MAVLink remote file server. Support FTP like commands using MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL message. More...

#include <mavlink_ftp.h>

Public Types
enum	Opcode : uint8_t { kCmdNone, kCmdTerminateSession, kCmdResetSessions, kCmdListDirectory, kCmdOpenFileRO, kCmdReadFile, kCmdCreateFile, kCmdWriteFile, kCmdRemoveFile, kCmdCreateDirectory, kCmdRemoveDirectory, kCmdOpenFileWO, kCmdTruncateFile, kCmdRename, kCmdCalcFileCRC32, kCmdBurstReadFile, kRspAck = 128, kRspNak }
	Command opcodes. More...

enum	ErrorCode : uint8_t { kErrNone, kErrFail, kErrFailErrno, kErrInvalidDataSize, kErrInvalidSession, kErrNoSessionsAvailable, kErrEOF, kErrUnknownCommand, kErrFailFileExists, kErrFailFileProtected }
	Error codes returned in Nak response PayloadHeader.data[0]. More...

typedef void(*	ReceiveMessageFunc_t) (const mavlink_file_transfer_protocol_t ftp_req, void worker_data)

Public Member Functions
	MavlinkFTP (Mavlink *mavlink)

void	send (const hrt_abstime t)
	Handle sending of messages. More...

void	handle_message (const mavlink_message_t *msg)
	Handle possible FTP message.

void	set_unittest_worker (ReceiveMessageFunc_t rcvMsgFunc, void *worker_data)
	Sets up the server to run in unit test mode. More...

struct	__attribute__ ((__packed__)) PayloadHeader
	This is the payload which is in mavlink_file_transfer_protocol_t.payload. More...

unsigned	get_size ()

Friends
class	MavlinkFtpTest

Detailed Description

MAVLink remote file server. Support FTP like commands using MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL message.

Member Enumeration Documentation

§ ErrorCode

enum MavlinkFTP::ErrorCode : uint8_t

Error codes returned in Nak response PayloadHeader.data[0].

Enumerator
kErrFail	Unknown failure.
kErrFailErrno	Command failed, errno sent back in PayloadHeader.data[1].
kErrInvalidDataSize	PayloadHeader.size is invalid.
kErrInvalidSession	Session is not currently open.
kErrNoSessionsAvailable	All available Sessions in use.
kErrEOF	Offset past end of file for List and Read commands.
kErrUnknownCommand	Unknown command opcode.
kErrFailFileExists	File exists already.
kErrFailFileProtected	File is write protected.

§ Opcode

enum MavlinkFTP::Opcode : uint8_t

Command opcodes.

Enumerator
kCmdNone	ignored, always acked
kCmdTerminateSession	Terminates open Read session.
kCmdResetSessions	Terminates all open Read sessions.
kCmdListDirectory	List files in <path> from <offset>
kCmdOpenFileRO	Opens file at <path> for reading, returns <session>
kCmdReadFile	Reads <size> bytes from <offset> in <session>
kCmdCreateFile	Creates file at <path> for writing, returns <session>
kCmdWriteFile	Writes <size> bytes to <offset> in <session>
kCmdRemoveFile	Remove file at <path>
kCmdCreateDirectory	Creates directory at <path>
kCmdRemoveDirectory	Removes Directory at <path>, must be empty.
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>
kCmdBurstReadFile	Burst download session file.
kRspAck	Ack response.
kRspNak	Nak response.

Member Function Documentation

§ attribute()

struct MavlinkFTP::__attribute__ ( (__packed__) )

inline

This is the payload which is in mavlink_file_transfer_protocol_t.payload.

This needs to be packed, because it's typecasted from mavlink_file_transfer_protocol_t.payload, which starts at a 3 byte offset, causing an unaligned access to seq_number and offset

< sequence number for message

< Session id for read and write commands

< Command opcode

< Size of data

< Request opcode returned in kRspAck, kRspNak message

< Only used if req_opcode=kCmdBurstReadFile - 1: set of burst packets complete, 0: More burst packets coming.

< 32 bit aligment padding

< Offsets for List and Read commands

< command data, varies by Opcode

§ send()

void MavlinkFTP::send ( const hrt_abstime t )

Handle sending of messages.

Call this regularly at a fixed frequency.

Parameters

t	current time

§ set_unittest_worker()

void MavlinkFTP::set_unittest_worker	(	ReceiveMessageFunc_t	rcvMsgFunc,
		void *	worker_data
	)

Sets up the server to run in unit test mode.

Parameters

rcvmsgFunc	Function which will be called to handle outgoing mavlink messages.
worker_data	Data to pass to worker

The documentation for this class was generated from the following files:

src/modules/mavlink/mavlink_ftp.h
src/modules/mavlink/mavlink_ftp.cpp

Public Types

Public Member Functions

Friends