diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_ftp.cpp')
-rw-r--r-- | src/modules/mavlink/mavlink_ftp.cpp | 42 |
1 files changed, 30 insertions, 12 deletions
diff --git a/src/modules/mavlink/mavlink_ftp.cpp b/src/modules/mavlink/mavlink_ftp.cpp index 17d1babff..00c8df18c 100644 --- a/src/modules/mavlink/mavlink_ftp.cpp +++ b/src/modules/mavlink/mavlink_ftp.cpp @@ -39,6 +39,9 @@ #include "mavlink_ftp.h" +// Uncomment the line below to get better debug output. Never commit with this left on. +//#define MAVLINK_FTP_DEBUG + MavlinkFTP *MavlinkFTP::_server; MavlinkFTP * @@ -125,7 +128,9 @@ MavlinkFTP::_worker(Request *req) warnx("ftp: bad crc"); } - //printf("ftp: channel %u opc %u size %u offset %u\n", req->channel(), hdr->opcode, hdr->size, hdr->offset); +#ifdef MAVLINK_FTP_DEBUG + printf("ftp: channel %u opc %u size %u offset %u\n", req->channel(), hdr->opcode, hdr->size, hdr->offset); +#endif switch (hdr->opcode) { case kCmdNone: @@ -172,7 +177,9 @@ out: // handle success vs. error if (errorCode == kErrNone) { hdr->opcode = kRspAck; - //warnx("FTP: ack\n"); +#ifdef MAVLINK_FTP_DEBUG + warnx("FTP: ack\n"); +#endif } else { warnx("FTP: nak %u", errorCode); hdr->opcode = kRspNak; @@ -217,7 +224,9 @@ MavlinkFTP::_workList(Request *req) return kErrNotDir; } - //warnx("FTP: list %s offset %d", dirPath, hdr->offset); +#ifdef MAVLINK_FTP_DEBUG + warnx("FTP: list %s offset %d", dirPath, hdr->offset); +#endif ErrorCode errorCode = kErrNone; struct dirent entry, *result = nullptr; @@ -247,11 +256,13 @@ MavlinkFTP::_workList(Request *req) uint32_t fileSize = 0; char buf[256]; + char direntType; - // store the type marker + // Determine the directory entry type switch (entry.d_type) { case DTYPE_FILE: - hdr->data[offset++] = kDirentFile; + // For files we get the file size as well + direntType = kDirentFile; snprintf(buf, sizeof(buf), "%s/%s", dirPath, entry.d_name); struct stat st; if (stat(buf, &st) == 0) { @@ -259,29 +270,34 @@ MavlinkFTP::_workList(Request *req) } break; case DTYPE_DIRECTORY: - hdr->data[offset++] = kDirentDir; + direntType = kDirentDir; break; default: - hdr->data[offset++] = kDirentUnknown; + direntType = kDirentUnknown; break; } if (entry.d_type == DTYPE_FILE) { + // Files send filename and file length snprintf(buf, sizeof(buf), "%s\t%d", entry.d_name, fileSize); } else { + // Everything else just sends name strncpy(buf, entry.d_name, sizeof(buf)); buf[sizeof(buf)-1] = 0; } size_t nameLen = strlen(buf); - // name too big to fit? - if ((nameLen + offset + 2) > kMaxDataLength) { + // Do we have room for the name, the one char directory identifier and the null terminator? + if ((offset + nameLen + 2) > kMaxDataLength) { break; } - // copy the name, which we know will fit + // Move the data into the buffer + hdr->data[offset++] = direntType; strcpy((char *)&hdr->data[offset], buf); - //printf("FTP: list %s %s\n", dirPath, (char *)&hdr->data[offset-1]); +#ifdef MAVLINK_FTP_DEBUG + printf("FTP: list %s %s\n", dirPath, (char *)&hdr->data[offset-1]); +#endif offset += nameLen + 1; } @@ -342,7 +358,9 @@ MavlinkFTP::_workRead(Request *req) } // Seek to the specified position - //warnx("seek %d", hdr->offset); +#ifdef MAVLINK_FTP_DEBUG + warnx("seek %d", hdr->offset); +#endif if (lseek(_session_fds[session_index], hdr->offset, SEEK_SET) < 0) { // Unable to see to the specified location warnx("seek fail"); |