/*===================================================================== QGroundControl Open Source Ground Control Station (c) 2009 - 2014 QGROUNDCONTROL PROJECT 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 . ======================================================================*/ #ifndef QGCUASFILEMANAGER_H #define QGCUASFILEMANAGER_H #include #include #include "UASInterface.h" class QGCUASFileManager : public QObject { Q_OBJECT public: QGCUASFileManager(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(kCmdReset, 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. static const int ackTimerTimeoutMsecs = 1000; signals: /// @brief Signalled whenever an error occurs during the listDirectory or downloadPath methods. void errorMessage(const QString& msg); // Signals associated with the listDirectory method /// @brief Signalled to indicate a new directory entry was received. void listEntry(const QString& entry); /// @brief Signalled after listDirectory completes. If an error occurs during directory listing this signal will not be emitted. void listComplete(void); // Signals associated with the downloadPath method /// @brief Signalled after downloadPath is called to indicate length of file being downloaded void downloadFileLength(unsigned int length); /// @brief Signalled during file download to indicate download progress /// @param bytesReceived Number of bytes currently received from file void downloadFileProgress(unsigned int bytesReceived); /// @brief Signaled to indicate completion of file download. If an error occurs during download this signal will not be emitted. void downloadFileComplete(void); public slots: void receiveMessage(LinkInterface* link, mavlink_message_t message); void listDirectory(const QString& dirPath); void downloadPath(const QString& from, const QDir& downloadDir); protected: static const uint8_t kProtocolMagic = 'f'; struct RequestHeader { uint8_t magic; ///> Magic byte 'f' to idenitfy FTP protocol uint8_t session; ///> Session id for read and write commands uint8_t opcode; ///> Command opcode 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 }; struct Request { struct RequestHeader hdr; // We use a union here instead of just casting (uint32_t)&data[0] to not break strict aliasing rules union { // The entire Request must fit into the data member of the mavlink_encapsulated_data_t structure. We use as many leftover bytes // after we use up space for the RequestHeader for the data portion of the Request. uint8_t data[sizeof(((mavlink_encapsulated_data_t*)0)->data) - sizeof(RequestHeader)]; // File length returned by Open command uint32_t openFileLength; }; }; enum Opcode { // Commands kCmdNone, ///> ignored, always acked kCmdTerminate, ///> releases sessionID, closes file kCmdReset, ///> terminates all sessions kCmdList, ///> list files in from kCmdOpen, ///> opens for reading, returns kCmdRead, ///> reads bytes from in kCmdCreate, ///> creates for writing, returns kCmdWrite, ///> appends bytes at in 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 }; enum OperationState { kCOIdle, // not doing anything kCOAck, // waiting for an Ack kCOList, // waiting for List response kCOOpen, // waiting for Open response kCORead, // waiting for Read response }; protected slots: void _ackTimeout(void); protected: bool _sendOpcodeOnlyCmd(uint8_t opcode, OperationState newOpState); void _setupAckTimeout(void); void _clearAckTimeout(void); void _emitErrorMessage(const QString& msg); void _emitListEntry(const QString& entry); void _sendRequest(Request* request); void _fillRequestWithString(Request* request, const QString& str); void _openAckResponse(Request* openAck); void _readAckResponse(Request* readAck); 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); OperationState _currentOperation; ///> Current operation of state machine QTimer _ackTimer; ///> Used to signal a timeout waiting for an ack UASInterface* _mav; uint16_t _lastOutgoingSeqNumber; ///< Sequence number sent in last outgoing packet unsigned _listOffset; ///> offset for the current List operation QString _listPath; ///> path for the current List operation uint8_t _activeSession; ///> currently active session, 0 for none uint32_t _readOffset; ///> current read offset QByteArray _readFileAccumulator; ///> Holds file being downloaded QDir _readFileDownloadDir; ///> Directory to download file to QString _readFileDownloadFilename; ///> Filename (no path) for download file // We give MockMavlinkFileServer friend access so that it can use the data structures and opcodes // to build a mock mavlink file server for testing. friend class MockMavlinkFileServer; }; #endif // QGCUASFILEMANAGER_H