refactor(mavlink): remove dead FTP unit test code

Remove the old MAVLINK_FTP_UNIT_TEST infrastructure that has been dead
code for years (not enabled in any board config). This includes:

- src/modules/mavlink/mavlink_tests/ directory (test suite, CMakeLists)
- All #ifdef MAVLINK_FTP_UNIT_TEST blocks in mavlink_ftp.cpp
- set_unittest_worker() callback mechanism in mavlink_ftp.h
- Conditional uAvionix include in mavlink_bridge_header.h

The test suite will be ported to GTest as a follow-up.

Ref: https://github.com/PX4/PX4-Autopilot/issues/26738
Signed-off-by: Ramon Roche <mrpollo@gmail.com>

src/modules/mavlink/mavlink_bridge_header.h

@@ -93,9 +93,7 @@ extern mavlink_status_t *mavlink_get_channel_status(uint8_t chan);
 extern mavlink_message_t *mavlink_get_channel_buffer(uint8_t chan);
 
 #include <mavlink.h>
-#if !MAVLINK_FTP_UNIT_TEST
 #include <uAvionix.h>
-#endif
 
 __END_DECLS
 

src/modules/mavlink/mavlink_ftp.cpp

@@ -75,49 +75,22 @@ MavlinkFTP::get_size()
 	}
 }
 
-#ifdef MAVLINK_FTP_UNIT_TEST
-void
-MavlinkFTP::set_unittest_worker(ReceiveMessageFunc_t rcvMsgFunc, void *worker_data)
-{
-	_utRcvMsgFunc = rcvMsgFunc;
-	_worker_data = worker_data;
-}
-#endif
-
 uint8_t
 MavlinkFTP::_getServerSystemId()
 {
-#ifdef MAVLINK_FTP_UNIT_TEST
-	// We use fake ids when unit testing
-	return MavlinkFtpTest::serverSystemId;
-#else
-	// Not unit testing, use the real thing
 	return _mavlink.get_system_id();
-#endif
 }
 
 uint8_t
 MavlinkFTP::_getServerComponentId()
 {
-#ifdef MAVLINK_FTP_UNIT_TEST
-	// We use fake ids when unit testing
-	return MavlinkFtpTest::serverComponentId;
-#else
-	// Not unit testing, use the real thing
 	return _mavlink.get_component_id();
-#endif
 }
 
 uint8_t
 MavlinkFTP::_getServerChannel()
 {
-#ifdef MAVLINK_FTP_UNIT_TEST
-	// We use fake ids when unit testing
-	return MavlinkFtpTest::serverChannel;
-#else
-	// Not unit testing, use the real thing
 	return _mavlink.get_channel();
-#endif
 }
 
 void
@@ -173,11 +146,7 @@ MavlinkFTP::_process_request(
 		if (payload->seq_number + 1 == last_payload->seq_number) {
 			// this is the same request as the one we replied to last. It means the (n)ack got lost, and the GCS
 			// resent the request
-#ifdef MAVLINK_FTP_UNIT_TEST
-			_utRcvMsgFunc(last_reply, _worker_data);
-#else
 			mavlink_msg_file_transfer_protocol_send_struct(_mavlink.get_channel(), last_reply);
-#endif
 			return;
 		}
 	}
@@ -332,12 +301,7 @@ MavlinkFTP::_reply(mavlink_file_transfer_protocol_t *ftp_req)
 
 	PX4_DEBUG("FTP: %s seq_number: %" PRIu16, payload->opcode == kRspAck ? "Ack" : "Nak", payload->seq_number);
 
-#ifdef MAVLINK_FTP_UNIT_TEST
-	// Unit test hook is set, call that instead
-	_utRcvMsgFunc(ftp_req, _worker_data);
-#else
 	mavlink_msg_file_transfer_protocol_send_struct(_mavlink.get_channel(), ftp_req);
-#endif
 
 }
 void MavlinkFTP::_constructPath(char *dst, int dst_len, const char *path) const
@@ -1055,7 +1019,6 @@ void MavlinkFTP::send()
 		return;
 	}
 
-#ifndef MAVLINK_FTP_UNIT_TEST
 	// Skip send if not enough room
 	unsigned max_bytes_to_send = _mavlink.get_free_tx_buf();
 	PX4_DEBUG("MavlinkFTP::send max_bytes_to_send(%u) get_free_tx_buf(%u)", max_bytes_to_send, _mavlink.get_free_tx_buf());
@@ -1064,8 +1027,6 @@ void MavlinkFTP::send()
 		return;
 	}
 
-#endif
-
 	// Send stream packets until buffer is full
 
 	bool more_data;
@@ -1129,8 +1090,6 @@ void MavlinkFTP::send()
 			_session_info.stream_download = false;
 
 		} else {
-#ifndef MAVLINK_FTP_UNIT_TEST
-
 			if (max_bytes_to_send < (get_size() * 2)) {
 				more_data = false;
 
@@ -1142,14 +1101,10 @@ void MavlinkFTP::send()
 				}
 
 			} else {
-#endif
 				more_data = true;
 				payload->burst_complete = false;
-#ifndef MAVLINK_FTP_UNIT_TEST
 				max_bytes_to_send -= get_size();
 			}
-
-#endif
 		}
 
 		ftp_msg.target_system = _session_info.stream_target_system_id;

src/modules/mavlink/mavlink_ftp.h

@@ -64,13 +64,6 @@ public:
 	/// Handle possible FTP message
 	void handle_message(const mavlink_message_t *msg);
 
-	typedef void (*ReceiveMessageFunc_t)(const mavlink_file_transfer_protocol_t *ftp_req, void *worker_data);
-
-	/// @brief Sets up the server to run in unit test mode.
-	///	@param rcvmsgFunc Function which will be called to handle outgoing mavlink messages.
-	///	@param worker_data Data to pass to worker
-	void set_unittest_worker(ReceiveMessageFunc_t rcvMsgFunc, void *worker_data);
-
 	/// @brief This is the payload which is in mavlink_file_transfer_protocol_t.payload.
 	/// This needs to be packed, because it's typecasted from mavlink_file_transfer_protocol_t.payload, which starts
 	/// at a 3 byte offset, causing an unaligned access to seq_number and offset
@@ -184,9 +177,6 @@ private:
 	};
 	struct SessionInfo _session_info {};	///< Session info, fd=-1 for no active session
 
-	ReceiveMessageFunc_t	_utRcvMsgFunc{};	///< Unit test override for mavlink message sending
-	void			*_worker_data{nullptr};	///< Additional parameter to _utRcvMsgFunc;
-
 	Mavlink &_mavlink;
 
 	/* do not allow copying this class */
@@ -202,11 +192,7 @@ private:
 
 	// prepend a root directory to each file/dir access to avoid enumerating the full FS tree (e.g. on Linux).
 	// Path traversal via ".." is rejected by _validatePath().
-#ifdef MAVLINK_FTP_UNIT_TEST
-	static constexpr const char _root_dir[] = "";
-#else
 	static constexpr const char _root_dir[] = PX4_ROOTFSDIR;
-#endif
 	static constexpr const int _root_dir_len = sizeof(_root_dir) - 1;
 
 	bool _last_reply_valid = false;

src/modules/mavlink/mavlink_tests/CMakeLists.txt

@@ -1,56 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2015 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.
-#
-############################################################################
-
-px4_add_module(
-	MODULE modules__mavlink__mavlink_tests
-	MAIN mavlink_tests
-	STACK_MAIN 8192
-	INCLUDES
-		${MAVLINK_LIBRARY_DIR}
-		${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}
-	COMPILE_FLAGS
-		-DMAVLINK_FTP_UNIT_TEST
-		#-DMAVLINK_FTP_DEBUG
-		-DMavlinkStream=MavlinkStreamTest
-		-DMavlinkFTP=MavlinkFTPTest
-		-Wno-cast-align # TODO: fix and enable
-		-Wno-address-of-packed-member # TODO: fix in c_library_v2
-		-Wno-double-promotion # The fix has been proposed as PR upstream (2020-03-08)
-	SRCS
-		mavlink_tests.cpp
-		mavlink_ftp_test.cpp
-		../mavlink_stream.cpp
-		../mavlink_ftp.cpp
-	DEPENDS
-		mavlink_c_generate
-	)

src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h

@@ -1,139 +0,0 @@
-/****************************************************************************
- *
- *   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.h
-///	@author Don Gagne <don@thegagnes.com>
-
-#pragma once
-
-#include <unit_test.h>
-#include "../mavlink_bridge_header.h"
-#include "../mavlink_ftp.h"
-#include "../mavlink_main.h"
-
-class MavlinkFtpTest : public UnitTest
-{
-public:
-	MavlinkFtpTest();
-	virtual ~MavlinkFtpTest() = default;
-
-	virtual bool run_tests(void);
-
-	static void receive_message_handler_generic(const mavlink_file_transfer_protocol_t *ftp_req, void *worker_data);
-
-	/// Worker data for stream handler
-	struct BurstInfo {
-		MavlinkFtpTest		*ftp_test_class;
-		int			burst_state;
-		bool			single_packet_file;
-		uint32_t		file_size;
-		uint8_t		*file_bytes;
-	};
-
-	static void receive_message_handler_burst(const mavlink_file_transfer_protocol_t *ftp_req, void *worker_data);
-
-	static const uint8_t serverSystemId = 50;	///< System ID for server
-	static const uint8_t serverComponentId = 1;	///< Component ID for server
-	static const uint8_t serverChannel = 0;		///< Channel to send to
-
-	static const uint8_t clientSystemId = 1;	///< System ID for client
-	static const uint8_t clientComponentId = 0;	///< Component ID for client
-
-	// We don't want any of these
-	MavlinkFtpTest(const MavlinkFtpTest &);
-	MavlinkFtpTest &operator=(const MavlinkFtpTest &);
-
-private:
-	virtual void _init(void);
-	virtual void _cleanup(void);
-
-	bool _create_test_files(void);
-	bool _remove_test_files(void);
-	bool _ack_test(void);
-	bool _bad_opcode_test(void);
-	bool _bad_datasize_test(void);
-	bool _list_test(void);
-	bool _list_eof_test(void);
-	bool _open_badfile_test(void);
-	bool _open_terminate_test(void);
-	bool _terminate_badsession_test(void);
-	bool _read_test(void);
-	bool _read_badsession_test(void);
-	bool _burst_test(void);
-	bool _removedirectory_test(void);
-	bool _createdirectory_test(void);
-	bool _removefile_test(void);
-
-	void _receive_message_handler_generic(const mavlink_file_transfer_protocol_t *ftp_req);
-	bool _setup_ftp_msg(const MavlinkFTP::PayloadHeader *payload_header,
-			    const uint8_t *data, const uint8_t data_len,
-			    mavlink_message_t *msg);
-	bool _decode_message(const mavlink_file_transfer_protocol_t *ftp_msg, const MavlinkFTP::PayloadHeader **payload);
-	bool _send_receive_msg(MavlinkFTP::PayloadHeader	*payload_header,
-			       const uint8_t			*data,
-			       const size_t			data_len,
-			       const MavlinkFTP::PayloadHeader	**payload_reply);
-	void _cleanup_microsd(void);
-
-	/// A single download test case
-	struct DownloadTestCase {
-		const char	*file;
-		const uint16_t	length;
-		bool		singlePacketRead;
-		bool		exactlyFillPacket;
-	};
-
-	/// The set of test cases for download testing
-	static const DownloadTestCase _rgDownloadTestCases[];
-
-	/// States for stream download handler
-	enum {
-		burst_state_first_ack,
-		burst_state_last_ack,
-		burst_state_nak_eof,
-		burst_state_complete
-	};
-
-	bool _receive_message_handler_burst(const mavlink_file_transfer_protocol_t *ftp_req, BurstInfo *burst_info);
-
-	MavlinkFTP	*_ftp_server;
-	Mavlink _mavlink;
-	uint16_t	_expected_seq_number;
-
-	mavlink_file_transfer_protocol_t _reply_msg;
-
-	static const char _unittest_microsd_dir[];
-	static const char _unittest_microsd_file[];
-};
-
-bool mavlink_ftp_test(void);

src/modules/mavlink/mavlink_tests/mavlink_tests.cpp

@@ -1,47 +0,0 @@
-/****************************************************************************
- *
- *   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_tests.cpp
- */
-
-#include <systemlib/err.h>
-
-#include "mavlink_ftp_test.h"
-
-extern "C" __EXPORT int mavlink_tests_main(int argc, char *argv[]);
-
-int mavlink_tests_main(int argc, char *argv[])
-{
-	return mavlink_ftp_test() ? 0 : -1;
-}