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author | Anton Babushkin <anton.babushkin@me.com> | 2014-06-29 14:10:04 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-06-29 14:10:04 +0200 |
commit | 8a442c2125502ef4b8c33bea85ac4a5d0c82906e (patch) | |
tree | 4cdeffcbf1d86d1b93d3a1d74533621d19b1ab90 /src/modules/mavlink/mavlink_ftp.h | |
parent | 0bf9c2a9b262a4c8569031f0f7e9ded432d2d4b3 (diff) | |
parent | 5db51bd704a4493fe3a53010b84bede19c980dfc (diff) | |
download | px4-firmware-8a442c2125502ef4b8c33bea85ac4a5d0c82906e.tar.gz px4-firmware-8a442c2125502ef4b8c33bea85ac4a5d0c82906e.tar.bz2 px4-firmware-8a442c2125502ef4b8c33bea85ac4a5d0c82906e.zip |
Merge branch 'navigator_rewrite' into navigator_rewrite_drton
Diffstat (limited to 'src/modules/mavlink/mavlink_ftp.h')
-rw-r--r-- | src/modules/mavlink/mavlink_ftp.h | 226 |
1 files changed, 226 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..8a1b3fbaa --- /dev/null +++ b/src/modules/mavlink/mavlink_ftp.h @@ -0,0 +1,226 @@ +/**************************************************************************** + * + * 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 <systemlib/err.h> + +#include "mavlink_messages.h" + +class MavlinkFTP +{ +public: + MavlinkFTP(); + + static MavlinkFTP *getServer(); + + // static interface + void handle_message(Mavlink* mavlink, + mavlink_message_t *msg); + +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[]; + }; + + 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 + }; + + int _findUnusedSession(void); + bool _validSession(unsigned index); + + static const unsigned kMaxSession = 2; + int _session_fds[kMaxSession]; + + class Request + { + public: + union { + dq_entry_t entry; + work_s work; + }; + + bool decode(Mavlink *mavlink, mavlink_message_t *fromMessage) { + if (fromMessage->msgid == MAVLINK_MSG_ID_ENCAPSULATED_DATA) { + _mavlink = mavlink; + mavlink_msg_encapsulated_data_decode(fromMessage, &_message); + return true; + } + return false; + } + + void reply() { + + // XXX the proper way would be an IOCTL / uORB call, rather than exploiting the + // flat memory architecture, as we're operating between threads here. + mavlink_message_t msg; + msg.checksum = 0; + unsigned len = mavlink_msg_encapsulated_data_pack_chan(_mavlink->get_system_id(), _mavlink->get_component_id(), + _mavlink->get_channel(), &msg, sequence(), rawData()); + + _mavlink->lockMessageBufferMutex(); + bool fError = _mavlink->message_buffer_write(&msg, len); + _mavlink->unlockMessageBufferMutex(); + + if (!fError) { + warnx("FTP TX ERR"); + } else { + warnx("wrote: sys: %d, comp: %d, chan: %d, len: %d, checksum: %d", + _mavlink->get_system_id(), + _mavlink->get_component_id(), + _mavlink->get_channel(), + len, + msg.checksum); + } + } + + uint8_t *rawData() { return &_message.data[0]; } + RequestHeader *header() { return reinterpret_cast<RequestHeader *>(&_message.data[0]); } + uint8_t *requestData() { return &(header()->data[0]); } + unsigned dataSize() { return header()->size + sizeof(RequestHeader); } + uint16_t sequence() const { return _message.seqnr; } + mavlink_channel_t channel() { return _mavlink->get_channel(); } + + char *dataAsCString(); + + private: + Mavlink *_mavlink; + mavlink_encapsulated_data_t _message; + + }; + + static const uint8_t kProtocolMagic = 'f'; + static const char kDirentFile = 'F'; + static const char kDirentDir = 'D'; + static const char kDirentUnknown = 'U'; + 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); + ErrorCode _workTerminate(Request *req); + ErrorCode _workReset(); + + // 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; + } + +}; |