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author | px4dev <px4@purgatory.org> | 2014-05-04 11:19:26 -0700 |
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committer | px4dev <px4@purgatory.org> | 2014-05-04 11:19:26 -0700 |
commit | 12390d7281985b7e3b6649fc9889e2e60a48dad1 (patch) | |
tree | 9c77c67d63d699c855f672fccf35075a64edf2d2 /src/modules/mavlink/mavlink_ftp.h | |
parent | 5e9639ad9bea4db26ee74e5f0c3c585a75c492a1 (diff) | |
download | px4-firmware-12390d7281985b7e3b6649fc9889e2e60a48dad1.tar.gz px4-firmware-12390d7281985b7e3b6649fc9889e2e60a48dad1.tar.bz2 px4-firmware-12390d7281985b7e3b6649fc9889e2e60a48dad1.zip |
WIP: Mavlink file server
Diffstat (limited to 'src/modules/mavlink/mavlink_ftp.h')
-rw-r--r-- | src/modules/mavlink/mavlink_ftp.h | 211 |
1 files changed, 211 insertions, 0 deletions
diff --git a/src/modules/mavlink/mavlink_ftp.h b/src/modules/mavlink/mavlink_ftp.h new file mode 100644 index 000000000..a4f67793e --- /dev/null +++ b/src/modules/mavlink/mavlink_ftp.h @@ -0,0 +1,211 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +#pragma once + +/** + * @file mavlink_ftp.h + * + * MAVLink remote file server. + * + * Messages are wrapped in ENCAPSULATED_DATA messages. Every message includes + * a session ID and sequence number. + * + * A limited number of requests (currently 2) may be outstanding at a time. + * Additional messages will be discarded. + * + * Messages consist of a fixed header, followed by a data area. + * + */ + +#include <dirent.h> +#include <queue.h> + +#include <nuttx/wqueue.h> + +#include "mavlink_messages.h" + +class MavlinkFTP +{ +public: + MavlinkFTP(); + + static MavlinkFTP *getServer(); + + // static interface + void handle_message(mavlink_message_t *msg, + mavlink_channel_t channel); + +private: + + static const unsigned kRequestQueueSize = 2; + + static MavlinkFTP *_server; + + struct RequestHeader + { + uint8_t magic; + uint8_t session; + uint8_t opcode; + uint8_t size; + uint32_t crc32; + uint32_t offset; + uint8_t data[]; + }; + + struct FileList + { + uint32_t fileSize; + uint8_t nameLength; + uint8_t name[]; + }; + + enum Opcode : uint8_t + { + kCmdNone, // ignored, always acked + kCmdTerminate, // releases sessionID, closes file + kCmdReset, // terminates all sessions + kCmdList, // list files in <path> from <offset> + kCmdOpen, // opens <path> for reading, returns <session> + kCmdRead, // reads <size> bytes from <offset> in <session> + kCmdCreate, // creates <path> for writing, returns <session> + kCmdWrite, // appends <size> bytes at <offset> in <session> + kCmdRemove, // remove file (only if created by server?) + + kRspAck, + kRspNak + }; + + enum ErrorCode : uint8_t + { + kErrNone, + kErrNoRequest, + kErrNoSession, + kErrSequence, + kErrNotDir, + kErrNotFile, + kErrEOF, + kErrNotAppend, + kErrTooBig, + kErrIO, + kErrPerm + }; + + class Session + { + public: + Session() : _fd(-1) {} + + static int allocate(); + static Session *get(unsigned index); + static bool terminate(unsigned index); + static void reset(); + + void terminate(); + bool open(const char *path, bool create); + int read(off_t offset, uint8_t *buf, uint8_t count); + int append(off_t offset, uint8_t *buf, uint8_t count); + + private: + static const unsigned kMaxSession = 2; + static Session _sessions[kMaxSession]; + + int _fd; + }; + + class Request + { + public: + union { + dq_entry_t entry; + work_s work; + }; + mavlink_channel_t channel; + + void decode(mavlink_channel_t fromChannel, mavlink_message_t *fromMessage) { + channel = fromChannel; + mavlink_msg_encapsulated_data_decode(fromMessage, &_message); + } + + RequestHeader *header() { return reinterpret_cast<RequestHeader *>(&_message.data[0]); } + uint8_t *data() { return &_message.data[0]; } + unsigned dataSize() { return header()->size + sizeof(RequestHeader); } + uint16_t sequence() const { return _message.seqnr; } + + char *dataAsCString(); + + private: + mavlink_encapsulated_data_t _message; + + }; + + static const uint8_t kProtocolMagic = 'f'; + static const uint8_t kMaxDataLength = MAVLINK_MSG_ENCAPSULATED_DATA_FIELD_DATA_LEN - sizeof(RequestHeader); + + /// Request worker; runs on the low-priority work queue to service + /// remote requests. + /// + static void _workerTrampoline(void *arg); + void _worker(Request *req); + + /// Reply to a request (XXX should be a Request method) + /// + void _reply(Request *req); + + ErrorCode _workList(Request *req); + ErrorCode _workOpen(Request *req, bool create); + ErrorCode _workRead(Request *req); + ErrorCode _workWrite(Request *req); + ErrorCode _workRemove(Request *req); + + // work freelist + Request _workBufs[kRequestQueueSize]; + dq_queue_t _workFree; + sem_t _lock; + + void _qLock() { do {} while (sem_wait(&_lock) != 0); } + void _qUnlock() { sem_post(&_lock); } + + void _qFree(Request *req) { + _qLock(); + dq_addlast(&req->entry, &_workFree); + _qUnlock(); + } + + Request *_dqFree() { + _qLock(); + auto req = reinterpret_cast<Request *>(dq_remfirst(&_workFree)); + _qUnlock(); + return req; + } +}; |