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Start of mock FileSever for unit testing

QGC4.4
Don Gagne 11 years ago
parent
9557ba9d65
commit
85d15747cd
5 changed files with 227 additions and 0 deletions
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  1. 3
      qgroundcontrol.pro
  2. 87
      src/qgcunittest/MockMavlinkFileServer.cc
  3. 85
      src/qgcunittest/MockMavlinkFileServer.h
  4. 9
      src/qgcunittest/MockMavlinkInterface.cc
  5. 43
      src/qgcunittest/MockMavlinkInterface.h

3
qgroundcontrol.pro
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@ -186,6 +186,8 @@ DebugBuild { @@ -186,6 +186,8 @@ DebugBuild {
src/qgcunittest/MockUASManager.h \
src/qgcunittest/MockUAS.h \
src/qgcunittest/MockQGCUASParamManager.h \
src/qgcunittest/MockMavlinkInterface.h \
src/qgcunittest/MockMavlinkFileServer.h \
src/qgcunittest/MultiSignalSpy.h \
src/qgcunittest/FlightModeConfigTest.h
@ -194,6 +196,7 @@ DebugBuild { @@ -194,6 +196,7 @@ DebugBuild {
src/qgcunittest/MockUASManager.cc \
src/qgcunittest/MockUAS.cc \
src/qgcunittest/MockQGCUASParamManager.cc \
src/qgcunittest/MockMavlinkFileServer.cc \
src/qgcunittest/MultiSignalSpy.cc \
src/qgcunittest/FlightModeConfigTest.cc
}

87
src/qgcunittest/MockMavlinkFileServer.cc
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@ -0,0 +1,87 @@ @@ -0,0 +1,87 @@
/*=====================================================================
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 "MockMavlinkFileServer.h"
void MockMavlinkFileServer::sendMessage(mavlink_message_t message)
{
Q_ASSERT(message.msgid == MAVLINK_MSG_ID_ENCAPSULATED_DATA);
mavlink_encapsulated_data_t data;
mavlink_msg_encapsulated_data_decode(&message, &data);
const RequestHeader *hdr = (const RequestHeader *)&data.data[0];
// FIXME: Check CRC
switch (hdr->opcode) {
case kCmdNone:
// ignored, always acked
RequestHeader ackHdr;
ackHdr.magic = 'f';
ackHdr.opcode = kRspAck;
ackHdr.session = 0;
ackHdr.crc32 = 0;
ackHdr.size = 0;
// FIXME: Add CRC
//ackHdr.crc32 = crc32((uint8_t*)&hdr, sizeof(hdr) + hdr.size, 0);
mavlink_message_t ackMessage;
mavlink_msg_encapsulated_data_pack(250, 0, &ackMessage, 0 /*_encdata_seq*/, (uint8_t*)&ackHdr);
emit messageReceived(NULL, ackMessage);
break;
case kCmdTerminate:
// releases sessionID, closes file
case kCmdReset:
// terminates all sessions
case kCmdList:
// list files in <path> from <offset>
case kCmdOpen:
// opens <path> for reading, returns <session>
case kCmdRead:
// reads <size> bytes from <offset> in <session>
case kCmdCreate:
// creates <path> for writing, returns <session>
case kCmdWrite:
// appends <size> bytes at <offset> in <session>
case kCmdRemove:
// remove file (only if created by server?)
default:
// nack for all NYI opcodes
RequestHeader nakHdr;
nakHdr.opcode = kRspNak;
nakHdr.magic = 'f';
nakHdr.session = 0;
nakHdr.crc32 = 0;
nakHdr.size = 0;
// FIXME: Add CRC
//ackHdr.crc32 = crc32((uint8_t*)&hdr, sizeof(hdr) + hdr.size, 0);
mavlink_message_t nakMessage;
mavlink_msg_encapsulated_data_pack(250, 0, &nakMessage, 0 /*_encdata_seq*/, (uint8_t*)&nakHdr);
emit messageReceived(NULL, nakMessage);
break;
}
}

85
src/qgcunittest/MockMavlinkFileServer.h
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@ -0,0 +1,85 @@ @@ -0,0 +1,85 @@
/*=====================================================================
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/>.
======================================================================*/
#ifndef MOCKMAVLINKFILESERVER_H
#define MOCKMAVLINKFILESERVER_H
#include "MockMavlinkInterface.h"
class MockMavlinkFileServer : public MockMavlinkInterface
{
Q_OBJECT
public:
MockMavlinkFileServer(void) { };
virtual void sendMessage(mavlink_message_t message);
private:
// FIXME: These should be in a mavlink header somewhere shouldn't they?
struct RequestHeader
{
uint8_t magic;
uint8_t session;
uint8_t opcode;
uint8_t size;
uint32_t crc32;
uint32_t offset;
uint8_t data[];
};
enum Opcode
{
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?)
kRspAck,
kRspNak
};
enum ErrorCode
{
kErrNone,
kErrNoRequest,
kErrNoSession,
kErrSequence,
kErrNotDir,
kErrNotFile,
kErrEOF,
kErrNotAppend,
kErrTooBig,
kErrIO,
kErrPerm
};
};
#endif

9
src/qgcunittest/MockMavlinkInterface.cc
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@ -0,0 +1,9 @@ @@ -0,0 +1,9 @@
//
// MockMavlinkInterface.cc
// QGroundControl
//
// Created by Donald Gagne on 6/19/14.
// Copyright (c) 2014 Donald Gagne. All rights reserved.
//
#include "MockMavlinkInterface.h"

43
src/qgcunittest/MockMavlinkInterface.h
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@ -0,0 +1,43 @@ @@ -0,0 +1,43 @@
/*=====================================================================
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:
void messageReceived(LinkInterface* link, mavlink_message_t message);
};
#endif
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