mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-06 11:21:35 +08:00
Beat Küng
a6c682ce50
- change memory allocation from stack to a malloc'd buffer. This avoids increasing the stack size. And since FTP is rarely used, the buffers are only allocated upon use and freed after a time of 2s inactivity. - adds PX4_ROOTFSDIR as root directory prefix. This does not change anything on NuttX, but in SITL it will avoid enumerating the whole disk tree when using QGC (which enumerates all files recursively).
202 lines
8.2 KiB
C++
202 lines
8.2 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. We pad the structure ourselves to
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/// 32 bit alignment to avoid usage of any pack pragmas.
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struct 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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};
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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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// Mavlink test needs to be able to call send
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friend class MavlinkFtpTest;
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};
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