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Diffstat (limited to 'src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp | 788 |
1 files changed, 788 insertions, 0 deletions
diff --git a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp new file mode 100644 index 000000000..ebfce6d74 --- /dev/null +++ b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp @@ -0,0 +1,788 @@ +/**************************************************************************** + * + * Copyright (C) 2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/// @file mavlink_ftp_test.cpp +/// @author Don Gagne <don@thegagnes.com> + +#include <sys/stat.h> +#include <crc32.h> +#include <stdio.h> +#include <fcntl.h> + +#include "mavlink_ftp_test.h" +#include "../mavlink_ftp.h" + +/// @brief Test case file name for Read command. File are generated using mavlink_ftp_test_data.py +const MavlinkFtpTest::ReadTestCase MavlinkFtpTest::_rgReadTestCases[] = { + { "/etc/unit_test_data/mavlink_tests/test_234.data", MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(MavlinkFTP::PayloadHeader) - 1}, // Read takes less than single packet + { "/etc/unit_test_data/mavlink_tests/test_235.data", MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(MavlinkFTP::PayloadHeader) }, // Read completely fills single packet + { "/etc/unit_test_data/mavlink_tests/test_236.data", MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(MavlinkFTP::PayloadHeader) + 1 }, // Read take two packets +}; + +const char MavlinkFtpTest::_unittest_microsd_dir[] = "/fs/microsd/ftp_unit_test_dir"; +const char MavlinkFtpTest::_unittest_microsd_file[] = "/fs/microsd/ftp_unit_test_dir/file"; + +MavlinkFtpTest::MavlinkFtpTest() : + _ftp_server{}, + _reply_msg{}, + _lastOutgoingSeqNumber{} +{ +} + +MavlinkFtpTest::~MavlinkFtpTest() +{ + +} + +/// @brief Called before every test to initialize the FTP Server. +void MavlinkFtpTest::init(void) +{ + _ftp_server = new MavlinkFTP;; + _ftp_server->set_unittest_worker(MavlinkFtpTest::receive_message, this); + + _cleanup_microsd(); +} + +/// @brief Called after every test to take down the FTP Server. +void MavlinkFtpTest::cleanup(void) +{ + delete _ftp_server; + + _cleanup_microsd(); +} + +/// @brief Tests for correct behavior of an Ack response. +bool MavlinkFtpTest::_ack_test(void) +{ + MavlinkFTP::PayloadHeader payload; + mavlink_file_transfer_protocol_t ftp_msg; + MavlinkFTP::PayloadHeader *reply; + + payload.opcode = MavlinkFTP::kCmdNone; + + bool success = _send_receive_msg(&payload, // FTP payload header + 0, // size in bytes of data + nullptr, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck); + ut_compare("Incorrect payload size", reply->size, 0); + + return true; +} + +/// @brief Tests for correct response to a message sent with an invalid CRC. +bool MavlinkFtpTest::_bad_crc_test(void) +{ + mavlink_message_t msg; + MavlinkFTP::PayloadHeader payload; + mavlink_file_transfer_protocol_t ftp_msg; + MavlinkFTP::PayloadHeader *reply; + + payload.opcode = MavlinkFTP::kCmdNone; + + _setup_ftp_msg(&payload, 0, nullptr, &msg); + + ((MavlinkFTP::PayloadHeader*)((mavlink_file_transfer_protocol_t*)msg.payload64)->payload)->crc32++; + + _ftp_server->handle_message(nullptr /* mavlink */, &msg); + + if (!_decode_message(&_reply_msg, &ftp_msg, &reply)) { + return false; + } + + ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak); + ut_compare("Incorrect payload size", reply->size, 1); + ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrCrc); + + return true; +} + +/// @brief Tests for correct response to an invalid opcpde. +bool MavlinkFtpTest::_bad_opcode_test(void) +{ + MavlinkFTP::PayloadHeader payload; + mavlink_file_transfer_protocol_t ftp_msg; + MavlinkFTP::PayloadHeader *reply; + + payload.opcode = 0xFF; // bogus opcode + + bool success = _send_receive_msg(&payload, // FTP payload header + 0, // size in bytes of data + nullptr, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak); + ut_compare("Incorrect payload size", reply->size, 1); + ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrUnknownCommand); + + return true; +} + +/// @brief Tests for correct reponse to a payload which an invalid data size field. +bool MavlinkFtpTest::_bad_datasize_test(void) +{ + mavlink_message_t msg; + MavlinkFTP::PayloadHeader payload; + mavlink_file_transfer_protocol_t ftp_msg; + MavlinkFTP::PayloadHeader *reply; + + payload.opcode = MavlinkFTP::kCmdListDirectory; + + _setup_ftp_msg(&payload, 0, nullptr, &msg); + + // Set the data size to be one larger than is legal + ((MavlinkFTP::PayloadHeader*)((mavlink_file_transfer_protocol_t*)msg.payload64)->payload)->size = MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN + 1; + + _ftp_server->handle_message(nullptr /* mavlink */, &msg); + + if (!_decode_message(&_reply_msg, &ftp_msg, &reply)) { + return false; + } + + ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak); + ut_compare("Incorrect payload size", reply->size, 1); + ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrInvalidDataSize); + + return true; +} + +bool MavlinkFtpTest::_list_test(void) +{ + MavlinkFTP::PayloadHeader payload; + mavlink_file_transfer_protocol_t ftp_msg; + MavlinkFTP::PayloadHeader *reply; + + char response1[] = "D.|Dempty_dir|Ftest_234.data\t234|Ftest_235.data\t235|Ftest_236.data\t236"; + char response2[] = "Ddev|Detc|Dfs|Dobj"; + + struct _testCase { + const char *dir; + char *response; + bool success; + }; + struct _testCase rgTestCases[] = { + { "/bogus", nullptr, false }, + { "/etc/unit_test_data/mavlink_tests", response1, true }, + { "/", response2, true }, + }; + + for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) { + const struct _testCase *test = &rgTestCases[i]; + + uint8_t expected_data_size = strlen(test->response) + 1; + + char *ptr = strtok (test->response, "|"); + while (ptr != nullptr) + { + ptr = strtok (nullptr, "|"); + } + + payload.opcode = MavlinkFTP::kCmdListDirectory; + payload.offset = 0; + + bool success = _send_receive_msg(&payload, // FTP payload header + strlen(test->dir)+1, // size in bytes of data + (uint8_t*)test->dir, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + if (test->success) { + ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck); + ut_compare("Incorrect payload size", reply->size, expected_data_size); + ut_compare("Ack payload contents incorrect", memcmp(reply->data, test->response, expected_data_size), 0); + } else { + ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak); + ut_compare("Incorrect payload size", reply->size, 2); + ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrFailErrno); + } + } + + return true; +} + +/// @brief Tests for correct reponse to a List command on a valid directory, but with an offset that +/// is beyond the last directory entry. +bool MavlinkFtpTest::_list_eof_test(void) +{ + MavlinkFTP::PayloadHeader payload; + mavlink_file_transfer_protocol_t ftp_msg; + MavlinkFTP::PayloadHeader *reply; + const char *dir = "/"; + + payload.opcode = MavlinkFTP::kCmdListDirectory; + payload.offset = 4; // offset past top level dirs + + bool success = _send_receive_msg(&payload, // FTP payload header + strlen(dir)+1, // size in bytes of data + (uint8_t*)dir, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak); + ut_compare("Incorrect payload size", reply->size, 1); + ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrEOF); + + return true; +} + +/// @brief Tests for correct reponse to an Open command on a file which does not exist. +bool MavlinkFtpTest::_open_badfile_test(void) +{ + MavlinkFTP::PayloadHeader payload; + mavlink_file_transfer_protocol_t ftp_msg; + MavlinkFTP::PayloadHeader *reply; + const char *dir = "/foo"; // non-existent file + + payload.opcode = MavlinkFTP::kCmdOpenFile; + payload.offset = 0; + + bool success = _send_receive_msg(&payload, // FTP payload header + strlen(dir)+1, // size in bytes of data + (uint8_t*)dir, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak); + ut_compare("Incorrect payload size", reply->size, 2); + ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrFailErrno); + + return true; +} + +/// @brief Tests for correct reponse to an Open command on a file, followed by Terminate +bool MavlinkFtpTest::_open_terminate_test(void) +{ + MavlinkFTP::PayloadHeader payload; + mavlink_file_transfer_protocol_t ftp_msg; + MavlinkFTP::PayloadHeader *reply; + + for (size_t i=0; i<sizeof(_rgReadTestCases)/sizeof(_rgReadTestCases[0]); i++) { + struct stat st; + const ReadTestCase *test = &_rgReadTestCases[i]; + + payload.opcode = MavlinkFTP::kCmdOpenFile; + payload.offset = 0; + + bool success = _send_receive_msg(&payload, // FTP payload header + strlen(test->file)+1, // size in bytes of data + (uint8_t*)test->file, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + ut_compare("stat failed", stat(test->file, &st), 0); + + + ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck); + ut_compare("Incorrect payload size", reply->size, sizeof(uint32_t)); + ut_compare("File size incorrect", *((uint32_t*)&reply->data[0]), (uint32_t)st.st_size); + + payload.opcode = MavlinkFTP::kCmdTerminateSession; + payload.session = reply->session; + payload.size = 0; + + success = _send_receive_msg(&payload, // FTP payload header + 0, // size in bytes of data + nullptr, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck); + ut_compare("Incorrect payload size", reply->size, 0); + } + + return true; +} + +/// @brief Tests for correct reponse to a Terminate command on an invalid session. +bool MavlinkFtpTest::_terminate_badsession_test(void) +{ + MavlinkFTP::PayloadHeader payload; + mavlink_file_transfer_protocol_t ftp_msg; + MavlinkFTP::PayloadHeader *reply; + const char *file = _rgReadTestCases[0].file; + + payload.opcode = MavlinkFTP::kCmdOpenFile; + payload.offset = 0; + + bool success = _send_receive_msg(&payload, // FTP payload header + strlen(file)+1, // size in bytes of data + (uint8_t*)file, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck); + + payload.opcode = MavlinkFTP::kCmdTerminateSession; + payload.session = reply->session + 1; + payload.size = 0; + + success = _send_receive_msg(&payload, // FTP payload header + 0, // size in bytes of data + nullptr, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak); + ut_compare("Incorrect payload size", reply->size, 1); + ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrInvalidSession); + + return true; +} + +/// @brief Tests for correct reponse to a Read command on an open session. +bool MavlinkFtpTest::_read_test(void) +{ + MavlinkFTP::PayloadHeader payload; + mavlink_file_transfer_protocol_t ftp_msg; + MavlinkFTP::PayloadHeader *reply; + + for (size_t i=0; i<sizeof(_rgReadTestCases)/sizeof(_rgReadTestCases[0]); i++) { + struct stat st; + const ReadTestCase *test = &_rgReadTestCases[i]; + + // Read in the file so we can compare it to what we get back + ut_compare("stat failed", stat(test->file, &st), 0); + uint8_t *bytes = new uint8_t[st.st_size]; + ut_assert("new failed", bytes != nullptr); + int fd = ::open(test->file, O_RDONLY); + ut_assert("open failed", fd != -1); + int bytes_read = ::read(fd, bytes, st.st_size); + ut_compare("read failed", bytes_read, st.st_size); + ::close(fd); + + // Test case data files are created for specific boundary conditions + ut_compare("Test case data files are out of date", test->length, st.st_size); + + payload.opcode = MavlinkFTP::kCmdOpenFile; + payload.offset = 0; + + bool success = _send_receive_msg(&payload, // FTP payload header + strlen(test->file)+1, // size in bytes of data + (uint8_t*)test->file, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck); + + payload.opcode = MavlinkFTP::kCmdReadFile; + payload.session = reply->session; + payload.offset = 0; + + success = _send_receive_msg(&payload, // FTP payload header + 0, // size in bytes of data + nullptr, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck); + ut_compare("Offset incorrect", reply->offset, 0); + + if (test->length <= MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(MavlinkFTP::PayloadHeader)) { + ut_compare("Payload size incorrect", reply->size, (uint32_t)st.st_size); + ut_compare("File contents differ", memcmp(reply->data, bytes, st.st_size), 0); + } + + payload.opcode = MavlinkFTP::kCmdTerminateSession; + payload.session = reply->session; + payload.size = 0; + + success = _send_receive_msg(&payload, // FTP payload header + 0, // size in bytes of data + nullptr, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck); + ut_compare("Incorrect payload size", reply->size, 0); + } + + return true; +} + +/// @brief Tests for correct reponse to a Read command on an invalid session. +bool MavlinkFtpTest::_read_badsession_test(void) +{ + MavlinkFTP::PayloadHeader payload; + mavlink_file_transfer_protocol_t ftp_msg; + MavlinkFTP::PayloadHeader *reply; + const char *file = _rgReadTestCases[0].file; + + payload.opcode = MavlinkFTP::kCmdOpenFile; + payload.offset = 0; + + bool success = _send_receive_msg(&payload, // FTP payload header + strlen(file)+1, // size in bytes of data + (uint8_t*)file, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck); + + payload.opcode = MavlinkFTP::kCmdReadFile; + payload.session = reply->session + 1; // Invalid session + payload.offset = 0; + + success = _send_receive_msg(&payload, // FTP payload header + 0, // size in bytes of data + nullptr, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak); + ut_compare("Incorrect payload size", reply->size, 1); + ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrInvalidSession); + + return true; +} + +bool MavlinkFtpTest::_removedirectory_test(void) +{ + MavlinkFTP::PayloadHeader payload; + mavlink_file_transfer_protocol_t ftp_msg; + MavlinkFTP::PayloadHeader *reply; + int fd; + + struct _testCase { + const char *dir; + bool success; + bool deleteFile; + }; + static const struct _testCase rgTestCases[] = { + { "/bogus", false, false }, + { "/etc/unit_test_data/mavlink_tests/empty_dir", false, false }, + { _unittest_microsd_dir, false, false }, + { _unittest_microsd_file, false, false }, + { _unittest_microsd_dir, true, true }, + }; + + ut_compare("mkdir failed", ::mkdir(_unittest_microsd_dir, S_IRWXU | S_IRWXG | S_IRWXO), 0); + ut_assert("open failed", (fd = ::open(_unittest_microsd_file, O_CREAT | O_EXCL)) != -1); + ::close(fd); + + for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) { + const struct _testCase *test = &rgTestCases[i]; + + if (test->deleteFile) { + ut_compare("unlink failed", ::unlink(_unittest_microsd_file), 0); + } + + payload.opcode = MavlinkFTP::kCmdRemoveDirectory; + payload.offset = 0; + + bool success = _send_receive_msg(&payload, // FTP payload header + strlen(test->dir)+1, // size in bytes of data + (uint8_t*)test->dir, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + if (test->success) { + ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck); + ut_compare("Incorrect payload size", reply->size, 0); + } else { + ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak); + ut_compare("Incorrect payload size", reply->size, 2); + ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrFailErrno); + } + } + + return true; +} + +bool MavlinkFtpTest::_createdirectory_test(void) +{ + MavlinkFTP::PayloadHeader payload; + mavlink_file_transfer_protocol_t ftp_msg; + MavlinkFTP::PayloadHeader *reply; + + struct _testCase { + const char *dir; + bool success; + }; + static const struct _testCase rgTestCases[] = { + { "/etc/bogus", false }, + { _unittest_microsd_dir, true }, + { _unittest_microsd_dir, false }, + { "/fs/microsd/bogus/bogus", false }, + }; + + for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) { + const struct _testCase *test = &rgTestCases[i]; + + payload.opcode = MavlinkFTP::kCmdCreateDirectory; + payload.offset = 0; + + bool success = _send_receive_msg(&payload, // FTP payload header + strlen(test->dir)+1, // size in bytes of data + (uint8_t*)test->dir, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + if (test->success) { + ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck); + ut_compare("Incorrect payload size", reply->size, 0); + } else { + ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak); + ut_compare("Incorrect payload size", reply->size, 2); + ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrFailErrno); + } + } + + return true; +} + +bool MavlinkFtpTest::_removefile_test(void) +{ + MavlinkFTP::PayloadHeader payload; + mavlink_file_transfer_protocol_t ftp_msg; + MavlinkFTP::PayloadHeader *reply; + int fd; + + struct _testCase { + const char *file; + bool success; + }; + static const struct _testCase rgTestCases[] = { + { "/bogus", false }, + { _rgReadTestCases[0].file, false }, + { _unittest_microsd_dir, false }, + { _unittest_microsd_file, true }, + { _unittest_microsd_file, false }, + }; + + ut_compare("mkdir failed", ::mkdir(_unittest_microsd_dir, S_IRWXU | S_IRWXG | S_IRWXO), 0); + ut_assert("open failed", (fd = ::open(_unittest_microsd_file, O_CREAT | O_EXCL)) != -1); + ::close(fd); + + for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) { + const struct _testCase *test = &rgTestCases[i]; + + payload.opcode = MavlinkFTP::kCmdRemoveFile; + payload.offset = 0; + + bool success = _send_receive_msg(&payload, // FTP payload header + strlen(test->file)+1, // size in bytes of data + (uint8_t*)test->file, // Data to start into FTP message payload + &ftp_msg, // Response from server + &reply); // Payload inside FTP message response + if (!success) { + return false; + } + + if (test->success) { + ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck); + ut_compare("Incorrect payload size", reply->size, 0); + } else { + ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak); + ut_compare("Incorrect payload size", reply->size, 2); + ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrFailErrno); + } + } + + return true; +} + +/// @brief Static method used as callback from MavlinkFTP. This method will be called by MavlinkFTP when +/// it needs to send a message out on Mavlink. +void MavlinkFtpTest::receive_message(const mavlink_message_t *msg, MavlinkFtpTest *ftp_test) +{ + ftp_test->_receive_message(msg); +} + +/// @brief Non-Static version of receive_message +void MavlinkFtpTest::_receive_message(const mavlink_message_t *msg) +{ + // Move the message into our own member variable + memcpy(&_reply_msg, msg, sizeof(mavlink_message_t)); +} + +/// @brief Decode and validate the incoming message +bool MavlinkFtpTest::_decode_message(const mavlink_message_t *msg, ///< Mavlink message to decode + mavlink_file_transfer_protocol_t *ftp_msg, ///< Decoded FTP message + MavlinkFTP::PayloadHeader **payload) ///< Payload inside FTP message response +{ + mavlink_msg_file_transfer_protocol_decode(msg, ftp_msg); + + // Make sure the targets are correct + ut_compare("Target network non-zero", ftp_msg->target_network, 0); + ut_compare("Target system id mismatch", ftp_msg->target_system, clientSystemId); + ut_compare("Target component id mismatch", ftp_msg->target_component, clientComponentId); + + *payload = reinterpret_cast<MavlinkFTP::PayloadHeader *>(ftp_msg->payload); + + // Make sure we have a good CRC + ut_compare("Incoming CRC mismatch", (*payload)->crc32, _payload_crc32((*payload))); + + // Make sure we have a good sequence number + ut_compare("Sequence number mismatch", (*payload)->seqNumber, _lastOutgoingSeqNumber + 1); + + // Bump sequence number for next outgoing message + _lastOutgoingSeqNumber++; + + return true; +} + +/// @brief Returns the 32 bit CRC for the payload, crc32 and padding are set to 0 for calculation. +uint32_t MavlinkFtpTest::_payload_crc32(struct MavlinkFTP::PayloadHeader *payload) +{ + // We calculate CRC with crc and padding set to 0. + uint32_t saveCRC = payload->crc32; + payload->crc32 = 0; + payload->padding[0] = 0; + payload->padding[1] = 0; + payload->padding[2] = 0; + uint32_t retCRC = crc32((const uint8_t*)payload, payload->size + sizeof(MavlinkFTP::PayloadHeader)); + payload->crc32 = saveCRC; + + return retCRC; +} + +/// @brief Initializes an FTP message into a mavlink message +void MavlinkFtpTest::_setup_ftp_msg(MavlinkFTP::PayloadHeader *payload_header, ///< FTP payload header + uint8_t size, ///< size in bytes of data + const uint8_t *data, ///< Data to start into FTP message payload + mavlink_message_t *msg) ///< Returned mavlink message +{ + uint8_t payload_bytes[MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN]; + MavlinkFTP::PayloadHeader *payload = reinterpret_cast<MavlinkFTP::PayloadHeader *>(payload_bytes); + + memcpy(payload, payload_header, sizeof(MavlinkFTP::PayloadHeader)); + + payload->seqNumber = _lastOutgoingSeqNumber; + payload->size = size; + if (size != 0) { + memcpy(payload->data, data, size); + } + + payload->crc32 = _payload_crc32(payload); + + msg->checksum = 0; + mavlink_msg_file_transfer_protocol_pack(clientSystemId, // Sender system id + clientComponentId, // Sender component id + msg, // Message to pack payload into + 0, // Target network + serverSystemId, // Target system id + serverComponentId, // Target component id + payload_bytes); // Payload to pack into message +} + +/// @brief Sends the specified FTP message to the server and returns response +bool MavlinkFtpTest::_send_receive_msg(MavlinkFTP::PayloadHeader *payload_header, ///< FTP payload header + uint8_t size, ///< size in bytes of data + const uint8_t *data, ///< Data to start into FTP message payload + mavlink_file_transfer_protocol_t *ftp_msg_reply, ///< Response from server + MavlinkFTP::PayloadHeader **payload_reply) ///< Payload inside FTP message response +{ + mavlink_message_t msg; + + _setup_ftp_msg(payload_header, size, data, &msg); + _ftp_server->handle_message(nullptr /* mavlink */, &msg); + return _decode_message(&_reply_msg, ftp_msg_reply, payload_reply); +} + +/// @brief Cleans up an files created on microsd during testing +void MavlinkFtpTest::_cleanup_microsd(void) +{ + ::unlink(_unittest_microsd_file); + ::rmdir(_unittest_microsd_dir); +} + +/// @brief Runs all the unit tests +void MavlinkFtpTest::runTests(void) +{ + ut_run_test(_ack_test); + ut_run_test(_bad_crc_test); + ut_run_test(_bad_opcode_test); + ut_run_test(_bad_datasize_test); + ut_run_test(_list_test); + ut_run_test(_list_eof_test); + ut_run_test(_open_badfile_test); + ut_run_test(_open_terminate_test); + ut_run_test(_terminate_badsession_test); + ut_run_test(_read_test); + ut_run_test(_read_badsession_test); + ut_run_test(_removedirectory_test); + ut_run_test(_createdirectory_test); + ut_run_test(_removefile_test); +} + |