manager timeout
+            
+            // This should be a succesful download
+            QCOMPARE(_multiSpy->checkOnlySignalByMask(commandCompleteSignalMask), true);
+            _multiSpy->clearAllSignals();
+            
+            // We should get a single Reset command to close the session
+            QCOMPARE(resetSpy.count(), 1);
+            resetSpy.clear();
+            
+            // Validate file contents
+            QString filePath = QDir::temp().absoluteFilePath(MockLinkFileServer::rgFileTestCases[i].filename);
+            _validateFileContents(filePath, MockLinkFileServer::rgFileTestCases[i].length);
+            MockLinkFileServer::ErrorMode_t errMode = MockLinkFileServer::rgFailureModes[j];
+            
+            qDebug() << "Testing failure mode:" << errMode;
+            _fileServer->setErrorMode(errMode);
+            
+            _fileManager->downloadPath(testCase->filename, QDir::temp());
+            QTest::qWait(_ackTimerTimeoutMsecs); // Let the file manager timeout
+            
+            if (errMode == MockLinkFileServer::errModeNakResponse) {
+                // This will Nak the Open call which will fail the download, but not cause a Reset
+                QCOMPARE(_multiSpy->checkOnlySignalByMask(commandErrorSignalMask), true);
+                QCOMPARE(resetSpy.count(), 0);
+            } else {
+                if (testCase->packetCount == 1 && (errMode == MockLinkFileServer::errModeNoSecondResponse || errMode == MockLinkFileServer::errModeNakSecondResponse)) {
+                    // The downloaded file fits within a single Ack response, hence there is no second Read issued.
+                    // This should result in a successful download, followed by a Reset
+                    QCOMPARE(_multiSpy->checkOnlySignalByMask(commandCompleteSignalMask), true);
+                    QCOMPARE(resetSpy.count(), 1);
+                    
+                    // Validate file contents
+                    QString filePath = QDir::temp().absoluteFilePath(testCase->filename);
+                    _validateFileContents(filePath, testCase->length);
+                } else {
+                    // Download should have failed, followed by a aReset
+                    QCOMPARE(_multiSpy->checkOnlySignalByMask(commandErrorSignalMask), true);
+                    QCOMPARE(resetSpy.count(), 1);
+                }
+            }
+
+            // Cleanup for next iteration
+            _multiSpy->clearAllSignals();
+            resetSpy.clear();
+            _fileServer->setErrorMode(MockLinkFileServer::errModeNone);
+        }
+    }
 }
 
 void FileManagerTest::_validateFileContents(const QString& filePath, uint8_t length)
@@ -481,3 +412,4 @@ void FileManagerTest::_validateFileContents(const QString& filePath, uint8_t len
 		QCOMPARE((uint8_t)bytes[i], (uint8_t)(i & 0xFF));
 	}
 }
+#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

src/uas/FileManager.cc

@@ -32,13 +32,13 @@
 
 QGC_LOGGING_CATEGORY(FileManagerLog, "FileManagerLog")
 
-FileManager::FileManager(QObject* parent, UASInterface* uas, uint8_t unitTestSystemIdQGC) :
+FileManager::FileManager(QObject* parent, UASInterface* uas) :
     QObject(parent),
     _currentOperation(kCOIdle),
     _mav(uas),
     _lastOutgoingSeqNumber(0),
     _activeSession(0),
-    _systemIdQGC(unitTestSystemIdQGC)
+    _systemIdQGC(0)
 {
     connect(&_ackTimer, &QTimer::timeout, this, &FileManager::_ackTimeout);
     
@@ -104,8 +104,8 @@ void FileManager::_closeDownloadSession(bool success)
         emit commandComplete();
     }
     
-    // If !success error is emitted elsewhere
-
+    _readFileAccumulator.clear();
+    
     // Close the open session
     _sendResetCommand();
 }
@@ -153,24 +153,19 @@ void FileManager::_downloadAckResponse(Request* readAck, bool readFile)
         emit commandProgress(100 * ((float)_readFileAccumulator.length() / (float)_downloadFileSize));
     }
 
-    if (readAck->hdr.size == sizeof(readAck->data)) {
-		if (readFile || readAck->hdr.burstComplete) {
-			// Possibly still more data to read, send next read request
+    if (readFile || readAck->hdr.burstComplete) {
+        // Possibly still more data to read, send next read request
 
-			Request request;
-			request.hdr.session = _activeSession;
-            request.hdr.opcode = readFile ? kCmdReadFile : kCmdBurstReadFile;
-			request.hdr.offset = _downloadOffset;
-			request.hdr.size = 0;
+        Request request;
+        request.hdr.session = _activeSession;
+        request.hdr.opcode = readFile ? kCmdReadFile : kCmdBurstReadFile;
+        request.hdr.offset = _downloadOffset;
+        request.hdr.size = 0;
 
-			_sendRequest(&request);
-		} else {
-			// Streaming, so next ack should come automatically
-			_setupAckTimeout();
-		}
-    } else if (readFile) {
-        // We only receieved a partial buffer back. These means we are at EOF
-        _closeDownloadSession(true /* success */);
+        _sendRequest(&request);
+    } else if (!readFile) {
+        // Streaming, so next ack should come automatically
+        _setupAckTimeout();
     }
 }
 
@@ -340,7 +335,30 @@ void FileManager::receiveMessage(LinkInterface* link, mavlink_message_t message)
     // Make sure we have a good sequence number
     uint16_t expectedSeqNumber = _lastOutgoingSeqNumber + 1;
     if (incomingSeqNumber != expectedSeqNumber) {
-        _currentOperation = kCOIdle;
+        switch (_currentOperation) {
+            case kCOBurst:
+            case kCORead:
+                _closeDownloadSession(false /* failure */);
+                break;
+            
+            case kCOWrite:
+                _closeUploadSession(false /* failure */);
+                break;
+                
+            case kCOOpenRead:
+            case kCOOpenBurst:
+            case kCOCreate:
+                // We could have an open session hanging around
+                _currentOperation = kCOIdle;
+                _sendResetCommand();
+                break;
+                
+            default:
+                // Don't need to do anything special
+                _currentOperation = kCOIdle;
+                break;
+        }
+        
         _emitErrorMessage(tr("Bad sequence number on received message: expected(%1) received(%2)").arg(expectedSeqNumber).arg(incomingSeqNumber));
         return;
     }
@@ -457,12 +475,22 @@ void FileManager::_sendListCommand(void)
 
 void FileManager::downloadPath(const QString& from, const QDir& downloadDir)
 {
+    if (_currentOperation != kCOIdle) {
+        _emitErrorMessage(tr("Command not sent. Waiting for previous command to complete."));
+        return;
+    }
+    
 	qCDebug(FileManagerLog) << "downloadPath from:" << from << "to:" << downloadDir;
 	_downloadWorker(from, downloadDir, true /* read file */);
 }
 
 void FileManager::streamPath(const QString& from, const QDir& downloadDir)
 {
+    if (_currentOperation != kCOIdle) {
+        _emitErrorMessage(tr("Command not sent. Waiting for previous command to complete."));
+        return;
+    }
+    
 	qCDebug(FileManagerLog) << "streamPath from:" << from << "to:" << downloadDir;
 	_downloadWorker(from, downloadDir, false /* stream file */);
 }
@@ -677,7 +705,6 @@ void FileManager::_emitListEntry(const QString& entry)
 /// @brief Sends the specified Request out to the UAS.
 void FileManager::_sendRequest(Request* request)
 {
-	qCDebug(FileManagerLog) << "_sendRequest opcode:" << request->hdr.opcode;
 
     mavlink_message_t message;
 
@@ -687,6 +714,8 @@ void FileManager::_sendRequest(Request* request)
 
     request->hdr.seqNumber = _lastOutgoingSeqNumber;
     
+    qCDebug(FileManagerLog) << "_sendRequest opcode:" << request->hdr.opcode << "seqNumber:" << request->hdr.seqNumber;
+    
     if (_systemIdQGC == 0) {
         _systemIdQGC = MAVLinkProtocol::instance()->getSystemId();
     }

src/uas/FileManager.h

@@ -37,12 +37,11 @@ class FileManager : public QObject
     Q_OBJECT
     
 public:
-    FileManager(QObject* parent, UASInterface* uas, uint8_t unitTestSystemIdQGC = 0);
+    FileManager(QObject* parent, UASInterface* uas);
     
     /// These methods are only used for testing purposes.
     bool _sendCmdTestAck(void) { return _sendOpcodeOnlyCmd(kCmdNone, kCOAck); };
     bool _sendCmdTestNoAck(void) { return _sendOpcodeOnlyCmd(kCmdTestNoAck, kCOAck); };
-    bool _sendCmdReset(void) { return _sendOpcodeOnlyCmd(kCmdResetSessions, kCOAck); };
     
     /// Timeout in msecs to wait for an Ack time come back. This is public so we can write unit tests which wait long enough
     /// for the FileManager to timeout.
@@ -226,9 +225,9 @@ private:
     uint8_t     _systemIdQGC;               ///< System ID for QGC
     uint8_t     _systemIdServer;            ///< System ID for server
     
-    // We give MockMavlinkFileServer friend access so that it can use the data structures and opcodes
+    // We give MockLinkFileServer friend access so that it can use the data structures and opcodes
     // to build a mock mavlink file server for testing.
-    friend class MockMavlinkFileServer;
+    friend class MockLinkFileServer;
 };
 
 #endif // FileManager_H