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/****************************************************************************
*
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#pragma once
#include <QObject>
#include <QDir>
#include <QTimer>
#include <QQueue>
#include "UASInterface.h"
#include "QGCLoggingCategory.h"
#include "QGCMAVLink.h"
Q_DECLARE_LOGGING_CATEGORY(FTPManagerLog)
class Vehicle;
class FTPManager : public QObject
{
Q_OBJECT
public:
FTPManager(Vehicle* vehicle);
/// Downloads the specified file.
/// @param from File to download from vehicle, fully qualified path. May be in the format mavlinkftp://...
/// @param toDir Local directory to download file to
/// @return true: download has started, false: error, no download
/// Signals downloadComplete, commandError, commandProgress
bool download(const QString& from, const QString& toDir);
/// Stream downloads the specified file.
/// @param from File to download from UAS, fully qualified path. May be in the format mavlinkftp://...
/// @param toDir Local directory to download file to
/// @return true: download has started, false: error, no download
/// Signals downloadComplete, commandError, commandProgress
bool burstDownload(const QString& from, const QString& toDir);
/// Lists the specified directory. Emits listEntry signal for each entry, followed by listComplete signal.
/// @param dirPath Fully qualified path to list
void listDirectory(const QString& dirPath);
/// Upload the specified file to the specified location
void upload(const QString& toPath, const QFileInfo& uploadFile);
/// Create a remote directory
void createDirectory(const QString& directory);
void mavlinkMessageReceived(mavlink_message_t message);
signals:
void downloadComplete (const QString& file, const QString& errorMsg);
void uploadComplete (const QString& errorMsg);
/// Signalled to indicate a new directory entry was received.
void listEntry(const QString& entry);
// Signals associated with all commands
/// Signalled after a command has completed
void commandComplete(void);
void commandError(const QString& msg);
/// Signalled during a lengthy command to show progress
/// @param value Amount of progress: 0.0 = none, 1.0 = complete
void commandProgress(int value);
private slots:
void _ackTimeout(void);
private:
bool _sendOpcodeOnlyCmd (MavlinkFTP::OpCode_t opcode, MavlinkFTP::OpCode_t newWaitState);
void _emitErrorMessage (const QString& msg);
void _emitListEntry (const QString& entry);
void _sendRequestExpectAck (MavlinkFTP::Request* request);
void _sendRequestNoAck (MavlinkFTP::Request* request);
void _sendMessageOnLink (LinkInterface* link, mavlink_message_t message);
void _fillRequestWithString (MavlinkFTP::Request* request, const QString& str);
void _handlOpenFileROAck (MavlinkFTP::Request* ack);
void _handleReadFileAck (MavlinkFTP::Request* ack);
void _handleBurstReadFileAck (MavlinkFTP::Request* ack);
void _listAckResponse (MavlinkFTP::Request* listAck);
void _createAckResponse (MavlinkFTP::Request* createAck);
void _writeAckResponse (MavlinkFTP::Request* writeAck);
void _writeFileDatablock (void);
void _sendListCommand (void);
void _sendResetCommand (void);
void _downloadComplete (const QString& errorMsg);
void _uploadComplete (const QString& errorMsg);
bool _downloadWorker (const QString& from, const QString& toDir);
void _requestMissingBurstData(void);
void _handleAck (MavlinkFTP::Request* ack);
void _handleNak (MavlinkFTP::Request* nak);
MavlinkFTP::OpCode_t _waitState = MavlinkFTP::kCmdNone; ///< Current operation of state machine
QTimer _ackTimer; ///< Used to signal a timeout waiting for an ack
int _ackNumTries; ///< current number of tries
Vehicle* _vehicle;
LinkInterface* _dedicatedLink = nullptr; ///< Link to use for communication
MavlinkFTP::Request _lastOutgoingRequest; ///< contains the last outgoing packet
unsigned _listOffset; ///< offset for the current List operation
QString _listPath; ///< path for the current List operation
uint8_t _activeSession = 0; ///< currently active session, 0 for none
uint32_t _readOffset; ///< current read offset
uint32_t _writeOffset; ///< current write offset
uint32_t _writeSize; ///< current write data size
uint32_t _writeFileSize; ///< Size of file being uploaded
QByteArray _writeFileAccumulator; ///< Holds file being uploaded
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uint32_t cBytes;
} MissingData_t;
struct {
uint32_t expectedBurstOffset; ///< offset which should be coming next in a burst sequence
uint32_t expectedReadOffset; ///< offset which should be coming from a hole filling read request
uint32_t bytesWritten;
QList<MissingData_t> missingData;
QDir toDir; ///< Directory to download file to
QString fileName; ///< Filename (no path) for download file
uint32_t fileSize; ///< Size of file being downloaded
QFile file;
int retryCount;
void reset() {
expectedBurstOffset = 0;
expectedReadOffset = 0;
bytesWritten = 0;
retryCount = 0;
missingData.clear();
file.close();
}
} _downloadState;
static const int _ackTimerTimeoutMsecs = 1000;
static const int _ackTimerMaxRetries = 6;
static const int _maxRetry = 5;