From ef5a93c09ce4bd08729cf3fbf87a6c1d453c646f Mon Sep 17 00:00:00 2001
From: Vladimir Ermakov <vooon341@gmail.com>
Date: Mon, 22 Sep 2014 15:19:38 +0400
Subject: [PATCH] FTP: Add file checksum calculation command.

---
 src/modules/mavlink/mavlink_ftp.cpp | 39 +++++++++++++++++++++++++++++
 src/modules/mavlink/mavlink_ftp.h   |  2 ++
 2 files changed, 41 insertions(+)

diff --git a/src/modules/mavlink/mavlink_ftp.cpp b/src/modules/mavlink/mavlink_ftp.cpp
index 117cc4ec16..c26fe6b4bc 100644
--- a/src/modules/mavlink/mavlink_ftp.cpp
+++ b/src/modules/mavlink/mavlink_ftp.cpp
@@ -34,6 +34,7 @@
 /// @file mavlink_ftp.cpp
 ///	@author px4dev, Don Gagne <don@thegagnes.com>
 
+#include <crc32.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <fcntl.h>
@@ -220,6 +221,11 @@ MavlinkFTP::_process_request(Request *req)
 		errorCode = _workRemoveDirectory(payload);
 		break;
 			
+
+	case kCmdCalcFileCRC32:
+		errorCode = _workCalcFileCRC32(payload);
+		break;
+
 	default:
 		errorCode = kErrUnknownCommand;
 		break;	
@@ -690,6 +696,39 @@ MavlinkFTP::_workCreateDirectory(PayloadHeader* payload)
 	}
 }
 
+/// @brief Responds to a CalcFileCRC32 command
+MavlinkFTP::ErrorCode
+MavlinkFTP::_workCalcFileCRC32(PayloadHeader* payload)
+{
+	char file_buf[256];
+	uint32_t checksum = 0;
+	ssize_t bytes_read;
+	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);
+			errno = r_errno;
+			return kErrFailErrno;
+		}
+
+		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;
+	return kErrNone;
+}
+
 /// @brief Returns true if the specified session is a valid open session
 bool
 MavlinkFTP::_valid_session(unsigned index)
diff --git a/src/modules/mavlink/mavlink_ftp.h b/src/modules/mavlink/mavlink_ftp.h
index 0fbd010be2..bef6775a94 100644
--- a/src/modules/mavlink/mavlink_ftp.h
+++ b/src/modules/mavlink/mavlink_ftp.h
@@ -99,6 +99,7 @@ public:
 		kCmdOpenFileWO,		///< Opens file at <path> for writing, returns <session>
 		kCmdTruncateFile,	///< Truncate file at <path> to <offset> length
 		kCmdRename,		///< Rename <path1> to <path2>
+		kCmdCalcFileCRC32,	///< Calculate CRC32 for file at <path>
 		
 		kRspAck = 128,		///< Ack response
 		kRspNak			///< Nak response
@@ -154,6 +155,7 @@ private:
 	ErrorCode	_workRemoveFile(PayloadHeader *payload);
 	ErrorCode	_workTruncateFile(PayloadHeader *payload);
 	ErrorCode	_workRename(PayloadHeader *payload);
+	ErrorCode	_workCalcFileCRC32(PayloadHeader *payload);
 
 	static const unsigned	kRequestQueueSize = 2;			///< Max number of queued requests
 	Request			_request_bufs[kRequestQueueSize];	///< Request buffers which hold work