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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Beat Küng
209 lines
8.7 KiB
C++
209 lines
8.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2014, 2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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/// @file mavlink_ftp.h
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/// @author px4dev, Don Gagne <don@thegagnes.com>
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#include <dirent.h>
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#include <queue.h>
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#include <px4_defines.h>
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#include <systemlib/err.h>
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#include <drivers/drv_hrt.h>
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#include "mavlink_bridge_header.h"
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class MavlinkFtpTest;
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class Mavlink;
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/// MAVLink remote file server. Support FTP like commands using MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL message.
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class MavlinkFTP
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{
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public:
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MavlinkFTP(Mavlink *mavlink);
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~MavlinkFTP();
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/**
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* Handle sending of messages. Call this regularly at a fixed frequency.
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* @param t current time
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*/
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void send(const hrt_abstime t);
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/// Handle possible FTP message
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void handle_message(const mavlink_message_t *msg);
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typedef void (*ReceiveMessageFunc_t)(const mavlink_file_transfer_protocol_t *ftp_req, void *worker_data);
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/// @brief Sets up the server to run in unit test mode.
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/// @param rcvmsgFunc Function which will be called to handle outgoing mavlink messages.
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/// @param worker_data Data to pass to worker
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void set_unittest_worker(ReceiveMessageFunc_t rcvMsgFunc, void *worker_data);
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/// @brief This is the payload which is in mavlink_file_transfer_protocol_t.payload.
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/// This needs to be packed, because it's typecasted from mavlink_file_transfer_protocol_t.payload, which starts
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/// at a 3 byte offset, causing an unaligned access to seq_number and offset
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struct __attribute__((__packed__)) PayloadHeader {
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uint16_t seq_number; ///< sequence number for message
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uint8_t session; ///< Session id for read and write commands
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uint8_t opcode; ///< Command opcode
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uint8_t size; ///< Size of data
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uint8_t req_opcode; ///< Request opcode returned in kRspAck, kRspNak message
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uint8_t burst_complete; ///< Only used if req_opcode=kCmdBurstReadFile - 1: set of burst packets complete, 0: More burst packets coming.
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uint8_t padding; ///< 32 bit aligment padding
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uint32_t offset; ///< Offsets for List and Read commands
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uint8_t data[]; ///< command data, varies by Opcode
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};
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/// @brief Command opcodes
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enum Opcode : uint8_t {
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kCmdNone, ///< ignored, always acked
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kCmdTerminateSession, ///< Terminates open Read session
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kCmdResetSessions, ///< Terminates all open Read sessions
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kCmdListDirectory, ///< List files in <path> from <offset>
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kCmdOpenFileRO, ///< Opens file at <path> for reading, returns <session>
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kCmdReadFile, ///< Reads <size> bytes from <offset> in <session>
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kCmdCreateFile, ///< Creates file at <path> for writing, returns <session>
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kCmdWriteFile, ///< Writes <size> bytes to <offset> in <session>
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kCmdRemoveFile, ///< Remove file at <path>
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kCmdCreateDirectory, ///< Creates directory at <path>
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kCmdRemoveDirectory, ///< Removes Directory at <path>, must be empty
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kCmdOpenFileWO, ///< Opens file at <path> for writing, returns <session>
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kCmdTruncateFile, ///< Truncate file at <path> to <offset> length
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kCmdRename, ///< Rename <path1> to <path2>
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kCmdCalcFileCRC32, ///< Calculate CRC32 for file at <path>
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kCmdBurstReadFile, ///< Burst download session file
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kRspAck = 128, ///< Ack response
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kRspNak ///< Nak response
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};
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/// @brief Error codes returned in Nak response PayloadHeader.data[0].
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enum ErrorCode : uint8_t {
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kErrNone,
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kErrFail, ///< Unknown failure
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kErrFailErrno, ///< Command failed, errno sent back in PayloadHeader.data[1]
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kErrInvalidDataSize, ///< PayloadHeader.size is invalid
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kErrInvalidSession, ///< Session is not currently open
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kErrNoSessionsAvailable, ///< All available Sessions in use
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kErrEOF, ///< Offset past end of file for List and Read commands
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kErrUnknownCommand, ///< Unknown command opcode
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kErrFailFileExists, ///< File exists already
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kErrFailFileProtected ///< File is write protected
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};
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unsigned get_size();
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private:
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char *_data_as_cstring(PayloadHeader *payload);
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void _process_request(mavlink_file_transfer_protocol_t *ftp_req, uint8_t target_system_id);
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void _reply(mavlink_file_transfer_protocol_t *ftp_req);
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int _copy_file(const char *src_path, const char *dst_path, size_t length);
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ErrorCode _workList(PayloadHeader *payload, bool list_hidden = false);
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ErrorCode _workOpen(PayloadHeader *payload, int oflag);
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ErrorCode _workRead(PayloadHeader *payload);
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ErrorCode _workBurst(PayloadHeader *payload, uint8_t target_system_id);
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ErrorCode _workWrite(PayloadHeader *payload);
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ErrorCode _workTerminate(PayloadHeader *payload);
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ErrorCode _workReset(PayloadHeader *payload);
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ErrorCode _workRemoveDirectory(PayloadHeader *payload);
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ErrorCode _workCreateDirectory(PayloadHeader *payload);
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ErrorCode _workRemoveFile(PayloadHeader *payload);
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ErrorCode _workTruncateFile(PayloadHeader *payload);
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ErrorCode _workRename(PayloadHeader *payload);
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ErrorCode _workCalcFileCRC32(PayloadHeader *payload);
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uint8_t _getServerSystemId(void);
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uint8_t _getServerComponentId(void);
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uint8_t _getServerChannel(void);
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/**
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* make sure that the working buffers _work_buffer* are allocated
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* @return true if buffers exist, false if allocation failed
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*/
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bool _ensure_buffers_exist();
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static const char kDirentFile = 'F'; ///< Identifies File returned from List command
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static const char kDirentDir = 'D'; ///< Identifies Directory returned from List command
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static const char kDirentSkip = 'S'; ///< Identifies Skipped entry from List command
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/// @brief Maximum data size in RequestHeader::data
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static const uint8_t kMaxDataLength = MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(PayloadHeader);
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struct SessionInfo {
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int fd;
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uint32_t file_size;
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bool stream_download;
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uint32_t stream_offset;
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uint16_t stream_seq_number;
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uint8_t stream_target_system_id;
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unsigned stream_chunk_transmitted;
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};
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struct SessionInfo _session_info; ///< Session info, fd=-1 for no active session
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ReceiveMessageFunc_t _utRcvMsgFunc; ///< Unit test override for mavlink message sending
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void *_worker_data; ///< Additional parameter to _utRcvMsgFunc;
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Mavlink *_mavlink;
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/* do not allow copying this class */
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MavlinkFTP(const MavlinkFTP &);
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MavlinkFTP operator=(const MavlinkFTP &);
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/* work buffers: they're allocated as soon as we get the first request (lazy, since FTP is rarely used) */
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char *_work_buffer1;
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static constexpr int _work_buffer1_len = kMaxDataLength;
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char *_work_buffer2;
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static constexpr int _work_buffer2_len = 256;
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hrt_abstime _last_work_buffer_access; ///< timestamp when the buffers were last accessed
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// prepend a root directory to each file/dir access to avoid enumerating the full FS tree (e.g. on Linux).
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// Note that requests can still fall outside of the root dir by using ../..
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#ifdef MAVLINK_FTP_UNIT_TEST
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static constexpr const char _root_dir[] = "";
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#else
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static constexpr const char _root_dir[] = PX4_ROOTFSDIR;
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#endif
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static constexpr const int _root_dir_len = sizeof(_root_dir) - 1;
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bool _last_reply_valid = false;
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uint8_t _last_reply[MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL_LEN - MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN
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+ sizeof(PayloadHeader) + sizeof(uint32_t)];
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// Mavlink test needs to be able to call send
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friend class MavlinkFtpTest;
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};
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