private void kCmdResetSessions()
{
var payload = new FTPPayloadHeader()
{
opcode = FTPOpcode.kCmdResetSessions,
seq_number = seq_no++,
session = 0
};
fileTransferProtocol.payload = payload;
RetryTimeout timeout = new RetryTimeout();
var sub = _mavint.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.FILE_TRANSFER_PROTOCOL, message =>
{
var msg = (MAVLink.mavlink_file_transfer_protocol_t)message.data;
FTPPayloadHeader ftphead = msg.payload;
log.Info(ftphead.opcode + " " + ftphead.req_opcode + " " + ftphead.size);
// error at far end
if (ftphead.opcode == FTPOpcode.kRspNak)
{
var errorcode = (FTPErrorCode)ftphead.data[0];
if (errorcode == FTPErrorCode.kErrFailErrno)
{
var _ftp_errno = (FTPErrorCode)ftphead.data[1];
log.Error(ftphead.req_opcode + " " + errorcode + " " + _ftp_errno);
}
else
{
log.Error(ftphead.req_opcode + " " + errorcode);
}
return(true);
}
// not for us or bad seq no
if (payload.opcode != ftphead.req_opcode || payload.seq_number + 1 != ftphead.seq_number)
{
return(true);
}
// only ack's
if (ftphead.opcode != FTPOpcode.kRspAck)
{
return(true);
}
timeout.Complete = true;
return(true);
});
timeout.WorkToDo = () => _mavint.sendPacket(fileTransferProtocol, _sysid, _compid);
timeout.DoWork();
//_mavint.sendPacket(fileTransferProtocol, _sysid, _compid);
log.Info(payload.opcode);
_mavint.UnSubscribeToPacketType(sub);
}
private List <FtpFileInfo> kCmdListDirectory(string dir)
{
List <FtpFileInfo> answer = new List <FtpFileInfo>();
fileTransferProtocol.target_system = _sysid;
fileTransferProtocol.target_component = _compid;
fileTransferProtocol.target_network = 0;
var payload = new FTPPayloadHeader()
{
opcode = FTPOpcode.kCmdListDirectory,
data = ASCIIEncoding.ASCII.GetBytes(dir),
seq_number = seq_no++,
offset = 0
};
fileTransferProtocol.payload = payload;
var timeout = new RetryTimeout();
var sub = _mavint.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.FILE_TRANSFER_PROTOCOL,
message =>
{
var msg = (MAVLink.mavlink_file_transfer_protocol_t)message.data;
FTPPayloadHeader ftphead = msg.payload;
// error at far end
if (ftphead.opcode == FTPOpcode.kRspNak)
{
var errorcode = (FTPErrorCode)ftphead.data[0];
if (errorcode == FTPErrorCode.kErrFailErrno)
{
var _ftp_errno = (FTPErrorCode)ftphead.data[1];
}
if (errorcode == FTPErrorCode.kErrEOF)
{
timeout.Complete = true;
}
log.Error(ftphead.req_opcode + " " + errorcode);
return(true);
}
// not for us or bad seq no
if (payload.opcode != ftphead.req_opcode || payload.seq_number + 1 != ftphead.seq_number)
{
return(true);
}
// only ack's
if (ftphead.opcode != FTPOpcode.kRspAck)
{
return(true);
}
var requested_offset = ftphead.offset;
var offset = 0;
while (offset < ftphead.size)
{
var b = ftphead.data[offset++];
switch (b)
{
case kDirentFile:
var filename = new StringBuilder();
while (b != 0x0)
{
b = ftphead.data[offset++];
if (b != 0x0)
{
filename.Append((char)b);
}
}
var items = filename.ToString().Split('\t');
var size = int.Parse(items[1]);
answer.Add(new FtpFileInfo(items[0], dir, false, (int)size));
break;
case kDirentDir:
var name = new StringBuilder();
while (b != 0x0)
{
b = ftphead.data[offset++];
if (b != 0x0)
{
name.Append((char)b);
}
}
answer.Add(new FtpFileInfo(name.ToString(), dir, true));
break;
case kDirentSkip:
while (b != 0x0)
{
b = ftphead.data[offset++];
}
answer.Add(new FtpFileInfo("", dir, true));
break;
default:
var nameextra = new StringBuilder();
while (b != 0x0)
{
b = ftphead.data[offset++];
if (b != 0x0)
{
nameextra.Append((char)b);
}
}
if (nameextra.ToString() != "")
{
answer.Add(new FtpFileInfo(nameextra.ToString(), dir, false));
}
break;
}
}
payload.offset = (uint)answer.Count;
payload.seq_number = seq_no++;
fileTransferProtocol.payload = payload;
_mavint.sendPacket(fileTransferProtocol, _sysid, _compid);
timeout.ResetTimeout();
return(true);
});
timeout.WorkToDo = () => _mavint.sendPacket(fileTransferProtocol, _sysid, _compid);
timeout.DoWork();
_mavint.UnSubscribeToPacketType(sub);
return(answer);
}
private MemoryStream kCmdReadFile(string file, int size)
{
RetryTimeout timeout = new RetryTimeout();
KeyValuePair <MAVLink.MAVLINK_MSG_ID, Func <MAVLink.MAVLinkMessage, bool> > sub;
var payload = new FTPPayloadHeader()
{
opcode = FTPOpcode.kCmdReadFile,
data = ASCIIEncoding.ASCII.GetBytes(file),
seq_number = seq_no++,
offset = 0
};
fileTransferProtocol.payload = payload;
log.Info("get " + payload.opcode + " " + file + " " + size);
MemoryStream answer = new MemoryStream();
sub = _mavint.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.FILE_TRANSFER_PROTOCOL, message =>
{
var msg = (MAVLink.mavlink_file_transfer_protocol_t)message.data;
FTPPayloadHeader ftphead = msg.payload;
// error at far end
if (ftphead.opcode == FTPOpcode.kRspNak)
{
var errorcode = (FTPErrorCode)ftphead.data[0];
if (errorcode == FTPErrorCode.kErrFailErrno)
{
var _ftp_errno = (FTPErrorCode)ftphead.data[1];
log.Error(ftphead.req_opcode + " " + errorcode + " " + _ftp_errno);
}
else
{
log.Error(ftphead.req_opcode + " " + errorcode);
}
return(true);
}
// not for us or bad seq no
if (payload.opcode != ftphead.req_opcode || payload.seq_number + 1 != ftphead.seq_number)
{
return(true);
}
// only ack's
if (ftphead.opcode != FTPOpcode.kRspAck)
{
return(true);
}
// log.Debug(ftphead.req_opcode + " " + file + " " + ftphead.size + " " + ftphead.offset);
answer.Seek(ftphead.offset, SeekOrigin.Begin);
answer.Write(ftphead.data, 0, ftphead.size);
if (ftphead.offset + ftphead.size >= size)
{
timeout.Complete = true;
return(true);
}
payload.offset = ftphead.offset + ftphead.size;
payload.seq_number = seq_no++;
fileTransferProtocol.payload = payload;
_mavint.sendPacket(fileTransferProtocol, _sysid, _compid);
timeout.ResetTimeout();
return(true);
});
timeout.WorkToDo = () => _mavint.sendPacket(fileTransferProtocol, _sysid, _compid);
timeout.DoWork();
_mavint.UnSubscribeToPacketType(sub);
return(answer);
}
public void kCmdOpenFileRO(string file, out int size)
{
fileTransferProtocol.target_system = _sysid;
fileTransferProtocol.target_component = _compid;
fileTransferProtocol.target_network = 0;
var payload = new FTPPayloadHeader()
{
opcode = FTPOpcode.kCmdOpenFileRO,
data = ASCIIEncoding.ASCII.GetBytes(file),
seq_number = seq_no++,
session = 0
};
fileTransferProtocol.payload = payload;
var timeout = new RetryTimeout();
size = 0;
var localsize = size;
var sub = _mavint.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.FILE_TRANSFER_PROTOCOL, message =>
{
var msg = (MAVLink.mavlink_file_transfer_protocol_t)message.data;
FTPPayloadHeader ftphead = msg.payload;
// error at far end
if (ftphead.opcode == FTPOpcode.kRspNak)
{
var errorcode = (FTPErrorCode)ftphead.data[0];
if (errorcode == FTPErrorCode.kErrFailErrno)
{
var _ftp_errno = ftphead.data[1];
log.Error(ftphead.req_opcode + " " + errorcode + " " + _ftp_errno);
}
else
{
log.Error(ftphead.req_opcode + " " + errorcode);
}
if (errorcode == FTPErrorCode.kErrNoSessionsAvailable)
{
kCmdResetSessions();
}
return(true);
}
// not for us or bad seq no
if (payload.opcode != ftphead.req_opcode || payload.seq_number + 1 != ftphead.seq_number)
{
return(true);
}
// only ack's
if (ftphead.opcode != FTPOpcode.kRspAck)
{
return(true);
}
localsize = BitConverter.ToInt32(ftphead.data, 0);
log.Info(ftphead.req_opcode + " " + file + " " + localsize);
timeout.Complete = true;
return(true);
});
timeout.WorkToDo = () => _mavint.sendPacket(fileTransferProtocol, _sysid, _compid);
timeout.DoWork();
_mavint.UnSubscribeToPacketType(sub);
size = localsize;
}