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fix and enable mavlink ftp tests

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This commit is contained in:
Daniel Agar
2017-09-28 09:29:04 +02:00
committed by Lorenz Meier
parent 3c18be387c
commit 5eb3e695bb
4 changed files with 38 additions and 43 deletions
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src/modules/mavlink/mavlink_ftp.cpp
+16 -20
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@@ -45,10 +45,6 @@
#include "mavlink_main.h"
#include "mavlink_tests/mavlink_ftp_test.h"
// Uncomment the line below to get better debug output. Never commit with this left on.
//#define MAVLINK_FTP_DEBUG
constexpr const char MavlinkFTP::_root_dir[];
MavlinkFTP::MavlinkFTP(Mavlink *mavlink) :
@@ -142,7 +138,7 @@ MavlinkFTP::handle_message(const mavlink_message_t *msg)
mavlink_msg_file_transfer_protocol_decode(msg, &ftp_request);
#ifdef MAVLINK_FTP_DEBUG
warnx("FTP: received ftp protocol message target_system: %d", ftp_request.target_system);
PX4_INFO("FTP: received ftp protocol message target_system: %d", ftp_request.target_system);
#endif
if (ftp_request.target_system == _getServerSystemId()) {
@@ -189,8 +185,8 @@ MavlinkFTP::_process_request(mavlink_file_transfer_protocol_t *ftp_req, uint8_t
#ifdef MAVLINK_FTP_DEBUG
printf("ftp: channel %u opc %u size %u offset %u\n", _getServerChannel(), payload->opcode, payload->size,
payload->offset);
PX4_INFO("ftp: channel %u opc %u size %u offset %u", _getServerChannel(), payload->opcode, payload->size,
payload->offset);
#endif
switch (payload->opcode) {
@@ -332,7 +328,7 @@ MavlinkFTP::_reply(mavlink_file_transfer_protocol_t *ftp_req)
}
#ifdef MAVLINK_FTP_DEBUG
warnx("FTP: %s seq_number: %d", payload->opcode == kRspAck ? "Ack" : "Nak", payload->seq_number);
PX4_INFO("FTP: %s seq_number: %d", payload->opcode == kRspAck ? "Ack" : "Nak", payload->seq_number);
#endif
ftp_req->target_network = 0;
@@ -362,7 +358,7 @@ MavlinkFTP::_workList(PayloadHeader *payload, bool list_hidden)
if (dp == nullptr) {
#ifdef MAVLINK_FTP_UNIT_TEST
warnx("File open failed");
PX4_WARN("File open failed %s", _work_buffer1);
#else
_mavlink->send_statustext_critical("FTP: can't open path (file system corrupted?)");
_mavlink->send_statustext_critical(_work_buffer1);
@@ -372,7 +368,7 @@ MavlinkFTP::_workList(PayloadHeader *payload, bool list_hidden)
}
#ifdef MAVLINK_FTP_DEBUG
warnx("FTP: list %s offset %d", _work_buffer1, payload->offset);
PX4_INFO("FTP: list %s offset %d", _work_buffer1, payload->offset);
#endif
struct dirent *result = nullptr;
@@ -390,7 +386,7 @@ MavlinkFTP::_workList(PayloadHeader *payload, bool list_hidden)
if (result == nullptr) {
if (errno) {
#ifdef MAVLINK_FTP_UNIT_TEST
warnx("readdir failed");
PX4_WARN("readdir failed");
#else
_mavlink->send_statustext_critical("FTP: list readdir failure");
_mavlink->send_statustext_critical(_work_buffer1);
@@ -496,7 +492,7 @@ MavlinkFTP::_workList(PayloadHeader *payload, bool list_hidden)
payload->data[offset++] = direntType;
strcpy((char *)&payload->data[offset], _work_buffer2);
#ifdef MAVLINK_FTP_DEBUG
printf("FTP: list %s %s\n", _work_buffer1, (char *)&payload->data[offset - 1]);
PX4_INFO("FTP: list %s %s", _work_buffer1, (char *)&payload->data[offset - 1]);
#endif
offset += nameLen + 1;
}
@@ -520,7 +516,7 @@ MavlinkFTP::_workOpen(PayloadHeader *payload, int oflag)
strncpy(_work_buffer1 + _root_dir_len, _data_as_cstring(payload), _work_buffer1_len - _root_dir_len);
#ifdef MAVLINK_FTP_DEBUG
warnx("FTP: open '%s'", _work_buffer1);
PX4_INFO("FTP: open '%s'", _work_buffer1);
#endif
uint32_t fileSize = 0;
@@ -565,7 +561,7 @@ MavlinkFTP::_workRead(PayloadHeader *payload)
}
#ifdef MAVLINK_FTP_DEBUG
warnx("FTP: read offset:%d", payload->offset);
PX4_INFO("FTP: read offset:%d", payload->offset);
#endif
// We have to test seek past EOF ourselves, lseek will allow seek past EOF
@@ -601,7 +597,7 @@ MavlinkFTP::_workBurst(PayloadHeader *payload, uint8_t target_system_id)
}
#ifdef MAVLINK_FTP_DEBUG
warnx("FTP: burst offset:%d", payload->offset);
PX4_INFO("FTP: burst offset:%d", payload->offset);
#endif
// Setup for streaming sends
_session_info.stream_download = true;
@@ -993,7 +989,7 @@ void MavlinkFTP::send(const hrt_abstime t)
// Skip send if not enough room
unsigned max_bytes_to_send = _mavlink->get_free_tx_buf();
#ifdef MAVLINK_FTP_DEBUG
warnx("MavlinkFTP::send max_bytes_to_send(%d) get_free_tx_buf(%d)", max_bytes_to_send, _mavlink->get_free_tx_buf());
PX4_INFO("MavlinkFTP::send max_bytes_to_send(%d) get_free_tx_buf(%d)", max_bytes_to_send, _mavlink->get_free_tx_buf());
#endif
if (max_bytes_to_send < get_size()) {
@@ -1022,14 +1018,14 @@ void MavlinkFTP::send(const hrt_abstime t)
_session_info.stream_seq_number++;
#ifdef MAVLINK_FTP_DEBUG
warnx("stream send: offset %d", _session_info.stream_offset);
PX4_INFO("stream send: offset %d", _session_info.stream_offset);
#endif
// We have to test seek past EOF ourselves, lseek will allow seek past EOF
if (_session_info.stream_offset >= _session_info.file_size) {
error_code = kErrEOF;
#ifdef MAVLINK_FTP_DEBUG
warnx("stream download: sending Nak EOF");
PX4_INFO("stream download: sending Nak EOF");
#endif
}
@@ -1037,7 +1033,7 @@ void MavlinkFTP::send(const hrt_abstime t)
if (lseek(_session_info.fd, payload->offset, SEEK_SET) < 0) {
error_code = kErrFailErrno;
#ifdef MAVLINK_FTP_DEBUG
warnx("stream download: seek fail");
PX4_WARN("stream download: seek fail");
#endif
}
}
@@ -1049,7 +1045,7 @@ void MavlinkFTP::send(const hrt_abstime t)
// Negative return indicates error other than eof
error_code = kErrFailErrno;
#ifdef MAVLINK_FTP_DEBUG
warnx("stream download: read fail");
PX4_WARN("stream download: read fail");
#endif
} else {