FTP plugin. More...
Inheritance diagram for mavplugin::FTPPlugin:
Public Member Functions | |
| checksum_crc32 (0) | |
| FTPPlugin () | |
| const message_map | get_rx_handlers () |
| Return map with message rx handlers. | |
| void | initialize (UAS &uas_) |
| Plugin initializer. | |
Private Types | |
| enum | OpState { OP_IDLE, OP_ACK, OP_LIST, OP_OPEN, OP_READ, OP_WRITE, OP_CHECKSUM } |
| typedef std::vector< uint8_t > | V_FileData |
| This type used in servicies to store 'data' fileds. | |
Private Member Functions | |
| void | add_dirent (const char *ptr, size_t slen) |
| bool | checksum_cb (mavros_msgs::FileChecksum::Request &req, mavros_msgs::FileChecksum::Response &res) |
| void | checksum_crc32_file (std::string &path) |
| bool | close_cb (mavros_msgs::FileClose::Request &req, mavros_msgs::FileClose::Response &res) |
| bool | close_file (std::string &path) |
| void | create_directory (std::string &path) |
| void | go_idle (bool is_error_, int r_errno_=0) |
| Go to IDLE mode. | |
| void | handle_ack_checksum (FTPRequest &req) |
| void | handle_ack_list (FTPRequest &req) |
| void | handle_ack_open (FTPRequest &req) |
| void | handle_ack_read (FTPRequest &req) |
| void | handle_ack_write (FTPRequest &req) |
| void | handle_file_transfer_protocol (const mavlink_message_t *msg, uint8_t sysid, uint8_t compid) |
| void | handle_req_ack (FTPRequest &req) |
| void | handle_req_nack (FTPRequest &req) |
| bool | list_cb (mavros_msgs::FileList::Request &req, mavros_msgs::FileList::Response &res) |
| void | list_directory (std::string &path) |
| void | list_directory_end () |
| bool | mkdir_cb (mavros_msgs::FileMakeDir::Request &req, mavros_msgs::FileMakeDir::Response &res) |
| bool | open_cb (mavros_msgs::FileOpen::Request &req, mavros_msgs::FileOpen::Response &res) |
| bool | open_file (std::string &path, int mode) |
| bool | read_cb (mavros_msgs::FileRead::Request &req, mavros_msgs::FileRead::Response &res) |
| bool | read_file (std::string &path, size_t off, size_t len) |
| void | read_file_end () |
| bool | remove_cb (mavros_msgs::FileRemove::Request &req, mavros_msgs::FileRemove::Response &res) |
| void | remove_directory (std::string &path) |
| void | remove_file (std::string &path) |
| bool | rename_ (std::string &old_path, std::string &new_path) |
| bool | rename_cb (mavros_msgs::FileRename::Request &req, mavros_msgs::FileRename::Response &res) |
| bool | reset_cb (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res) |
| Reset communication on both sides. | |
| bool | rmdir_cb (mavros_msgs::FileRemoveDir::Request &req, mavros_msgs::FileRemoveDir::Response &res) |
| void | send_any_path_command (FTPRequest::Opcode op, const std::string &debug_msg, std::string &path, uint32_t offset) |
| Send any command with string payload (usually file/dir path) | |
| void | send_calc_file_crc32_command (std::string &path) |
| void | send_create_command () |
| void | send_create_dir_command (std::string &path) |
| void | send_list_command () |
| void | send_open_ro_command () |
| void | send_open_wo_command () |
| void | send_read_command () |
| void | send_remove_command (std::string &path) |
| void | send_remove_dir_command (std::string &path) |
| bool | send_rename_command (std::string &old_path, std::string &new_path) |
| void | send_reset () |
| void | send_terminate_command (uint32_t session) |
| void | send_truncate_command (std::string &path, size_t length) |
| void | send_write_command (const size_t bytes_to_copy) |
| bool | truncate_cb (mavros_msgs::FileTruncate::Request &req, mavros_msgs::FileTruncate::Response &res) |
| void | truncate_file (std::string &path, size_t length) |
| bool | wait_completion (const int msecs) |
| size_t | write_bytes_to_copy () |
| bool | write_cb (mavros_msgs::FileWrite::Request &req, mavros_msgs::FileWrite::Response &res) |
| bool | write_file (std::string &path, size_t off, V_FileData &data) |
| void | write_file_end () |
Static Private Member Functions | |
| static constexpr int | compute_rw_timeout (size_t len) |
Private Attributes | |
| uint32_t | active_session |
| session id of current operation | |
| uint32_t | checksum_crc32 |
| ros::ServiceServer | checksum_srv |
| ros::ServiceServer | close_srv |
| std::condition_variable | cond |
| wait condvar | |
| std::mutex | cond_mutex |
| ros::NodeHandle | ftp_nh |
| bool | is_error |
| error signaling flag (timeout/proto error) | |
| uint16_t | last_send_seqnr |
| seqNumber for send. | |
| std::vector < mavros_msgs::FileEntry > | list_entries |
| uint32_t | list_offset |
| std::string | list_path |
| ros::ServiceServer | list_srv |
| ros::ServiceServer | mkdir_srv |
| OpState | op_state |
| std::string | open_path |
| size_t | open_size |
| ros::ServiceServer | open_srv |
| int | r_errno |
| store errno from server | |
| V_FileData | read_buffer |
| uint32_t | read_offset |
| size_t | read_size |
| ros::ServiceServer | read_srv |
| ros::ServiceServer | remove_srv |
| ros::ServiceServer | rename_srv |
| ros::ServiceServer | reset_srv |
| ros::ServiceServer | rmdir_srv |
| std::map< std::string, uint32_t > | session_file_map |
| ros::ServiceServer | truncate_srv |
| UAS * | uas |
| V_FileData | write_buffer |
| V_FileData::iterator | write_it |
| uint32_t | write_offset |
| ros::ServiceServer | write_srv |
Static Private Attributes | |
| static constexpr int | CHUNK_TIMEOUT_MS = 200 |
| static constexpr int | LIST_TIMEOUT_MS = 5000 |
| static constexpr size_t | MAX_RESERVE_DIFF = 0x10000 |
| Maximum difference between allocated space and used. | |
| static constexpr int | OPEN_TIMEOUT_MS = 200 |
Detailed Description
The documentation for this class was generated from the following file: