Sync to latest firmware header changes

src/qgcunittest/MockMavlinkFileServer.cc

@@ -66,7 +66,7 @@ void MockMavlinkFileServer::_listCommand(QGCUASFileManager::Request* request, ui
     // We only support root path
     path = (char *)&request->data[0];
     if (!path.isEmpty() && path != "/") {
-        _sendNak(QGCUASFileManager::kErrNotDir, outgoingSeqNumber);
+        _sendNak(QGCUASFileManager::kErrFail, outgoingSeqNumber);
         return;
     }
     
@@ -96,7 +96,7 @@ void MockMavlinkFileServer::_listCommand(QGCUASFileManager::Request* request, ui
         _emitResponse(&ackResponse, outgoingSeqNumber);
     } else if (_errMode == errModeNakSecondResponse) {
         // Nak error all subsequent requests
-        _sendNak(QGCUASFileManager::kErrPerm, outgoingSeqNumber);
+        _sendNak(QGCUASFileManager::kErrFail, outgoingSeqNumber);
         return;
     } else if (_errMode == errModeNoSecondResponse) {
         // No response for all subsequent requests
@@ -130,7 +130,7 @@ void MockMavlinkFileServer::_openCommand(QGCUASFileManager::Request* request, ui
         }
     }
     if (!found) {
-        _sendNak(QGCUASFileManager::kErrNotFile, outgoingSeqNumber);
+        _sendNak(QGCUASFileManager::kErrFail, outgoingSeqNumber);
         return;
     }
     
@@ -151,7 +151,7 @@ void MockMavlinkFileServer::_readCommand(QGCUASFileManager::Request* request, ui
     uint16_t                    outgoingSeqNumber = _nextSeqNumber(seqNumber);
 
     if (request->hdr.session != _sessionId) {
-        _sendNak(QGCUASFileManager::kErrNoSession, outgoingSeqNumber);
+        _sendNak(QGCUASFileManager::kErrFail, outgoingSeqNumber);
         return;
     }
     
@@ -162,7 +162,7 @@ void MockMavlinkFileServer::_readCommand(QGCUASFileManager::Request* request, ui
         // 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(QGCUASFileManager::kErrPerm, outgoingSeqNumber);
+            _sendNak(QGCUASFileManager::kErrFail, outgoingSeqNumber);
             return;
         } else if (_errMode == errModeNoSecondResponse) {
             // No rsponse for all subsequent requests
@@ -197,7 +197,7 @@ void MockMavlinkFileServer::_terminateCommand(QGCUASFileManager::Request* reques
     uint16_t outgoingSeqNumber = _nextSeqNumber(seqNumber);
 
     if (request->hdr.session != _sessionId) {
-        _sendNak(QGCUASFileManager::kErrNoSession, outgoingSeqNumber);
+        _sendNak(QGCUASFileManager::kErrInvalidSession, outgoingSeqNumber);
         return;
     }
     
@@ -229,7 +229,7 @@ void MockMavlinkFileServer::sendMessage(mavlink_message_t message)
         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(QGCUASFileManager::kErrPerm, outgoingSeqNumber);
+        _sendNak(QGCUASFileManager::kErrFail, outgoingSeqNumber);
         return;
     }
 
@@ -244,7 +244,7 @@ void MockMavlinkFileServer::sendMessage(mavlink_message_t message)
             // ignored, ack not sent back, for testing only
             break;
             
-        case QGCUASFileManager::kCmdReset:
+        case QGCUASFileManager::kCmdResetSessions:
             // terminates all sessions
             // Fall through to send back Ack
 
@@ -257,30 +257,22 @@ void MockMavlinkFileServer::sendMessage(mavlink_message_t message)
             _emitResponse(&ackResponse, outgoingSeqNumber);
             break;
 
-        case QGCUASFileManager::kCmdList:
+        case QGCUASFileManager::kCmdListDirectory:
             _listCommand(request, incomingSeqNumber);
             break;
             
-        case QGCUASFileManager::kCmdOpen:
+        case QGCUASFileManager::kCmdOpenFile:
             _openCommand(request, incomingSeqNumber);
             break;
 
-        case QGCUASFileManager::kCmdRead:
+        case QGCUASFileManager::kCmdReadFile:
             _readCommand(request, incomingSeqNumber);
             break;
 
-        case QGCUASFileManager::kCmdTerminate:
+        case QGCUASFileManager::kCmdTerminateSession:
             _terminateCommand(request, incomingSeqNumber);
             break;
 
-        // Remainder of commands are NYI
-
-        case QGCUASFileManager::kCmdCreate:
-            // creates <path> for writing, returns <session>
-        case QGCUASFileManager::kCmdWrite:
-            // appends <size> bytes at <offset> in <session>
-        case QGCUASFileManager::kCmdRemove:
-            // remove file (only if created by server?)
         default:
             // nack for all NYI opcodes
             _sendNak(QGCUASFileManager::kErrUnknownCommand, outgoingSeqNumber);

src/uas/QGCUASFileManager.cc

@@ -124,7 +124,7 @@ void QGCUASFileManager::_openAckResponse(Request* openAck)
 
     Request request;
     request.hdr.session = _activeSession;
-    request.hdr.opcode = kCmdRead;
+    request.hdr.opcode = kCmdReadFile;
     request.hdr.offset = _readOffset;
     request.hdr.size = sizeof(request.data);
 
@@ -188,7 +188,7 @@ void QGCUASFileManager::_readAckResponse(Request* readAck)
 
         Request request;
         request.hdr.session = _activeSession;
-        request.hdr.opcode = kCmdRead;
+        request.hdr.opcode = kCmdReadFile;
         request.hdr.offset = _readOffset;
         request.hdr.size = 0;
 
@@ -388,7 +388,7 @@ void QGCUASFileManager::_sendListCommand(void)
     Request request;
 
     request.hdr.session = 0;
-    request.hdr.opcode = kCmdList;
+    request.hdr.opcode = kCmdListDirectory;
     request.hdr.offset = _listOffset;
     request.hdr.size = 0;
 
@@ -423,7 +423,7 @@ void QGCUASFileManager::downloadPath(const QString& from, const QDir& downloadDi
 
     Request request;
     request.hdr.session = 0;
-    request.hdr.opcode = kCmdOpen;
+    request.hdr.opcode = kCmdOpenFile;
     request.hdr.offset = 0;
     request.hdr.size = 0;
     _fillRequestWithString(&request, from);
@@ -433,34 +433,26 @@ void QGCUASFileManager::downloadPath(const QString& from, const QDir& downloadDi
 QString QGCUASFileManager::errorString(uint8_t errorCode)
 {
     switch(errorCode) {
-    case kErrNone:
-        return QString("no error");
-    case kErrNoRequest:
-        return QString("bad request");
-    case kErrNoSession:
-        return QString("bad session");
-    case kErrSequence:
-        return QString("bad sequence number");
-    case kErrNotDir:
-        return QString("not a directory");
-    case kErrNotFile:
-        return QString("not a file");
-    case kErrEOF:
-        return QString("read beyond end of file");
-    case kErrNotAppend:
-        return QString("write not at end of file");
-    case kErrTooBig:
-        return QString("file too big");
-    case kErrIO:
-        return QString("device I/O error");
-    case kErrPerm:
-        return QString("permission denied");
-    case kErrUnknownCommand:
-        return QString("unknown command");
-    case kErrCrc:
-        return QString("bad crc");
-    default:
-        return QString("unknown error code");
+        case kErrNone:
+            return QString("no error");
+        case kErrFail:
+            return QString("unknown error");
+        case kErrEOF:
+            return QString("read beyond end of file");
+        case kErrUnknownCommand:
+            return QString("unknown command");
+        case kErrCrc:
+            return QString("bad crc");
+        case kErrFailErrno:
+            return QString("command failed");
+        case kErrInvalidDataSize:
+            return QString("invalid data size");
+        case kErrInvalidSession:
+            return QString("invalid session");
+        case kErrNoSessionsAvailable:
+            return QString("no sessions availble");
+        default:
+            return QString("unknown error code");
     }
 }
 
@@ -527,7 +519,7 @@ void QGCUASFileManager::_sendTerminateCommand(void)
 {
     Request request;
     request.hdr.session = _activeSession;
-    request.hdr.opcode = kCmdTerminate;
+    request.hdr.opcode = kCmdTerminateSession;
     request.hdr.size = 0;
     _sendRequest(&request);
 }

src/uas/QGCUASFileManager.h

@@ -38,7 +38,7 @@ public:
     /// 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(kCmdReset, kCOAck); };
+    bool _sendCmdReset(void) { return _sendOpcodeOnlyCmd(kCmdResetSessions, kCOAck); };
     
     /// @brief 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.
@@ -104,43 +104,39 @@ protected:
     };
 
     enum Opcode
-        {
-            // Commands
-            kCmdNone,       ///< ignored, always acked
-            kCmdTerminate,	///< releases sessionID, closes file
-            kCmdReset,      ///< terminates all sessions
-            kCmdList,       ///< list files in <path> from <offset>
-            kCmdOpen,       ///< opens <path> for reading, returns <session>
-            kCmdRead,       ///< reads <size> bytes from <offset> in <session>
-            kCmdCreate,     ///< creates <path> for writing, returns <session>
-            kCmdWrite,      ///< appends <size> bytes at <offset> in <session>
-            kCmdRemove,     ///< remove file (only if created by server?)
-
-            // Responses
-            kRspAck,        ///< positive acknowledgement of previous command
-            kRspNak,        ///< negative acknowledgement of previous command
-            
-            // Used for testing only, not part of protocol
-            kCmdTestNoAck,  ///< ignored, ack not sent back, should timeout waiting for ack
-        };
-
-    enum ErrorCode
-        {
-            kErrNone,
-            kErrNoRequest,
-            kErrNoSession,
-            kErrSequence,
-            kErrNotDir,
-            kErrNotFile,
-            kErrEOF,
-            kErrNotAppend,
-            kErrTooBig,
-            kErrIO,
-            kErrPerm,
-            kErrUnknownCommand,
-            kErrCrc
-        };
-
+	{
+		kCmdNone,               ///< ignored, always acked
+		kCmdTerminateSession,	///< Terminates open Read session
+		kCmdResetSessions,      ///< Terminates all open Read sessions
+		kCmdListDirectory,      ///< List files in <path> from <offset>
+		kCmdOpenFile,           ///< Opens file at <path> for reading, returns <session>
+		kCmdReadFile,           ///< Reads <size> bytes from <offset> in <session>
+		kCmdCreateFile,         ///< Creates file at <path> for writing, returns <session>
+		kCmdWriteFile,          ///< Appends <size> bytes to file in <session>
+		kCmdRemoveFile,         ///< Remove file at <path>
+		kCmdCreateDirectory,	///< Creates directory at <path>
+		kCmdRemoveDirectory,	///< Removes Directory at <path>, must be empty
+		
+		kRspAck,                ///< Ack response
+		kRspNak,                ///< Nak response
+
+        // Used for testing only, not part of protocol
+        kCmdTestNoAck,          ///< ignored, ack not sent back, should timeout waiting for ack
+	};
+	
+	/// @brief Error codes returned in Nak response PayloadHeader.data[0].
+	enum ErrorCode
+    {
+		kErrNone,
+		kErrFail,                   ///< Unknown failure
+		kErrFailErrno,              ///< errno sent back in PayloadHeader.data[1]
+		kErrInvalidDataSize,		///< PayloadHeader.size is invalid
+		kErrInvalidSession,         ///< Session is not currently open
+		kErrNoSessionsAvailable,	///< All available Sessions in use
+		kErrEOF,                    ///< Offset past end of file for List and Read commands
+		kErrUnknownCommand,         ///< Unknown command opcode
+		kErrCrc                     ///< CRC on Payload is incorrect
+    };
 
     enum OperationState
         {