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Commit d2c3e365 authored by Don Gagne's avatar Don Gagne
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Switch to kErrEOF style read loop handling

parent e2e246fe
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Showing with 78 additions and 71 deletions
src/qgcunittest/MockMavlinkFileServer.cc
View file @ d2c3e365
......@@ -69,7 +69,6 @@ void MockMavlinkFileServer::_listCommand(QGCUASFileManager::Request* request)
ackResponse.hdr.session = 0;
ackResponse.hdr.offset = request->hdr.offset;
ackResponse.hdr.size = 0;
ackResponse.hdr.errCode = QGCUASFileManager::kErrNone;
if (request->hdr.offset == 0) {
// Requesting first batch of file names
......@@ -82,12 +81,12 @@ void MockMavlinkFileServer::_listCommand(QGCUASFileManager::Request* request)
ackResponse.hdr.size += cchFilename + 1;
bufPtr += cchFilename + 1;
}
_emitResponse(&ackResponse);
} else {
// FIXME: Does not support directories that span multiple packets
_sendNak(QGCUASFileManager::kErrEOF);
}
_emitResponse(&ackResponse);
}
/// @brief Handles Open command requests.
......@@ -119,7 +118,6 @@ void MockMavlinkFileServer::_openCommand(QGCUASFileManager::Request* request)
response.hdr.opcode = QGCUASFileManager::kRspAck;
response.hdr.session = _sessionId;
response.hdr.size = 0;
response.hdr.errCode = QGCUASFileManager::kErrNone;
_emitResponse(&response);
}
......@@ -137,7 +135,7 @@ void MockMavlinkFileServer::_readCommand(QGCUASFileManager::Request* request)
uint32_t readOffset = request->hdr.offset; // offset into file for reading
uint8_t cDataBytes = 0; // current number of data bytes used
if (readOffset > _readFileLength) {
if (readOffset >= _readFileLength) {
_sendNak(QGCUASFileManager::kErrEOF);
return;
}
......@@ -159,22 +157,10 @@ void MockMavlinkFileServer::_readCommand(QGCUASFileManager::Request* request)
Q_ASSERT(cDataBytes);
response.hdr.magic = 'f';
response.hdr.opcode = QGCUASFileManager::kRspAck;
response.hdr.session = _sessionId;
response.hdr.size = cDataBytes;
response.hdr.offset = request->hdr.offset;
if (readOffset >= _readFileLength) {
// Something wrong with the reading code, should not have gone past last byte
Q_ASSERT(readOffset == _readFileLength);
// We have read all the bytes in the file
response.hdr.errCode = QGCUASFileManager::kErrNone;
} else {
// There are still more bytes left to read in the file
response.hdr.errCode = QGCUASFileManager::kErrMore;
}
response.hdr.opcode = QGCUASFileManager::kRspAck;
_emitResponse(&response);
}
......@@ -226,7 +212,6 @@ void MockMavlinkFileServer::sendMessage(mavlink_message_t message)
ackResponse.hdr.session = 0;
ackResponse.hdr.crc32 = 0;
ackResponse.hdr.size = 0;
ackResponse.hdr.errCode = QGCUASFileManager::kErrNone;
_emitResponse(&ackResponse);
break;
......@@ -270,7 +255,6 @@ void MockMavlinkFileServer::_sendAck(void)
ackResponse.hdr.opcode = QGCUASFileManager::kRspAck;
ackResponse.hdr.session = 0;
ackResponse.hdr.size = 0;
ackResponse.hdr.errCode = QGCUASFileManager::kErrNone;
_emitResponse(&ackResponse);
}
......@@ -283,8 +267,8 @@ void MockMavlinkFileServer::_sendNak(QGCUASFileManager::ErrorCode error)
nakResponse.hdr.magic = 'f';
nakResponse.hdr.opcode = QGCUASFileManager::kRspNak;
nakResponse.hdr.session = 0;
nakResponse.hdr.size = 0;
nakResponse.hdr.errCode = error;
nakResponse.hdr.size = 1;
nakResponse.data[0] = error;
_emitResponse(&nakResponse);
}
......
src/uas/QGCUASFileManager.cc
View file @ d2c3e365
......@@ -65,6 +65,7 @@ static const quint32 crctab[] =
0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
};
QGCUASFileManager::QGCUASFileManager(QObject* parent, UASInterface* uas) :
QObject(parent),
_currentOperation(kCOIdle),
......@@ -74,8 +75,7 @@ QGCUASFileManager::QGCUASFileManager(QObject* parent, UASInterface* uas) :
{
bool connected = connect(&_ackTimer, SIGNAL(timeout()), this, SLOT(_ackTimeout()));
Q_ASSERT(connected);
Q_UNUSED(connected);
Q_UNUSED(connected); // Silence retail unused variable error
}
/// @brief Calculates a 32 bit CRC for the specified request.
......@@ -123,6 +123,34 @@ void QGCUASFileManager::_openAckResponse(Request* openAck)
_sendRequest(&request);
}
/// @brief Closes out a read session by writing the file and doing cleanup.
/// @param success true: successful download completion, false: error during download
void QGCUASFileManager::_closeReadSession(bool success)
{
if (success) {
QString downloadFilePath = _readFileDownloadDir.absoluteFilePath(_readFileDownloadFilename);
QFile file(downloadFilePath);
if (!file.open(QIODevice::WriteOnly | QIODevice::Truncate)) {
_emitErrorMessage(tr("Unable to open local file for writing (%1)").arg(downloadFilePath));
return;
}
qint64 bytesWritten = file.write((const char *)_readFileAccumulator, _readFileAccumulator.length());
if (bytesWritten != _readFileAccumulator.length()) {
file.close();
_emitErrorMessage(tr("Unable to write data to local file (%1)").arg(downloadFilePath));
return;
}
file.close();
_emitStatusMessage(tr("Download complete '%1'").arg(downloadFilePath));
}
// Close the open session
_sendTerminateCommand();
}
/// @brief Respond to the Ack associated with the Read command.
void QGCUASFileManager::_readAckResponse(Request* readAck)
{
......@@ -142,8 +170,8 @@ void QGCUASFileManager::_readAckResponse(Request* readAck)
_readFileAccumulator.append((const char*)readAck->data, readAck->hdr.size);
if (readAck->hdr.errCode == kErrMore) {
// Still more data to read, send next read request
if (readAck->hdr.size == sizeof(readAck->data)) {
// Possibly still more data to read, send next read request
_currentOperation = kCORead;
......@@ -157,32 +185,9 @@ void QGCUASFileManager::_readAckResponse(Request* readAck)
_sendRequest(&request);
} else {
// We're at the end of the file, we can write it out now
Q_ASSERT(readAck->hdr.errCode == kErrNone);
// We only receieved a partial buffer back. These means we are at EOF
_currentOperation = kCOIdle;
QString downloadFilePath = _readFileDownloadDir.absoluteFilePath(_readFileDownloadFilename);
QFile file(downloadFilePath);
if (!file.open(QIODevice::WriteOnly | QIODevice::Truncate)) {
_emitErrorMessage(tr("Unable to open local file for writing (%1)").arg(downloadFilePath));
return;
}
qint64 bytesWritten = file.write((const char *)_readFileAccumulator, _readFileAccumulator.length());
if (bytesWritten != _readFileAccumulator.length()) {
file.close();
_emitErrorMessage(tr("Unable to write data to local file (%1)").arg(downloadFilePath));
return;
}
file.close();
_emitStatusMessage(tr("Download complete '%1'").arg(downloadFilePath));
// Close the open session
_sendTerminateCommand();
_closeReadSession(true /* success */);
}
}
......@@ -216,34 +221,33 @@ void QGCUASFileManager::_listAckResponse(Request* listAck)
return;
}
// Returned names are prepended with D for directory or F for file
// Returned names are prepended with D for directory, F for file, U for unknown
QString s(ptr + 1);
if (*ptr == 'D') {
s.append('/');
} else if (*ptr != 'F') {
_currentOperation = kCOIdle;
_emitErrorMessage(tr("Unknown prefix list entry: '%1'").arg(ptr));
return;
}
// put it in the view
_emitStatusMessage(s);
if (*ptr == 'F' || *ptr == 'D') {
// put it in the view
_emitStatusMessage(s);
}
// account for the name + NUL
offset += nlen + 1;
cListEntries++;
}
if (listAck->hdr.errCode == kErrMore) {
// Still more data to read, send next list request
if (listAck->hdr.size == 0) {
// Directory is empty, we're done
Q_ASSERT(listAck->hdr.opcode == kRspAck);
_currentOperation = kCOIdle;
} else {
// Possibly more entries to come, need to keep trying till we get EOF
_currentOperation = kCOList;
_listOffset += cListEntries;
_sendListCommand();
} else {
// We've gotten the last list entries we can go back to idle
Q_ASSERT(listAck->hdr.errCode == kErrNone);
_currentOperation = kCOIdle;
}
}
......@@ -256,6 +260,8 @@ void QGCUASFileManager::receiveMessage(LinkInterface* link, mavlink_message_t me
return;
}
_clearAckTimeout();
mavlink_encapsulated_data_t data;
mavlink_msg_encapsulated_data_decode(&message, &data);
Request* request = (Request*)&data.data[0];
......@@ -263,7 +269,6 @@ void QGCUASFileManager::receiveMessage(LinkInterface* link, mavlink_message_t me
// FIXME: Check CRC
if (request->hdr.opcode == kRspAck) {
_clearAckTimeout();
switch (_currentOperation) {
case kCOIdle:
......@@ -293,13 +298,32 @@ void QGCUASFileManager::receiveMessage(LinkInterface* link, mavlink_message_t me
break;
}
} else if (request->hdr.opcode == kRspNak) {
_clearAckTimeout();
_emitErrorMessage(tr("Nak received, error: %1").arg(request->hdr.errCode));
Q_ASSERT(request->hdr.size == 1); // Should only have one byte of error code
OperationState previousOperation = _currentOperation;
uint8_t errorCode = request->data[0];
_currentOperation = kCOIdle;
if (previousOperation == kCOList && errorCode == kErrEOF) {
// This is not an error, just the end of the read loop
return;
} else if (previousOperation == kCORead && errorCode == kErrEOF) {
// This is not an error, just the end of the read loop
_closeReadSession(true /* success */);
return;
} else {
// Generic Nak handling
if (previousOperation == kCORead) {
// Nak error during read loop, download failed
_closeReadSession(false /* failure */);
}
_emitErrorMessage(tr("Nak received, error: %1").arg(errorString(request->data[0])));
}
} else {
// Note that we don't change our operation state. If something goes wrong beyond this, the operation
// will time out.
_emitErrorMessage(tr("Unknown opcode returned server: %1").arg(request->hdr.opcode));
_emitErrorMessage(tr("Unknown opcode returned from server: %1").arg(request->hdr.opcode));
}
}
......
src/uas/QGCUASFileManager.h
View file @ d2c3e365
......@@ -60,7 +60,6 @@ protected:
uint8_t size; ///> Size of data
uint32_t crc32; ///> CRC for entire Request structure, with crc32 set to 0
uint32_t offset; ///> Offsets for List and Read commands
uint8_t errCode; ///> Error code from Ack and Naks (ignored for commands)
};
struct Request
......@@ -95,7 +94,6 @@ protected:
enum ErrorCode
{
kErrNone,
kErrMore,
kErrNoRequest,
kErrNoSession,
kErrSequence,
......@@ -137,6 +135,7 @@ protected:
void _listAckResponse(Request* listAck);
void _sendListCommand(void);
void _sendTerminateCommand(void);
void _closeReadSession(bool success);
static quint32 crc32(Request* request, unsigned state = 0);
static QString errorString(uint8_t errorCode);
......
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