diff --git a/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_234.data b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_238.data similarity index 85% rename from ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_234.data rename to ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_238.data index 3e075aa4f5df..973de16e5965 100644 Binary files a/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_234.data and b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_238.data differ diff --git a/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_235.data b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_239.data similarity index 84% rename from ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_235.data rename to ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_239.data index 61372f7699da..7e8764c03191 100644 Binary files a/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_235.data and b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_239.data differ diff --git a/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_236.data b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_240.data similarity index 84% rename from ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_236.data rename to ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_240.data index eb7fcb11a521..f3fe31687fc2 100644 Binary files a/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_236.data and b/ROMFS/px4fmu_test/unit_test_data/mavlink_tests/test_240.data differ diff --git a/src/modules/mavlink/mavlink_ftp.cpp b/src/modules/mavlink/mavlink_ftp.cpp index 72ede8797637..64206ac544bd 100644 --- a/src/modules/mavlink/mavlink_ftp.cpp +++ b/src/modules/mavlink/mavlink_ftp.cpp @@ -34,7 +34,6 @@ /// @file mavlink_ftp.cpp /// @author px4dev, Don Gagne -#include #include #include #include @@ -161,13 +160,6 @@ MavlinkFTP::_process_request(Request *req) goto out; } - // check request CRC to make sure this is one of ours - if (_payload_crc32(payload) != payload->crc32) { - errorCode = kErrCrc; - goto out; - warnx("ftp: bad crc"); - } - #ifdef MAVLINK_FTP_DEBUG printf("ftp: channel %u opc %u size %u offset %u\n", req->serverChannel, payload->opcode, payload->size, payload->offset); #endif @@ -224,12 +216,14 @@ MavlinkFTP::_process_request(Request *req) out: // handle success vs. error if (errorCode == kErrNone) { + payload->req_opcode = payload->opcode; payload->opcode = kRspAck; #ifdef MAVLINK_FTP_DEBUG warnx("FTP: ack\n"); #endif } else { warnx("FTP: nak %u", errorCode); + payload->req_opcode = payload->opcode; payload->opcode = kRspNak; payload->size = 1; payload->data[0] = errorCode; @@ -254,8 +248,6 @@ MavlinkFTP::_reply(Request *req) payload->seqNumber = payload->seqNumber + 1; - payload->crc32 = _payload_crc32(payload); - mavlink_message_t msg; msg.checksum = 0; #ifndef MAVLINK_FTP_UNIT_TEST @@ -645,18 +637,3 @@ MavlinkFTP::_return_request(Request *req) _unlock_request_queue(); } -/// @brief Returns the 32 bit CRC for the payload, crc32 and padding members are set to 0 for calculation. -uint32_t -MavlinkFTP::_payload_crc32(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(PayloadHeader)); - payload->crc32 = saveCRC; - - return retCRC; -} diff --git a/src/modules/mavlink/mavlink_ftp.h b/src/modules/mavlink/mavlink_ftp.h index b4cc154d11d0..4892e548c004 100644 --- a/src/modules/mavlink/mavlink_ftp.h +++ b/src/modules/mavlink/mavlink_ftp.h @@ -76,8 +76,8 @@ class MavlinkFTP uint8_t session; ///< Session id for read and write commands uint8_t opcode; ///< Command opcode uint8_t size; ///< Size of data - uint8_t padding[3]; ///< 32 bit aligment padding - uint32_t crc32; ///< CRC for entire Request structure, with crc32 and padding set to 0 + uint8_t req_opcode; ///< Request opcode returned in kRspAck, kRspNak message + uint8_t padding[2]; ///< 32 bit aligment padding uint32_t offset; ///< Offsets for List and Read commands uint8_t data[]; ///< command data, varies by Opcode }; @@ -97,7 +97,7 @@ class MavlinkFTP kCmdCreateDirectory, ///< Creates directory at kCmdRemoveDirectory, ///< Removes Directory at , must be empty - kRspAck, ///< Ack response + kRspAck = 128, ///< Ack response kRspNak ///< Nak response }; @@ -111,8 +111,7 @@ class MavlinkFTP 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 + kErrUnknownCommand ///< Unknown command opcode }; private: @@ -134,8 +133,6 @@ class MavlinkFTP void _lock_request_queue(void); void _unlock_request_queue(void); - uint32_t _payload_crc32(PayloadHeader *hdr); - char *_data_as_cstring(PayloadHeader* payload); static void _worker_trampoline(void *arg); diff --git a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp index ebfce6d749bd..3616db2377ae 100644 --- a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp +++ b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp @@ -44,9 +44,9 @@ /// @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 + { "/etc/unit_test_data/mavlink_tests/test_238.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_239.data", MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(MavlinkFTP::PayloadHeader) }, // Read completely fills single packet + { "/etc/unit_test_data/mavlink_tests/test_240.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"; @@ -105,33 +105,6 @@ bool MavlinkFtpTest::_ack_test(void) 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) { @@ -191,7 +164,7 @@ bool MavlinkFtpTest::_list_test(void) 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 response1[] = "D.|Dempty_dir|Ftest_238.data\t238|Ftest_239.data\t239|Ftest_240.data\t240"; char response2[] = "Ddev|Detc|Dfs|Dobj"; struct _testCase { @@ -690,9 +663,6 @@ bool MavlinkFtpTest::_decode_message(const mavlink_message_t *msg, ///< Mavlin *payload = reinterpret_cast(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); @@ -702,21 +672,6 @@ bool MavlinkFtpTest::_decode_message(const mavlink_message_t *msg, ///< Mavlin 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 @@ -734,7 +689,8 @@ void MavlinkFtpTest::_setup_ftp_msg(MavlinkFTP::PayloadHeader *payload_header, / memcpy(payload->data, data, size); } - payload->crc32 = _payload_crc32(payload); + payload->padding[0] = 0; + payload->padding[1] = 0; msg->checksum = 0; mavlink_msg_file_transfer_protocol_pack(clientSystemId, // Sender system id @@ -771,7 +727,6 @@ void MavlinkFtpTest::_cleanup_microsd(void) 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); diff --git a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h index bbb095a08ac5..babd909dac4e 100644 --- a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h +++ b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h @@ -66,7 +66,6 @@ class MavlinkFtpTest : public UnitTest private: bool _ack_test(void); - bool _bad_crc_test(void); bool _bad_opcode_test(void); bool _bad_datasize_test(void); bool _list_test(void); @@ -81,7 +80,6 @@ class MavlinkFtpTest : public UnitTest bool _removefile_test(void); void _receive_message(const mavlink_message_t *msg); - uint32_t _payload_crc32(struct MavlinkFTP::PayloadHeader *payload); void _setup_ftp_msg(MavlinkFTP::PayloadHeader *payload_header, uint8_t size, const uint8_t *data, mavlink_message_t *msg); bool _decode_message(const mavlink_message_t *msg, mavlink_file_transfer_protocol_t *ftp_msg, MavlinkFTP::PayloadHeader **payload); bool _send_receive_msg(MavlinkFTP::PayloadHeader *payload_header,