diff --git a/src/qgcunittest/MockMavlinkFileServer.cc b/src/qgcunittest/MockMavlinkFileServer.cc
index 3457a89..bbcbfed 100644
--- a/src/qgcunittest/MockMavlinkFileServer.cc
+++ b/src/qgcunittest/MockMavlinkFileServer.cc
@@ -23,25 +23,33 @@
#include "MockMavlinkFileServer.h"
+const MockMavlinkFileServer::ErrorMode_t MockMavlinkFileServer::rgFailureModes[] = {
+ MockMavlinkFileServer::errModeNoResponse,
+ MockMavlinkFileServer::errModeNakResponse,
+ MockMavlinkFileServer::errModeNoSecondResponse,
+ MockMavlinkFileServer::errModeNakSecondResponse,
+ MockMavlinkFileServer::errModeBadCRC,
+};
+const size_t MockMavlinkFileServer::cFailureModes = sizeof(MockMavlinkFileServer::rgFailureModes) / sizeof(MockMavlinkFileServer::rgFailureModes[0]);
+
const MockMavlinkFileServer::FileTestCase MockMavlinkFileServer::rgFileTestCases[MockMavlinkFileServer::cFileTestCases] = {
// File fits one Read Ack packet, partially filling data
- { "partial.qgc", sizeof(((QGCUASFileManager::Request*)0)->data) - 1 },
+ { "partial.qgc", sizeof(((QGCUASFileManager::Request*)0)->data) - 1, false },
// File fits one Read Ack packet, exactly filling all data
- { "exact.qgc", sizeof(((QGCUASFileManager::Request*)0)->data) },
+ { "exact.qgc", sizeof(((QGCUASFileManager::Request*)0)->data), true },
// File is larger than a single Read Ack packets, requires multiple Reads
- { "multi.qgc", sizeof(((QGCUASFileManager::Request*)0)->data) + 1 },
+ { "multi.qgc", sizeof(((QGCUASFileManager::Request*)0)->data) + 1, true },
};
// We only support a single fixed session
const uint8_t MockMavlinkFileServer::_sessionId = 1;
-MockMavlinkFileServer::MockMavlinkFileServer(void)
+MockMavlinkFileServer::MockMavlinkFileServer(void) :
+ _errMode(errModeNone)
{
}
-
-
/// @brief Handles List command requests. Only supports root folder paths.
/// File list returned is set using the setFileList method.
void MockMavlinkFileServer::_listCommand(QGCUASFileManager::Request* request)
@@ -83,6 +91,13 @@ void MockMavlinkFileServer::_listCommand(QGCUASFileManager::Request* request)
}
_emitResponse(&ackResponse);
+ } else if (_errMode == errModeNakSecondResponse) {
+ // Nak error all subsequent requests
+ _sendNak(QGCUASFileManager::kErrPerm);
+ return;
+ } else if (_errMode == errModeNoSecondResponse) {
+ // No response for all subsequent requests
+ return;
} else {
// FIXME: Does not support directories that span multiple packets
_sendNak(QGCUASFileManager::kErrEOF);
@@ -136,22 +151,26 @@ 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 != 0) {
+ // 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);
+ return;
+ } else if (_errMode == errModeNoSecondResponse) {
+ // No rsponse for all subsequent requests
+ return;
+ }
+ }
+
if (readOffset >= _readFileLength) {
_sendNak(QGCUASFileManager::kErrEOF);
return;
}
- // Write length byte if needed
- if (readOffset == 0) {
- response.data[0] = _readFileLength;
- readOffset++;
- cDataBytes++;
- }
-
// Write file bytes. Data is a repeating sequence of 0x00, 0x01, .. 0xFF.
for (; cDataBytes < sizeof(response.data) && readOffset < _readFileLength; readOffset++, cDataBytes++) {
- // Subtract one from readOffset to take into account length byte and start file data a 0x00
- response.data[cDataBytes] = (readOffset - 1) & 0xFF;
+ response.data[cDataBytes] = readOffset & 0xFF;
}
// We should always have written something, otherwise there is something wrong with the code above
@@ -187,6 +206,15 @@ void MockMavlinkFileServer::sendMessage(mavlink_message_t message)
QGCUASFileManager::Request ackResponse;
Q_ASSERT(message.msgid == MAVLINK_MSG_ID_ENCAPSULATED_DATA);
+
+ 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(QGCUASFileManager::kErrPerm);
+ return;
+ }
mavlink_encapsulated_data_t requestEncapsulatedData;
mavlink_msg_encapsulated_data_decode(&message, &requestEncapsulatedData);
@@ -280,6 +308,10 @@ void MockMavlinkFileServer::_emitResponse(QGCUASFileManager::Request* request)
mavlink_message_t mavlinkMessage;
request->hdr.crc32 = QGCUASFileManager::crc32(request);
+ if (_errMode == errModeBadCRC) {
+ // Return a bad CRC
+ request->hdr.crc32++;
+ }
mavlink_msg_encapsulated_data_pack(250, MAV_COMP_ID_IMU, &mavlinkMessage, 0 /*_encdata_seq*/, (uint8_t*)request);
diff --git a/src/qgcunittest/MockMavlinkFileServer.h b/src/qgcunittest/MockMavlinkFileServer.h
index 7c581c7..fd00339 100644
--- a/src/qgcunittest/MockMavlinkFileServer.h
+++ b/src/qgcunittest/MockMavlinkFileServer.h
@@ -46,18 +46,46 @@ public:
/// to indicate (F)ile or (D)irectory.
void setFileList(QStringList& fileList) { _fileList = fileList; }
+ /// @brief By calling setErrorMode with one of these modes you can cause the server to simulate an error.
+ typedef enum {
+ errModeNone, ///< No error, respond correctly
+ errModeNoResponse, ///< No response to any request, client should eventually time out with no Ack
+ errModeNakResponse, ///< Nak all requests
+ errModeNoSecondResponse, ///< No response to subsequent request to initial command
+ errModeNakSecondResponse, ///< Nak subsequent request to initial command
+ errModeBadCRC, ///< Return response with bad CRC
+ errModeBadSequence ///< Return response with bad sequence number, NYI: Waiting on Firmware sequence # support
+ } ErrorMode_t;
+
+ /// @brief Sets the error mode for command responses. This allows you to simulate various server errors.
+ void setErrorMode(ErrorMode_t errMode) { _errMode = errMode; };
+
+ /// @brief Array of failure modes you can cycle through for testing. By looping through this array you can avoid
+ /// hardcoding the specific error modes in your unit test. This way when new error modes are added your unit test
+ /// code may not need to be modified.
+ static const ErrorMode_t rgFailureModes[];
+
+ /// @brief The number of ErrorModes in the rgFailureModes array.
+ static const size_t cFailureModes;
+
// From MockMavlinkInterface
virtual void sendMessage(mavlink_message_t message);
+ /// @brief Used to represent a single test case for download testing.
struct FileTestCase {
- const char* filename;
- uint8_t length;
+ const char* filename; ///< Filename to download
+ uint8_t length; ///< Length of file in bytes
+ bool fMultiPacketResponse; ///< true: multiple acks required to download, false: single ack contains entire download
};
+ /// @brief The numbers of test cases in the rgFileTestCases array.
static const size_t cFileTestCases = 3;
+
+ /// @brief The set of files supported by the mock server for testing purposes. Each one represents a different edge case for testing.
static const FileTestCase rgFileTestCases[cFileTestCases];
signals:
+ /// @brief You can connect to this signal to be notified when the server receives a Terminate command.
void terminateCommandReceived(void);
private:
@@ -72,7 +100,8 @@ private:
QStringList _fileList; ///< List of files returned by List command
static const uint8_t _sessionId;
- uint8_t _readFileLength; ///< Length of active file being read
+ uint8_t _readFileLength; ///< Length of active file being read
+ ErrorMode_t _errMode; ///< Currently set error mode, as specified by setErrorMode
};
#endif