File IO services

dsdl/uavcan/protocol/file/580.GetInfo.uavcan

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+#
+# Request info about a remote file system entry (file, directory, etc).
+#
+# CRC computation algorithm is the same as for DSDL signature (refer to the protocol specification). The CRC field
+# should be set to zero for directories.
+#
+# Size is the file size in bytes. It should be set to zero for directories.
+#
+
+Path path
+
+---
+
+uint64 crc64     # Ignored/Zero for directories
+uint32 size      # Ignored/Zero for directories
+Error error
+EntryType entry_type

dsdl/uavcan/protocol/file/581.GetDirectoryEntryInfo.uavcan

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+#
+# This service can be used to retrieve remote directory listing, one entry per request.
+# The client should query each entry independently, iterating 'entry_index' from 0 until the last entry is passed,
+# in which case the server will report that there is no such entry (via the fields 'entry_type' and 'error').
+# The entry_index shall be applied to the ordered list of directory entries (e.g. alphabetically ordered). The exact
+# sorting criteria does not matter as long as it provides the same ordering for subsequent service calls.
+#
+
+uint32 entry_index
+Path directory_path
+
+---
+
+Error error
+EntryType entry_type
+Path entry_full_path  # Ignored/Empty if such entry does not exist.

dsdl/uavcan/protocol/file/582.Delete.uavcan

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+#
+# Delete remote file system entry.
+# If the remote entry is a directory, all nested entries will be removed too.
+#
+
+Path path
+
+---
+
+Error error

dsdl/uavcan/protocol/file/583.Read.uavcan

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+#
+# Read contents of the file from remote node.
+# Empty data in response means that the offset is out of file boundaries.
+# Non-empty data means the end of file is not reached yet, even if the length is less than maximum.
+# Thus, if the client needs to fetch the entire file, it should repeatedly call this service while increasing the
+# offset, until the empty data is returned.
+# If the object pointed by 'path' cannot be read (e.g. is a directory or does not exist), appropriate error code
+# will be returned.
+#
+
+uint32 offset
+Path path
+
+---
+
+Error error
+uint8[<=250] data

dsdl/uavcan/protocol/file/584.Write.uavcan

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+#
+# Write a remote file.
+# The server shall place the contents of the field 'data' into the file pointed by 'path' at the offset specified by
+# the field 'offset'.
+#
+# When writing a file, the client should repeatedly call this service with data while advancing offset until the file
+# is written completely. Then the client shall call the service one last time, with the offset equal the size of the
+# file and the data field empty, which will signal the server that the write operation is complete.
+#
+# When the write operation is complete, the server shall truncate the resulting file past the specified offset.
+#
+# Server implementation advice:
+# It is recommended to implement proper handling of concurrent writes to the same file from different clients, for
+# example by means of creating a staging area for uncompleted writes (like FTP servers do). Then the write-complete
+# calls (with empty data fields, as described above) will trigger the server to move the file from the staging area
+# to the proper location specified by 'path'.
+#
+
+uint32 offset
+Path path
+uint8[<=200] data
+
+---
+
+Error error

dsdl/uavcan/protocol/file/589.BeginFirmwareUpdate.uavcan

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+#
+# This service initiates the firmware update procedure on a remote node.
+# The node that is being updated will retrieve the firmware image file 'image_file_remote_path' from the node
+# 'source_node_id' using the file read service, update the firmware, and reboot.
+#
+# Nodes are allowed to explicitly reject this request under some circumstances (e.g. BLDC drive should reject if
+# the motor is running).
+#
+# If the node accepts the request, initiator will get the response immediately, before the update process actually
+# begins.
+#
+
+uint8 source_node_id         # If there is an invalid value (e.g. zero), the caller Node ID will be used instead
+Path image_file_remote_path
+
+---
+
+uint8 ERROR_OK               = 0
+uint8 ERROR_INVALID_MODE     = 1    # Cannot perform the update right now (e.g. the vehicle is operating)
+uint8 ERROR_INVALID_FIRMWARE = 2    # Wrong firmware image, or this image cannot be loaded via UAVCAN
+uint8 ERROR_FILE_READ_FAILED = 3    # Remote image file could not be read
+uint8 ERROR_UNKNOWN          = 255
+
+uint8 error
+uint8[<128] optional_error_message   # Detailed error description

dsdl/uavcan/protocol/file/EntryType.uavcan

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+#
+# Nested type.
+# Represents the type of the file system entry (e.g. file or directory).
+# If such entry does not exist, 'flags' must be set to zero.
+#
+
+uint8 FLAG_FILE      = 1
+uint8 FLAG_DIRECTORY = 2
+uint8 FLAG_SYMLINK   = 4
+uint8 FLAG_READABLE  = 8
+uint8 FLAG_WRITEABLE = 16
+
+uint8 flags

dsdl/uavcan/protocol/file/Error.uavcan

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+#
+# Nested type.
+# File operation result code.
+#
+
+int16 OK             = 0
+int16 UNKNOWN_ERROR  = 32767
+
+# These error codes match some standard UNIX errno values
+int16 NOT_FOUND      = 2
+int16 IO_ERROR       = 5
+int16 ACCESS_DENIED  = 13
+int16 IS_DIRECTORY   = 21 # I.e. attempt to read/write on a path that points to a directory
+int16 INVALID_VALUE  = 22 # E.g. file name is not valid for the target file system
+int16 FILE_TOO_LARGE = 27
+int16 OUT_OF_SPACE   = 28
+
+int16 value

dsdl/uavcan/protocol/file/Path.uavcan

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+#
+# Nested type.
+# File system path in ASCII or UTF8.
+# The only valid separator is forward flash.
+#
+
+uint8 SEPARATOR = '/'
+
+uint8[<=200] path