MavLinkCom/src/impl/MavLinkFtpClientImpl.cpp - master - vasandi/AirSim

MavLinkCom/src/impl/MavLinkFtpClientImpl.cpp
816 строк27 KB
Андрей Васильченко
сборка под ubuntu 26.04
08 июл 2026, 10:15
08 июл 2026, 10:15d53c5a2
// Copyright (c) Microsoft Corporation. All rights reserved.
// Licensed under the MIT License.

#include "MavLinkFtpClientImpl.hpp"
#include <mutex>
#include "Utils.hpp"
#include "FileSystem.hpp"
#include <sys/stat.h>

using namespace mavlink_utils;
using namespace mavlinkcom;
using namespace mavlinkcom_impl;
using milliseconds = std::chrono::milliseconds;

#define MAXIMUM_ROUND_TRIP_TIME 200 // 200 milliseconds should be plenty of time for single round trip to remote node.
#define TIMEOUT_INTERVAL 10 // 10 * MAXIMUM_ROUND_TRIP_TIME means we have a problem.

// These definitions are copied from PX4 implementation

/// @brief This is the payload which is in mavlink_file_transfer_protocol_t.payload. We pad the structure ourselves to
/// 32 bit alignment to avoid usage of any pack pragmas.
struct FtpPayload
{
    uint16_t seq_number; ///< sequence number for message
    uint8_t session; ///< Session id for read and write commands
    uint8_t opcode; ///< Command opcode
    uint8_t size; ///< Size of data
    uint8_t req_opcode; ///< Request opcode returned in kRspAck, kRspNak message
    uint8_t burst_complete; ///< Only used if req_opcode=kCmdBurstreadFile - 1: set of burst packets complete, 0: More burst packets coming.
    uint8_t padding; ///< 32 bit aligment padding
    uint32_t offset; ///< Offsets for List and Read commands
    uint8_t data; ///< command data, varies by Opcode
};

void setPayloadFilename(FtpPayload* payload, const char* filename)
{

    const size_t maxFileName = 251 - sizeof(FtpPayload);
    size_t len = strlen(filename);
    if (len > maxFileName) {
        len = maxFileName;
    }
    strncpy(reinterpret_cast<char*>(&payload->data), filename, len);
    payload->size = static_cast<uint8_t>(len);
}

/// @brief Command opcodes
enum Opcode : uint8_t
{
    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 = 128, ///< Ack response
    kRspNak ///< Nak response
};

/// @brief Error codes returned in Nak response PayloadHeader.data[0].
enum ErrorCode : uint8_t
{
    kErrNone,
    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
    kErrRetriesExhausted,
    kErrUnknownCommand ///< Unknown command opcode
};

static const char kDirentFile = 'F'; ///< Identifies File returned from List command
static const char kDirentDir = 'D'; ///< Identifies Directory returned from List command
static const char kDirentSkip = 'S'; ///< Identifies Skipped entry from List command

MavLinkFtpClientImpl::MavLinkFtpClientImpl(int localSystemId, int localComponentId)
    : MavLinkNodeImpl(localSystemId, localComponentId)
{
}

MavLinkFtpClientImpl::~MavLinkFtpClientImpl()
{
}

bool MavLinkFtpClientImpl::isSupported()
{
    // request capabilities, it will respond with AUTOPILOT_VERSION.
    MavLinkAutopilotVersion ver;
    assertNotPublishingThread();
    if (!getCapabilities().wait(5000, &ver)) {
        throw std::runtime_error(Utils::stringf("Five second timeout waiting for response to mavlink command MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES"));
    }
    return (ver.capabilities & static_cast<int>(MAV_PROTOCOL_CAPABILITY::MAV_PROTOCOL_CAPABILITY_FTP)) != 0;
}

void MavLinkFtpClientImpl::subscribe()
{
    if (subscription_ == 0) {
        subscription_ = getConnection()->subscribe([=](std::shared_ptr<MavLinkConnection> connection, const MavLinkMessage& msg) {
            unused(connection);
            handleResponse(msg);
        });
    }
}

void MavLinkFtpClientImpl::list(MavLinkFtpProgress& progress, const std::string& remotePath, std::vector<MavLinkFileInfo>& files)
{
    if (waiting_) {
        cancel();
    }
    ensureConnection();
    progress_ = &progress;
    files_ = &files;
    command_ = FtpCommandList;
    remote_file_ = remotePath;
    size_t len = remote_file_.size();
    if (len > 1 && remote_file_[len - 1] == '/') {
        // must trim trailing slashes so PX4 doesn't hang!
        remote_file_ = remote_file_.substr(0, len - 1);
    }
    file_index_ = 0;
    runStateMachine();
    progress.complete = true;
    files_ = nullptr;
    progress_ = nullptr;
}

void MavLinkFtpClientImpl::get(MavLinkFtpProgress& progress, const std::string& remotePath, const std::string& localPath)
{
    if (waiting_) {
        cancel();
    }
    ensureConnection();
    progress_ = &progress;
    command_ = FtpCommandGet;
    local_file_ = localPath;
    remote_file_ = remotePath;
    bytes_read_ = 0;
    file_size_ = 0;
    remote_file_open_ = false;

    runStateMachine();
    progress_ = nullptr;
    progress.complete = true;
}

void MavLinkFtpClientImpl::put(MavLinkFtpProgress& progress, const std::string& remotePath, const std::string& localPath)
{
    local_file_ = localPath;
    remote_file_ = remotePath;

    if (waiting_) {
        cancel();
    }
    ensureConnection();
    progress_ = &progress;
    command_ = FtpCommandPut;

    if (openSourceFile()) {
        remote_file_open_ = false;
        runStateMachine();
    }
    progress_ = nullptr;
    progress.complete = true;
}

void MavLinkFtpClientImpl::remove(MavLinkFtpProgress& progress, const std::string& remotePath)
{
    remote_file_ = remotePath;

    if (waiting_) {
        cancel();
    }
    ensureConnection();
    progress_ = &progress;
    command_ = FtpCommandRemove;
    runStateMachine();
    progress_ = nullptr;
    progress.complete = true;
}

void MavLinkFtpClientImpl::mkdir(MavLinkFtpProgress& progress, const std::string& remotePath)
{
    remote_file_ = remotePath;

    if (waiting_) {
        cancel();
    }
    ensureConnection();
    progress_ = &progress;
    command_ = FtpCommandMkdir;
    runStateMachine();
    progress_ = nullptr;
    progress.complete = true;
}

void MavLinkFtpClientImpl::rmdir(MavLinkFtpProgress& progress, const std::string& remotePath)
{
    remote_file_ = remotePath;

    if (waiting_) {
        cancel();
    }
    ensureConnection();
    progress_ = &progress;
    command_ = FtpCommandRmdir;
    runStateMachine();
    progress_ = nullptr;
    progress.complete = true;
}

void MavLinkFtpClientImpl::runStateMachine()
{
    waiting_ = true;
    retries_ = 0;
    total_time_ = milliseconds::zero();
    messages_ = 0;

    progress_->cancel = false;
    progress_->error = 0;
    progress_->current = 0;
    progress_->goal = 0;
    progress_->complete = false;
    progress_->longest_delay = 0;
    progress_->message_count = 0;

    int before = 0;
    subscribe();
    nextStep();

    const int monitorInterval = 30; // milliseconds between monitoring progress.
    double rate = 0;
    double totalSleep = 0;

    while (waiting_) {
        std::this_thread::sleep_for(std::chrono::milliseconds(monitorInterval));
        totalSleep += monitorInterval;

        int after = 0;
        {
            std::lock_guard<std::mutex> guard(mutex_);
            after = messages_;
            if (messages_ > 0) {
                rate = static_cast<double>(total_time_.count()) / static_cast<double>(messages_);
                if (progress_ != nullptr) {
                    progress_->average_rate = rate;
                }
            }
        }

        if (before == after) {
            if (totalSleep > (MAXIMUM_ROUND_TRIP_TIME * TIMEOUT_INTERVAL)) {
                Utils::log("ftp command timeout, not getting a response, so retrying\n", Utils::kLogLevelWarn);
                retry();
                totalSleep = 0;
            }
        }
        else {
            totalSleep = 0;
        }
        before = after;
    }
    waiting_ = false;
}

void MavLinkFtpClientImpl::nextStep()
{
    switch (command_) {
    case FtpCommandList:
        listDirectory();
        break;
    case FtpCommandGet:
        readFile();
        break;
    case FtpCommandPut:
        writeFile();
        break;
    case FtpCommandRemove:
        removeFile();
        break;
    case FtpCommandMkdir:
        mkdir();
        break;
    case FtpCommandRmdir:
        rmdir();
        break;
    default:
        break;
    }
}

void MavLinkFtpClientImpl::removeFile()
{
    MavLinkFileTransferProtocol ftp;
    FtpPayload* payload = reinterpret_cast<FtpPayload*>(&ftp.payload[0]);
    ftp.target_component = getTargetComponentId();
    ftp.target_system = getTargetSystemId();
    payload->opcode = kCmdRemoveFile;
    setPayloadFilename(payload, remote_file_.c_str());
    sendMessage(ftp);
    recordMessageSent();
}

void MavLinkFtpClientImpl::mkdir()
{
    MavLinkFileTransferProtocol ftp;
    FtpPayload* payload = reinterpret_cast<FtpPayload*>(&ftp.payload[0]);
    ftp.target_component = getTargetComponentId();
    ftp.target_system = getTargetSystemId();
    payload->opcode = kCmdCreateDirectory;
    setPayloadFilename(payload, remote_file_.c_str());
    sendMessage(ftp);
    recordMessageSent();
}

void MavLinkFtpClientImpl::rmdir()
{
    MavLinkFileTransferProtocol ftp;
    FtpPayload* payload = reinterpret_cast<FtpPayload*>(&ftp.payload[0]);
    ftp.target_component = getTargetComponentId();
    ftp.target_system = getTargetSystemId();
    payload->opcode = kCmdRemoveDirectory;
    setPayloadFilename(payload, remote_file_.c_str());
    sendMessage(ftp);
    recordMessageSent();
}

void MavLinkFtpClientImpl::listDirectory()
{
    MavLinkFileTransferProtocol ftp;
    FtpPayload* payload = reinterpret_cast<FtpPayload*>(&ftp.payload[0]);
    ftp.target_component = getTargetComponentId();
    ftp.target_system = getTargetSystemId();
    payload->opcode = kCmdListDirectory;
    setPayloadFilename(payload, remote_file_.c_str());
    payload->offset = file_index_;
    sendMessage(ftp);
    recordMessageSent();
}

bool MavLinkFtpClientImpl::openSourceFile()
{
    file_ptr_ = fopen(local_file_.c_str(), "rb");
    if (file_ptr_ == nullptr) {
        if (progress_ != nullptr) {
            progress_->error = errno;
            progress_->message = Utils::stringf("Error opening file '%s' for reading, rc=%d", remote_file_.c_str(), progress_->error);
        }
        return false;
    }
    fseek(file_ptr_, 0, SEEK_END);
    long pos = ftell(file_ptr_);
    fseek(file_ptr_, 0, SEEK_SET);
    file_size_ = static_cast<uint64_t>(pos);
    if (progress_ != nullptr) {
        progress_->goal = file_size_;
    }
    return true;
}

bool MavLinkFtpClientImpl::createLocalFile()
{
    if (file_ptr_ == nullptr) {
        auto path = FileSystem::getFullPath(local_file_);
        if (FileSystem::isDirectory(path)) {
            // user was lazy, only told us where to put the file, so we borrow the name of the file
            // from the source.
            auto remote = FileSystem::getFileName(normalize(remote_file_));
            local_file_ = FileSystem::combine(path, remote);
        }
        else {
            // check if directory exists.
            FileSystem::removeLeaf(path);
            if (FileSystem::isDirectory(path)) {
                // perfect.
            }
            else if (FileSystem::exists(path)) {
                if (progress_ != nullptr) {
                    progress_->error = errno;
                    progress_->message = Utils::stringf("Error opening file because '%s' is not a directory", path.c_str());
                }
                return false;
            }
            else {
                if (progress_ != nullptr) {
                    progress_->error = errno;
                    progress_->message = Utils::stringf("Error opening file because '%s' should be a directory but it was not found", path.c_str());
                }
                return false;
            }
        }

        file_ptr_ = fopen(local_file_.c_str(), "wb");
        if (file_ptr_ == nullptr) {
            if (progress_ != nullptr) {
                progress_->error = errno;
                progress_->message = Utils::stringf("Error opening file '%s' for writing, rc=%d", local_file_.c_str(), errno);
            }
            return false;
        }
        file_size_ = 0;
    }
    return true;
}

void MavLinkFtpClientImpl::readFile()
{
    if (!remote_file_open_) {
        MavLinkFileTransferProtocol ftp;
        FtpPayload* payload = reinterpret_cast<FtpPayload*>(&ftp.payload[0]);
        ftp.target_component = getTargetComponentId();
        ftp.target_system = getTargetSystemId();
        payload->opcode = kCmdOpenFileRO;
        setPayloadFilename(payload, remote_file_.c_str());
        sendMessage(ftp);
        recordMessageSent();
    }
    else {
        if (createLocalFile()) {
            // use last_message_ so we preserve the sessionid.
            FtpPayload* payload = reinterpret_cast<FtpPayload*>(&last_message_.payload[0]);
            payload->opcode = kCmdReadFile;
            payload->offset = bytes_read_;
            last_message_.target_component = getTargetComponentId();
            last_message_.target_system = getTargetSystemId();
            sendMessage(last_message_);
            recordMessageSent();
            if (progress_ != nullptr) {
                progress_->current = bytes_read_;
            }
        }
        else {
            // could not create the local file, so stop.
            waiting_ = false;
        }
    }
}

void MavLinkFtpClientImpl::writeFile()
{

    if (!remote_file_open_) {
        MavLinkFileTransferProtocol ftp;
        FtpPayload* payload = reinterpret_cast<FtpPayload*>(&ftp.payload[0]);
        ftp.target_component = getTargetComponentId();
        ftp.target_system = getTargetSystemId();
        payload->opcode = kCmdOpenFileWO;
        strcpy(reinterpret_cast<char*>(&payload->data), remote_file_.c_str());
        payload->size = static_cast<uint8_t>(remote_file_.size());
        sendMessage(ftp);
        recordMessageSent();
    }
    else {
        // must use last_message_ so we preserve the session id.
        MavLinkFileTransferProtocol& ftp = last_message_;
        FtpPayload* payload = reinterpret_cast<FtpPayload*>(&ftp.payload[0]);
        payload->opcode = kCmdWriteFile;
        payload->seq_number = sequence_;
        fseek(file_ptr_, bytes_written_, SEEK_SET);
        uint8_t* data = &payload->data;
        size_t bytes = fread(data, 1, 251 - 12, file_ptr_);
        if (progress_ != nullptr) {
            progress_->current = bytes_written_;
        }
        if (bytes == 0) {
            success_ = true;
            reset();
            int err = ferror(file_ptr_);
            if (err != 0) {
                if (progress_ != nullptr) {
                    progress_->error = err;
                    progress_->message = Utils::stringf("error reading local file, errno=%d", err);
                }
            }
            fclose(file_ptr_);
            file_ptr_ = nullptr;
            waiting_ = false;
        }
        else {
            payload->offset = bytes_written_;
            payload->size = static_cast<uint8_t>(bytes);
            ftp.target_component = getTargetComponentId();
            ftp.target_system = getTargetSystemId();
            sendMessage(ftp);
            recordMessageSent();
        }
    }
}

void MavLinkFtpClientImpl::cancel()
{
    // todo: wait for any pending responses from PX4 so we can safely start a new command.
    reset();
}

void MavLinkFtpClientImpl::close()
{
    if (file_ptr_ != nullptr) {
        reset();
        fclose(file_ptr_);
        file_ptr_ = nullptr;
    }
    if (subscription_ != 0) {
        getConnection()->unsubscribe(subscription_);
        subscription_ = 0;
    }
}

void MavLinkFtpClientImpl::reset()
{
    MavLinkFileTransferProtocol ftp;
    ftp.target_component = getTargetComponentId();
    ftp.target_system = getTargetSystemId();
    FtpPayload* payload = reinterpret_cast<FtpPayload*>(&ftp.payload[0]);
    payload->opcode = kCmdResetSessions;
    sendMessage(ftp);
    recordMessageSent();
}

void MavLinkFtpClientImpl::handleListResponse()
{
    FtpPayload* payload = reinterpret_cast<FtpPayload*>(&last_message_.payload[0]);

    if (payload->offset != file_index_) {
        // todo: error handling here? sequence is out of order...
        Utils::log(Utils::stringf("list got offset %d, but expecting file index %d\n", payload->offset, file_index_), Utils::kLogLevelError);
        retry();
        return;
    }

    if (payload->offset == 0 && payload->size == 0) {
        // directory must be empty then, can't do nextStep because
        // it will just loop for ever re-requesting zero offset into
        // empty directory.
        reset();
        success_ = true;
        waiting_ = false;
        return;
    }

    // result should be a list of null terminated file names.
    uint8_t* data = &payload->data;
    for (int offset = 0; offset < payload->size;) {
        uint8_t dirType = data[offset];
        offset++;
        retries_ = 0;
        file_index_++;
        int len = 0;
        std::string name = reinterpret_cast<char*>(&data[offset]);
        if (dirType == kDirentSkip) {
            // skipping this entry
        }
        else if (dirType == kDirentFile) {
            size_t i = name.find_last_of('\t');
            MavLinkFileInfo info;
            info.is_directory = false;
            len = static_cast<int>(name.size());
            if (i > 0) {
                // remove the file size field.
                std::string size(name.begin() + i + 1, name.end());
                info.size = Utils::to_integer(size);
                name.erase(name.begin() + i, name.end());
            }
            info.name = name;
            //printf("%s\n", name.c_str());
            if (files_ != nullptr) {
                files_->push_back(info);
            }
        }
        else if (dirType == kDirentDir) {
            MavLinkFileInfo info;
            info.is_directory = true;
            info.name = name;
            len = static_cast<int>(name.size());
            if (files_ != nullptr) {
                files_->push_back(info);
            }
        }
        offset += len + 1;
    }
    if (progress_ != nullptr) {
        progress_->current = file_index_;
    }
    // request the next batch.
    nextStep();
}

void MavLinkFtpClientImpl::handleReadResponse()
{
    FtpPayload* payload = reinterpret_cast<FtpPayload*>(&last_message_.payload[0]);
    if (payload->req_opcode == kCmdOpenFileRO) {
        remote_file_open_ = true;
        bytes_read_ = 0;
        retries_ = 0;
        sequence_ = payload->seq_number;
        uint32_t* size = reinterpret_cast<uint32_t*>(&payload->data);
        file_size_ = static_cast<uint64_t>(*size);
        if (progress_ != nullptr) {
            progress_->goal = file_size_;
        }
        nextStep();
    }
    else if (payload->req_opcode == kCmdReadFile) {
        int seq = static_cast<int>(payload->seq_number);
        if (seq != sequence_ + 1) {
            Utils::log(Utils::stringf("packet %d is out of sequence, expecting number %d\n", seq, sequence_ + 1), Utils::kLogLevelError);
            // perhaps this was a late response after we did a retry, so ignore it.
            return;
        }
        else if (file_ptr_ != nullptr) {
            sequence_ = payload->seq_number;
            fwrite(&payload->data, payload->size, 1, file_ptr_);
            bytes_read_ += payload->size;
            retries_ = 0;
            nextStep();
        }
    }
}

void MavLinkFtpClientImpl::handleWriteResponse()
{
    FtpPayload* payload = reinterpret_cast<FtpPayload*>(&last_message_.payload[0]);
    if (payload->req_opcode == kCmdOpenFileWO) {
        remote_file_open_ = true;
        bytes_written_ = 0;
        retries_ = 0;
        sequence_ = payload->seq_number;
        nextStep();
    }
    else if (payload->req_opcode == kCmdWriteFile) {
        int seq = static_cast<int>(payload->seq_number);
        if (seq != sequence_ + 1) {
            Utils::log(Utils::stringf("packet %d is out of sequence, expecting number %d\n", seq, sequence_ + 1), Utils::kLogLevelError);
            // perhaps this was a late response after we did a retry, so ignore it.
            return;
        }

        uint32_t* size = reinterpret_cast<uint32_t*>(&payload->data);
        // payload->size contains the bytes_written from PX4, so that's how much we advance.
        bytes_written_ += static_cast<int>(*size);
        retries_ = 0;
        sequence_++;
        nextStep();
    }
}

void MavLinkFtpClientImpl::handleRemoveResponse()
{
    success_ = true;
    waiting_ = false;
}

void MavLinkFtpClientImpl::handleRmdirResponse()
{
    success_ = true;
    waiting_ = false;
}

void MavLinkFtpClientImpl::handleMkdirResponse()
{
    success_ = true;
    waiting_ = false;
}

void MavLinkFtpClientImpl::handleResponse(const MavLinkMessage& msg)
{
    if (msg.msgid == static_cast<int>(MavLinkMessageIds::MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL)) {

        last_message_.decode(msg);
        recordMessageReceived();

        FtpPayload* payload = reinterpret_cast<FtpPayload*>(&last_message_.payload[0]);
        if (payload->opcode == kRspNak) {

            // reached the end of the list or the file.
            if (file_ptr_ != nullptr) {
                fclose(file_ptr_);
                file_ptr_ = nullptr;
            }

            int error = static_cast<int>(payload->data);
            if (error == kErrEOF) {
                // end of file or directory listing.
                success_ = true;
                error = 0;
            }
            else {
                success_ = false;
                if (progress_ != nullptr) {
                    if (error == kErrFailErrno) {
                        const uint8_t* data = &(payload->data);
                        error = static_cast<int>(data[1]);
                        progress_->error = error;
                        progress_->message = Utils::stringf("ftp kErrFailErrno %d", error);
                    }
                    else {
                        progress_->error = error;
                        progress_->message = Utils::stringf("ftp error %d", error);
                    }
                }
            }
            errorCode_ = error;
            waiting_ = false;
            reset();
        }
        else if (payload->opcode == kRspAck) {
            if (progress_ != nullptr) {
                progress_->message_count++;
            }
            // success, data should be following...
            switch (payload->req_opcode) {
            case kCmdListDirectory:
                handleListResponse();
                break;
            case kCmdOpenFileRO:
            case kCmdReadFile:
                handleReadResponse();
                break;
            case kCmdOpenFileWO:
            case kCmdWriteFile:
                handleWriteResponse();
                break;
            case kCmdResetSessions:
                // ack on this cmd is a noop
                break;
            case kCmdRemoveFile:
                handleRemoveResponse();
                break;
            case kCmdRemoveDirectory:
                handleRmdirResponse();
                break;
            case kCmdCreateDirectory:
                handleMkdirResponse();
                break;
            default:
                // todo: how to handle this? For now we ignore it and let the watchdog kick in and do a retry.
                Utils::log(Utils::stringf("Unexpected ACK with req_opcode=%d\n", static_cast<int>(payload->req_opcode)), Utils::kLogLevelWarn);
                break;
            }
        }
    }
}

void MavLinkFtpClientImpl::MavLinkFtpClientImpl::retry()
{
    retries_++;
    if (retries_ < 10) {
        Utils::log(Utils::stringf("retry %d\n", retries_), Utils::kLogLevelWarn);
        nextStep();
    }
    else {
        // give up then.
        errorCode_ = kErrRetriesExhausted;
        success_ = false;
        waiting_ = false;
        reset();
    }
}

void MavLinkFtpClientImpl::recordMessageSent()
{
    // tell watchdog we are sending a request
    std::lock_guard<std::mutex> guard(mutex_);
    start_time_ = std::chrono::duration_cast<milliseconds>(std::chrono::system_clock::now().time_since_epoch());
}

void MavLinkFtpClientImpl::recordMessageReceived()
{
    std::lock_guard<std::mutex> guard(mutex_);
    messages_++;
    milliseconds endTime = std::chrono::duration_cast<milliseconds>(std::chrono::system_clock::now().time_since_epoch());
    milliseconds duration = endTime - start_time_;
    total_time_ += duration;
    if (progress_ != nullptr && duration.count() > progress_->longest_delay) {
        progress_->longest_delay = static_cast<double>(duration.count());
    }
}

std::string MavLinkFtpClientImpl::replaceAll(std::string s, char toFind, char toReplace)
{
    size_t pos = s.find_first_of(toFind, 0);
    while (pos != std::string::npos) {
        s.replace(pos, 1, 1, toReplace);
        pos = s.find_first_of(toFind, 0);
    }
    return s;
}

std::string MavLinkFtpClientImpl::normalize(std::string arg)
{
    if (FileSystem::kPathSeparator == '\\') {
        return replaceAll(arg, '/', '\\'); // make sure user input matches what FileSystem will do when resolving paths.
    }
    return arg;
}

std::string MavLinkFtpClientImpl::toPX4Path(std::string arg)
{
    if (FileSystem::kPathSeparator == '\\') {
        return replaceAll(arg, '\\', '/'); // PX4 uses '/'
    }
    return arg;
}