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refactor(mavlink): remove dead FTP unit test code

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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>
This commit is contained in:
Ramon Roche
2026-03-13 08:56:50 -07:00
parent 4e6e2c059c
commit 1009268d31
7 changed files with 0 additions and 1331 deletions
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2
src/modules/mavlink/mavlink_bridge_header.h
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@@ -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

45
src/modules/mavlink/mavlink_ftp.cpp
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@@ -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;

14
src/modules/mavlink/mavlink_ftp.h
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@@ -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;

56
src/modules/mavlink/mavlink_tests/CMakeLists.txt
View File

@@ -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
)

1028
src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp
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File diff suppressed because it is too large Load Diff

139
src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h
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@@ -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);

47
src/modules/mavlink/mavlink_tests/mavlink_tests.cpp
View File

@@ -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;
}