File server implementation with test

2026-10-16 18:13:38 +08:00 · 2015-05-18 14:05:10 +03:00
parent cd41840f59
commit 58ca7319dd
3 changed files with 308 additions and 9 deletions
@@ -0,0 +1,180 @@
+/*
+ * Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#ifndef UAVCAN_PROTOCOL_FILE_SERVER_HPP_INCLUDED
+#define UAVCAN_PROTOCOL_FILE_SERVER_HPP_INCLUDED
+
+#include <uavcan/build_config.hpp>
+#include <uavcan/debug.hpp>
+#include <uavcan/node/service_server.hpp>
+#include <uavcan/util/method_binder.hpp>
+// UAVCAN types
+#include <uavcan/protocol/file/GetInfo.hpp>
+#include <uavcan/protocol/file/GetDirectoryEntryInfo.hpp>
+#include <uavcan/protocol/file/Read.hpp>
+#include <uavcan/protocol/file/Write.hpp>
+#include <uavcan/protocol/file/Delete.hpp>
+
+namespace uavcan
+{
+/**
+ * The file server backend should implement this interface.
+ */
+class UAVCAN_EXPORT IFileServerBackend
+{
+public:
+    typedef protocol::file::Path::FieldTypes::path Path;
+    typedef protocol::file::EntryType EntryType;
+    typedef protocol::file::Error Error;
+
+    /**
+     * Use this class to compute CRC64 for uavcan.protocol.file.GetInfo.
+     */
+    typedef DataTypeSignatureCRC FileCRC;
+
+    /**
+     * All read operations must return this number of bytes, unless end of file is reached.
+     */
+    enum { ReadSize = protocol::file::Read::Response::FieldTypes::data::MaxSize };
+
+    /**
+     * Shortcut for uavcan.protocol.file.Path.SEPARATOR.
+     */
+    static char getPathSeparator() { return static_cast<char>(protocol::file::Path::SEPARATOR); }
+
+    /**
+     * Backend for uavcan.protocol.file.GetInfo.
+     * Implementation of this method is required.
+     * On success the method must return zero.
+     */
+    virtual int16_t getInfo(const Path& path, uint64_t& out_crc64, uint32_t& out_size, EntryType& out_type) = 0;
+
+    /**
+     * Backend for uavcan.protocol.file.Read.
+     * Implementation of this method is required.
+     * @ref inout_size is set to @ref ReadSize; read operation is required to return exactly this amount, except
+     * if the end of file is reached.
+     * On success the method must return zero.
+     */
+    virtual int16_t read(const Path& path, const uint32_t offset, uint8_t* out_buffer, uint16_t& inout_size) = 0;
+
+    // Methods below are optional.
+
+    /**
+     * Backend for uavcan.protocol.file.Write.
+     * Implementation of this method is NOT required; by default it returns uavcan.protocol.file.Error.NOT_IMPLEMENTED.
+     * On success the method must return zero.
+     */
+    virtual int16_t write(const Path& path, const uint32_t offset, const uint8_t* buffer, const uint16_t size)
+    {
+        (void)path;
+        (void)offset;
+        (void)buffer;
+        (void)size;
+        return Error::NOT_IMPLEMENTED;
+    }
+
+    /**
+     * Backend for uavcan.protocol.file.Delete. ('delete' is a C++ keyword, so 'remove' is used instead)
+     * Implementation of this method is NOT required; by default it returns uavcan.protocol.file.Error.NOT_IMPLEMENTED.
+     * On success the method must return zero.
+     */
+    virtual int16_t remove(const Path& path)
+    {
+        (void)path;
+        return Error::NOT_IMPLEMENTED;
+    }
+
+    /**
+     * Backend for uavcan.protocol.file.GetDirectoryEntryInfo.
+     * Implementation of this method is NOT required; by default it returns uavcan.protocol.file.Error.NOT_IMPLEMENTED.
+     * On success the method must return zero.
+     */
+    virtual int16_t getDirectoryEntryInfo(const Path& directory_path, const uint32_t entry_index,
+                                          EntryType& out_type, Path& out_entry_full_path)
+    {
+        (void)directory_path;
+        (void)entry_index;
+        (void)out_type;
+        (void)out_entry_full_path;
+        return Error::NOT_IMPLEMENTED;
+    }
+
+    virtual ~IFileServerBackend() { }
+};
+
+/**
+ * Basic file server implements only the following services:
+ *      uavcan.protocol.file.GetInfo
+ *      uavcan.protocol.file.Read
+ * Also see @ref IFileServerBackend.
+ */
+class BasicFileServer
+{
+    typedef MethodBinder<BasicFileServer*,
+        void (BasicFileServer::*)(const protocol::file::GetInfo::Request&, protocol::file::GetInfo::Response&)>
+            GetInfoCallback;
+
+    typedef MethodBinder<BasicFileServer*,
+        void (BasicFileServer::*)(const protocol::file::Read::Request&, protocol::file::Read::Response&)>
+            ReadCallback;
+
+    ServiceServer<protocol::file::GetInfo, GetInfoCallback> get_info_srv_;
+    ServiceServer<protocol::file::Read, ReadCallback> read_srv_;
+
+    void handleGetInfo(const protocol::file::GetInfo::Request& req, protocol::file::GetInfo::Response& resp)
+    {
+        resp.error.value = backend_.getInfo(req.path.path, resp.crc64, resp.size, resp.entry_type);
+    }
+
+    void handleRead(const protocol::file::Read::Request& req, protocol::file::Read::Response& resp)
+    {
+        uint16_t inout_size = resp.data.capacity();
+
+        resp.data.resize(inout_size);
+
+        resp.error.value = backend_.read(req.path.path, req.offset, resp.data.begin(), inout_size);
+
+        if (inout_size > resp.data.capacity())
+        {
+            UAVCAN_ASSERT(0);
+            resp.error.value = protocol::file::Error::UNKNOWN_ERROR;
+        }
+        else
+        {
+            resp.data.resize(inout_size);
+        }
+    }
+
+protected:
+    IFileServerBackend& backend_;       ///< Derived types can use it
+
+public:
+    BasicFileServer(INode& node, IFileServerBackend& backend)
+        : get_info_srv_(node)
+        , read_srv_(node)
+        , backend_(backend)
+    { }
+
+    int start()
+    {
+        int res = get_info_srv_.start(GetInfoCallback(this, &BasicFileServer::handleGetInfo));
+        if (res < 0)
+        {
+            return res;
+        }
+
+        res = read_srv_.start(ReadCallback(this, &BasicFileServer::handleRead));
+        if (res < 0)
+        {
+            return res;
+        }
+
+        return 0;
+    }
+};
+
+}
+
+#endif // Include guard