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MAVLink: Code style

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This commit is contained in:
Lorenz Meier
2016-08-26 23:43:33 +02:00
parent e67a6bdfc2
commit 720c445f21
17 changed files with 922 additions and 627 deletions
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src/modules/mavlink/mavlink_ftp.cpp
+131 -79
View File
@@ -51,7 +51,7 @@
int buf_size_1 = 0;
int buf_size_2 = 0;
MavlinkFTP::MavlinkFTP(Mavlink* mavlink) :
MavlinkFTP::MavlinkFTP(Mavlink *mavlink) :
MavlinkStream(mavlink),
_session_info{},
_utRcvMsgFunc{},
@@ -63,10 +63,10 @@ MavlinkFTP::MavlinkFTP(Mavlink* mavlink) :
MavlinkFTP::~MavlinkFTP()
{
}
const char*
const char *
MavlinkFTP::get_name(void) const
{
return "MAVLINK_FTP";
@@ -83,13 +83,13 @@ MavlinkFTP::get_size(void)
{
if (_session_info.stream_download) {
return MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
} else {
return 0;
}
}
MavlinkStream*
MavlinkStream *
MavlinkFTP::new_instance(Mavlink *mavlink)
{
return new MavlinkFTP(mavlink);
@@ -144,15 +144,15 @@ void
MavlinkFTP::handle_message(const mavlink_message_t *msg)
{
//warnx("MavlinkFTP::handle_message %d %d", buf_size_1, buf_size_2);
if (msg->msgid == MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL) {
mavlink_file_transfer_protocol_t ftp_request;
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);
#endif
if (ftp_request.target_system == _getServerSystemId()) {
_process_request(&ftp_request, msg->sysid);
return;
@@ -162,7 +162,7 @@ MavlinkFTP::handle_message(const mavlink_message_t *msg)
/// @brief Processes an FTP message
void
MavlinkFTP::_process_request(mavlink_file_transfer_protocol_t* ftp_req, uint8_t target_system_id)
MavlinkFTP::_process_request(mavlink_file_transfer_protocol_t *ftp_req, uint8_t target_system_id)
{
bool stream_send = false;
PayloadHeader *payload = reinterpret_cast<PayloadHeader *>(&ftp_req->payload[0]);
@@ -176,7 +176,8 @@ 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);
printf("ftp: channel %u opc %u size %u offset %u\n", _getServerChannel(), payload->opcode, payload->size,
payload->offset);
#endif
switch (payload->opcode) {
@@ -215,7 +216,7 @@ MavlinkFTP::_process_request(mavlink_file_transfer_protocol_t* ftp_req, uint8_t
errorCode = _workBurst(payload, target_system_id);
stream_send = true;
break;
case kCmdWriteFile:
errorCode = _workWrite(payload);
break;
@@ -235,33 +236,35 @@ MavlinkFTP::_process_request(mavlink_file_transfer_protocol_t* ftp_req, uint8_t
case kCmdCreateDirectory:
errorCode = _workCreateDirectory(payload);
break;
case kCmdRemoveDirectory:
errorCode = _workRemoveDirectory(payload);
break;
case kCmdCalcFileCRC32:
errorCode = _workCalcFileCRC32(payload);
break;
default:
errorCode = kErrUnknownCommand;
break;
break;
}
out:
payload->seq_number++;
// handle success vs. error
if (errorCode == kErrNone) {
payload->req_opcode = payload->opcode;
payload->opcode = kRspAck;
} else {
int r_errno = errno;
payload->req_opcode = payload->opcode;
payload->opcode = kRspNak;
payload->size = 1;
payload->data[0] = errorCode;
if (errorCode == kErrFailErrno) {
payload->size = 2;
payload->data[1] = r_errno;
@@ -278,14 +281,14 @@ out:
/// @brief Sends the specified FTP response message out through mavlink
void
MavlinkFTP::_reply(mavlink_file_transfer_protocol_t* ftp_req)
MavlinkFTP::_reply(mavlink_file_transfer_protocol_t *ftp_req)
{
#ifdef MAVLINK_FTP_DEBUG
PayloadHeader *payload = reinterpret_cast<PayloadHeader *>(&ftp_req->payload[0]);
warnx("FTP: %s seq_number: %d", payload->opcode == kRspAck ? "Ack" : "Nak", payload->seq_number);
#endif
ftp_req->target_network = 0;
ftp_req->target_component = 0;
#ifdef MAVLINK_FTP_UNIT_TEST
@@ -299,7 +302,7 @@ MavlinkFTP::_reply(mavlink_file_transfer_protocol_t* ftp_req)
/// @brief Responds to a List command
MavlinkFTP::ErrorCode
MavlinkFTP::_workList(PayloadHeader* payload, bool list_hidden)
MavlinkFTP::_workList(PayloadHeader *payload, bool list_hidden)
{
char dirPath[kMaxDataLength];
strncpy(dirPath, _data_as_cstring(payload), kMaxDataLength);
@@ -333,7 +336,7 @@ MavlinkFTP::_workList(PayloadHeader* payload, bool list_hidden)
// read the directory entry
if (readdir_r(dp, &entry, &result)) {
#ifdef MAVLINK_FTP_UNIT_TEST
warnx("readdir_r failed");
warnx("readdir_r failed");
#else
_mavlink->send_statustext_critical("FTP: list readdir_r failure");
_mavlink->send_statustext_critical(dirPath);
@@ -355,6 +358,7 @@ MavlinkFTP::_workList(PayloadHeader* payload, bool list_hidden)
// to seek past EOF.
errorCode = kErrEOF;
}
// Otherwise we are just at the last directory entry, so we leave the errorCode at kErrorNone to signal that
break;
}
@@ -366,6 +370,7 @@ MavlinkFTP::_workList(PayloadHeader* payload, bool list_hidden)
// Determine the directory entry type
switch (entry.d_type) {
#ifdef __PX4_NUTTX
case DTYPE_FILE:
#else
case DT_REG:
@@ -374,51 +379,60 @@ MavlinkFTP::_workList(PayloadHeader* payload, bool list_hidden)
direntType = kDirentFile;
snprintf(buf, sizeof(buf), "%s/%s", dirPath, entry.d_name);
struct stat st;
if (stat(buf, &st) == 0) {
fileSize = st.st_size;
}
break;
#ifdef __PX4_NUTTX
case DTYPE_DIRECTORY:
#else
case DT_DIR:
#endif
if ((!list_hidden && (strncmp(entry.d_name, ".", 1) == 0)) ||
strcmp(entry.d_name, ".") == 0 || strcmp(entry.d_name, "..") == 0) {
strcmp(entry.d_name, ".") == 0 || strcmp(entry.d_name, "..") == 0) {
// Don't bother sending these back
direntType = kDirentSkip;
} else {
direntType = kDirentDir;
}
break;
default:
// We only send back file and diretory entries, skip everything else
direntType = kDirentSkip;
}
if (direntType == kDirentSkip) {
// Skip send only dirent identifier
buf[0] = '\0';
} else if (direntType == kDirentFile) {
// 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;
buf[sizeof(buf) - 1] = 0;
}
size_t nameLen = strlen(buf);
// Do we have room for the name, the one char directory identifier and the null terminator?
if ((offset + nameLen + 2) > kMaxDataLength) {
break;
}
// Move the data into the buffer
payload->data[offset++] = direntType;
strcpy((char *)&payload->data[offset], buf);
#ifdef MAVLINK_FTP_DEBUG
printf("FTP: list %s %s\n", dirPath, (char *)&payload->data[offset-1]);
printf("FTP: list %s %s\n", dirPath, (char *)&payload->data[offset - 1]);
#endif
offset += nameLen + 1;
}
@@ -431,7 +445,7 @@ MavlinkFTP::_workList(PayloadHeader* payload, bool list_hidden)
/// @brief Responds to an Open command
MavlinkFTP::ErrorCode
MavlinkFTP::_workOpen(PayloadHeader* payload, int oflag)
MavlinkFTP::_workOpen(PayloadHeader *payload, int oflag)
{
if (_session_info.fd >= 0) {
warnx("FTP: Open failed - out of sessions\n");
@@ -439,41 +453,47 @@ MavlinkFTP::_workOpen(PayloadHeader* payload, int oflag)
}
char *filename = _data_as_cstring(payload);
#ifdef MAVLINK_FTP_DEBUG
warnx("FTP: open '%s'", filename);
#endif
uint32_t fileSize = 0;
struct stat st;
if (stat(filename, &st) != 0) {
// fail only if requested open for read
if (oflag & O_RDONLY)
if (oflag & O_RDONLY) {
return kErrFailErrno;
else
} else {
st.st_size = 0;
}
}
fileSize = st.st_size;
// Set mode to 666 incase oflag has O_CREAT
int fd = ::open(filename, oflag, PX4_O_MODE_666);
if (fd < 0) {
return kErrFailErrno;
}
_session_info.fd = fd;
_session_info.file_size = fileSize;
_session_info.stream_download = false;
payload->session = 0;
payload->size = sizeof(uint32_t);
*((uint32_t*)payload->data) = fileSize;
*((uint32_t *)payload->data) = fileSize;
return kErrNone;
}
/// @brief Responds to a Read command
MavlinkFTP::ErrorCode
MavlinkFTP::_workRead(PayloadHeader* payload)
MavlinkFTP::_workRead(PayloadHeader *payload)
{
if (payload->session != 0 || _session_info.fd < 0) {
return kErrInvalidSession;
@@ -482,18 +502,20 @@ MavlinkFTP::_workRead(PayloadHeader* payload)
#ifdef MAVLINK_FTP_DEBUG
warnx("FTP: read offset:%d", payload->offset);
#endif
// We have to test seek past EOF ourselves, lseek will allow seek past EOF
if (payload->offset >= _session_info.file_size) {
warnx("request past EOF");
return kErrEOF;
}
if (lseek(_session_info.fd, payload->offset, SEEK_SET) < 0) {
warnx("seek fail");
return kErrFailErrno;
}
int bytes_read = ::read(_session_info.fd, &payload->data[0], kMaxDataLength);
if (bytes_read < 0) {
// Negative return indicates error other than eof
warnx("read fail %d", bytes_read);
@@ -507,12 +529,12 @@ MavlinkFTP::_workRead(PayloadHeader* payload)
/// @brief Responds to a Stream command
MavlinkFTP::ErrorCode
MavlinkFTP::_workBurst(PayloadHeader* payload, uint8_t target_system_id)
MavlinkFTP::_workBurst(PayloadHeader *payload, uint8_t target_system_id)
{
if (payload->session != 0 && _session_info.fd < 0) {
return kErrInvalidSession;
}
#ifdef MAVLINK_FTP_DEBUG
warnx("FTP: burst offset:%d", payload->offset);
#endif
@@ -528,7 +550,7 @@ MavlinkFTP::_workBurst(PayloadHeader* payload, uint8_t target_system_id)
/// @brief Responds to a Write command
MavlinkFTP::ErrorCode
MavlinkFTP::_workWrite(PayloadHeader* payload)
MavlinkFTP::_workWrite(PayloadHeader *payload)
{
if (payload->session != 0 && _session_info.fd < 0) {
return kErrInvalidSession;
@@ -541,6 +563,7 @@ MavlinkFTP::_workWrite(PayloadHeader* payload)
}
int bytes_written = ::write(_session_info.fd, &payload->data[0], payload->size);
if (bytes_written < 0) {
// Negative return indicates error other than eof
warnx("write fail %d", bytes_written);
@@ -548,21 +571,22 @@ MavlinkFTP::_workWrite(PayloadHeader* payload)
}
payload->size = sizeof(uint32_t);
*((uint32_t*)payload->data) = bytes_written;
*((uint32_t *)payload->data) = bytes_written;
return kErrNone;
}
/// @brief Responds to a RemoveFile command
MavlinkFTP::ErrorCode
MavlinkFTP::_workRemoveFile(PayloadHeader* payload)
MavlinkFTP::_workRemoveFile(PayloadHeader *payload)
{
char file[kMaxDataLength];
strncpy(file, _data_as_cstring(payload), kMaxDataLength);
if (unlink(file) == 0) {
payload->size = 0;
return kErrNone;
} else {
return kErrFailErrno;
}
@@ -570,7 +594,7 @@ MavlinkFTP::_workRemoveFile(PayloadHeader* payload)
/// @brief Responds to a TruncateFile command
MavlinkFTP::ErrorCode
MavlinkFTP::_workTruncateFile(PayloadHeader* payload)
MavlinkFTP::_workTruncateFile(PayloadHeader *payload)
{
char file[kMaxDataLength];
const char temp_file[] = PX4_ROOTFSDIR"/fs/microsd/.trunc.tmp";
@@ -581,6 +605,7 @@ MavlinkFTP::_workTruncateFile(PayloadHeader* payload)
// copying to temp and overwrite with O_TRUNC flag.
struct stat st;
if (stat(file, &st) != 0) {
return kErrFailErrno;
}
@@ -599,20 +624,22 @@ MavlinkFTP::_workTruncateFile(PayloadHeader* payload)
if (payload->offset == (unsigned)st.st_size) {
// nothing to do
return kErrNone;
}
else if (payload->offset == 0) {
} else if (payload->offset == 0) {
// 1: truncate all data
int fd = ::open(file, O_TRUNC | O_WRONLY);
if (fd < 0) {
return kErrFailErrno;
}
::close(fd);
return kErrNone;
}
else if (payload->offset > (unsigned)st.st_size) {
} else if (payload->offset > (unsigned)st.st_size) {
// 2: extend file
int fd = ::open(file, O_WRONLY);
if (fd < 0) {
return kErrFailErrno;
}
@@ -625,16 +652,18 @@ MavlinkFTP::_workTruncateFile(PayloadHeader* payload)
bool ok = 1 == ::write(fd, "", 1);
::close(fd);
return (ok)? kErrNone : kErrFailErrno;
}
else {
return (ok) ? kErrNone : kErrFailErrno;
} else {
// 3: truncate
if (_copy_file(file, temp_file, payload->offset) != 0) {
return kErrFailErrno;
}
if (_copy_file(temp_file, file, payload->offset) != 0) {
return kErrFailErrno;
}
if (::unlink(temp_file) != 0) {
return kErrFailErrno;
}
@@ -645,16 +674,16 @@ MavlinkFTP::_workTruncateFile(PayloadHeader* payload)
/// @brief Responds to a Terminate command
MavlinkFTP::ErrorCode
MavlinkFTP::_workTerminate(PayloadHeader* payload)
MavlinkFTP::_workTerminate(PayloadHeader *payload)
{
if (payload->session != 0 || _session_info.fd < 0) {
return kErrInvalidSession;
}
::close(_session_info.fd);
_session_info.fd = -1;
_session_info.stream_download = false;
payload->size = 0;
return kErrNone;
@@ -662,7 +691,7 @@ MavlinkFTP::_workTerminate(PayloadHeader* payload)
/// @brief Responds to a Reset command
MavlinkFTP::ErrorCode
MavlinkFTP::_workReset(PayloadHeader* payload)
MavlinkFTP::_workReset(PayloadHeader *payload)
{
if (_session_info.fd != -1) {
::close(_session_info.fd);
@@ -671,13 +700,13 @@ MavlinkFTP::_workReset(PayloadHeader* payload)
}
payload->size = 0;
return kErrNone;
}
/// @brief Responds to a Rename command
MavlinkFTP::ErrorCode
MavlinkFTP::_workRename(PayloadHeader* payload)
MavlinkFTP::_workRename(PayloadHeader *payload)
{
char oldpath[kMaxDataLength];
char newpath[kMaxDataLength];
@@ -697,6 +726,7 @@ MavlinkFTP::_workRename(PayloadHeader* payload)
if (rename(oldpath, newpath) == 0) {
payload->size = 0;
return kErrNone;
} else {
return kErrFailErrno;
}
@@ -704,14 +734,15 @@ MavlinkFTP::_workRename(PayloadHeader* payload)
/// @brief Responds to a RemoveDirectory command
MavlinkFTP::ErrorCode
MavlinkFTP::_workRemoveDirectory(PayloadHeader* payload)
MavlinkFTP::_workRemoveDirectory(PayloadHeader *payload)
{
char dir[kMaxDataLength];
strncpy(dir, _data_as_cstring(payload), kMaxDataLength);
if (rmdir(dir) == 0) {
payload->size = 0;
return kErrNone;
} else {
return kErrFailErrno;
}
@@ -719,14 +750,15 @@ MavlinkFTP::_workRemoveDirectory(PayloadHeader* payload)
/// @brief Responds to a CreateDirectory command
MavlinkFTP::ErrorCode
MavlinkFTP::_workCreateDirectory(PayloadHeader* payload)
MavlinkFTP::_workCreateDirectory(PayloadHeader *payload)
{
char dir[kMaxDataLength];
strncpy(dir, _data_as_cstring(payload), kMaxDataLength);
if (mkdir(dir, S_IRWXU | S_IRWXG | S_IRWXO) == 0) {
payload->size = 0;
return kErrNone;
} else {
return kErrFailErrno;
}
@@ -734,7 +766,7 @@ MavlinkFTP::_workCreateDirectory(PayloadHeader* payload)
/// @brief Responds to a CalcFileCRC32 command
MavlinkFTP::ErrorCode
MavlinkFTP::_workCalcFileCRC32(PayloadHeader* payload)
MavlinkFTP::_workCalcFileCRC32(PayloadHeader *payload)
{
char file_buf[256];
uint32_t checksum = 0;
@@ -742,12 +774,14 @@ MavlinkFTP::_workCalcFileCRC32(PayloadHeader* payload)
strncpy(file_buf, _data_as_cstring(payload), kMaxDataLength);
int fd = ::open(file_buf, O_RDONLY);
if (fd < 0) {
return kErrFailErrno;
}
do {
bytes_read = ::read(fd, file_buf, sizeof(file_buf));
if (bytes_read < 0) {
int r_errno = errno;
::close(fd);
@@ -755,30 +789,31 @@ MavlinkFTP::_workCalcFileCRC32(PayloadHeader* payload)
return kErrFailErrno;
}
checksum = crc32part((uint8_t*)file_buf, bytes_read, checksum);
checksum = crc32part((uint8_t *)file_buf, bytes_read, checksum);
} while (bytes_read == sizeof(file_buf));
::close(fd);
payload->size = sizeof(uint32_t);
*((uint32_t*)payload->data) = checksum;
*((uint32_t *)payload->data) = checksum;
return kErrNone;
}
/// @brief Guarantees that the payload data is null terminated.
/// @return Returns a pointer to the payload data as a char *
char *
MavlinkFTP::_data_as_cstring(PayloadHeader* payload)
MavlinkFTP::_data_as_cstring(PayloadHeader *payload)
{
// guarantee nul termination
if (payload->size < kMaxDataLength) {
payload->data[payload->size] = '\0';
} else {
payload->data[kMaxDataLength - 1] = '\0';
}
// and return data
return (char *)&(payload->data[0]);
return (char *) & (payload->data[0]);
}
/// @brief Copy file (with limited space)
@@ -790,6 +825,7 @@ MavlinkFTP::_copy_file(const char *src_path, const char *dst_path, size_t length
int op_errno = 0;
src_fd = ::open(src_path, O_RDONLY);
if (src_fd < 0) {
return -1;
}
@@ -799,7 +835,8 @@ MavlinkFTP::_copy_file(const char *src_path, const char *dst_path, size_t length
#ifdef __PX4_POSIX
, 0666
#endif
);
);
if (dst_fd < 0) {
op_errno = errno;
::close(src_fd);
@@ -809,20 +846,22 @@ MavlinkFTP::_copy_file(const char *src_path, const char *dst_path, size_t length
while (length > 0) {
ssize_t bytes_read, bytes_written;
size_t blen = (length > sizeof(buff))? sizeof(buff) : length;
size_t blen = (length > sizeof(buff)) ? sizeof(buff) : length;
bytes_read = ::read(src_fd, buff, blen);
if (bytes_read == 0) {
// EOF
break;
}
else if (bytes_read < 0) {
} else if (bytes_read < 0) {
warnx("cp: read");
op_errno = errno;
break;
}
bytes_written = ::write(dst_fd, buff, bytes_read);
if (bytes_written != bytes_read) {
warnx("cp: short write");
op_errno = errno;
@@ -836,7 +875,7 @@ MavlinkFTP::_copy_file(const char *src_path, const char *dst_path, size_t length
::close(dst_fd);
errno = op_errno;
return (length > 0)? -1 : 0;
return (length > 0) ? -1 : 0;
}
void MavlinkFTP::send(const hrt_abstime t)
@@ -845,29 +884,32 @@ void MavlinkFTP::send(const hrt_abstime t)
if (!_session_info.stream_download) {
return;
}
#ifndef MAVLINK_FTP_UNIT_TEST
// 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());
warnx("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()) {
return;
}
#endif
// Send stream packets until buffer is full
bool more_data;
do {
more_data = false;
ErrorCode error_code = kErrNone;
mavlink_file_transfer_protocol_t ftp_msg;
PayloadHeader* payload = reinterpret_cast<PayloadHeader *>(&ftp_msg.payload[0]);
PayloadHeader *payload = reinterpret_cast<PayloadHeader *>(&ftp_msg.payload[0]);
payload->seq_number = _session_info.stream_seq_number;
payload->session = 0;
payload->opcode = kRspAck;
@@ -878,6 +920,7 @@ void MavlinkFTP::send(const hrt_abstime t)
#ifdef MAVLINK_FTP_DEBUG
warnx("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;
@@ -885,7 +928,7 @@ void MavlinkFTP::send(const hrt_abstime t)
warnx("stream download: sending Nak EOF");
#endif
}
if (error_code == kErrNone) {
if (lseek(_session_info.fd, payload->offset, SEEK_SET) < 0) {
error_code = kErrFailErrno;
@@ -894,43 +937,51 @@ void MavlinkFTP::send(const hrt_abstime t)
#endif
}
}
if (error_code == kErrNone) {
int bytes_read = ::read(_session_info.fd, &payload->data[0], kMaxDataLength);
if (bytes_read < 0) {
// Negative return indicates error other than eof
error_code = kErrFailErrno;
#ifdef MAVLINK_FTP_DEBUG
warnx("stream download: read fail");
#endif
} else {
payload->size = bytes_read;
_session_info.stream_offset += bytes_read;
_session_info.stream_chunk_transmitted += bytes_read;
}
}
if (error_code != kErrNone) {
payload->opcode = kRspNak;
payload->size = 1;
uint8_t* pData = &payload->data[0];
uint8_t *pData = &payload->data[0];
*pData = error_code; // Straight reference to data[0] is causing bogus gcc array subscript error
if (error_code == kErrFailErrno) {
int r_errno = errno;
payload->size = 2;
payload->data[1] = r_errno;
}
_session_info.stream_download = false;
} else {
#ifndef MAVLINK_FTP_UNIT_TEST
if (max_bytes_to_send < (get_size()*2)) {
if (max_bytes_to_send < (get_size() * 2)) {
more_data = false;
/* perform transfers in 35K chunks - this is determined empirical */
if (_session_info.stream_chunk_transmitted > 35000) {
payload->burst_complete = true;
_session_info.stream_download = false;
_session_info.stream_chunk_transmitted = 0;
}
} else {
#endif
more_data = true;
@@ -938,9 +989,10 @@ void MavlinkFTP::send(const hrt_abstime t)
#ifndef MAVLINK_FTP_UNIT_TEST
max_bytes_to_send -= get_size();
}
#endif
}
ftp_msg.target_system = _session_info.stream_target_system_id;
_reply(&ftp_msg);
} while (more_data);