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

MavLinkCom/src/impl/MavLinkFtpClientImpl.hpp
102 строки3 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.

#ifndef MavLinkCom_MavLinkComImpl_hpp
#define MavLinkCom_MavLinkComImpl_hpp

#include <memory>
#include <string>
#include <vector>
#include <mutex>
#include <chrono>
#include "MavLinkNode.hpp"
#include "MavLinkNodeImpl.hpp"
#include "MavLinkFtpClient.hpp"
#include <stdio.h>
#include <string>

namespace mavlinkcom_impl
{

class MavLinkFtpClientImpl : public MavLinkNodeImpl
{
public:
    MavLinkFtpClientImpl(int localSystemId, int localComponentId);
    ~MavLinkFtpClientImpl();

    bool isSupported();
    void list(MavLinkFtpProgress& progress, const std::string& remotePath, std::vector<MavLinkFileInfo>& files);
    void get(MavLinkFtpProgress& progress, const std::string& remotePath, const std::string& localPath);
    void put(MavLinkFtpProgress& progress, const std::string& remotePath, const std::string& localPath);
    void remove(MavLinkFtpProgress& progress, const std::string& remotePath);
    void mkdir(MavLinkFtpProgress& progress, const std::string& remotePath);
    void rmdir(MavLinkFtpProgress& progress, const std::string& remotePath);
    void cancel();

private:
    void nextStep();
    void listDirectory();
    void removeFile();
    void readFile();
    void writeFile();
    void mkdir();
    void rmdir();
    void handleListResponse();
    void handleReadResponse();
    void handleWriteResponse();
    void handleRemoveResponse();
    void handleRmdirResponse();
    void handleMkdirResponse();
    void reset();
    void handleResponse(const MavLinkMessage& msg);
    bool createLocalFile();
    bool openSourceFile();
    void subscribe();
    void close();
    void recordMessageSent();
    void recordMessageReceived();
    void runStateMachine();
    void retry();
    std::string replaceAll(std::string s, char toFind, char toReplace);
    std::string normalize(std::string arg);
    std::string toPX4Path(std::string arg);

    // the following state is needed to implement a restartable state machine for each command
    // with a watchdog
    enum FtpCommandEnum
    {
        FtpCommandNone,
        FtpCommandList,
        FtpCommandGet,
        FtpCommandPut,
        FtpCommandRemove,
        FtpCommandMkdir,
        FtpCommandRmdir
    };
    FtpCommandEnum command_ = FtpCommandNone;
    std::string local_file_;
    std::string remote_file_;
    FILE* file_ptr_ = nullptr;
    int bytes_read_ = 0;
    bool remote_file_open_ = false;
    int bytes_written_ = 0;
    uint64_t file_size_ = 0;
    uint32_t file_index_ = 0;
    int sequence_ = 0;
    int subscription_ = 0;
    bool waiting_ = false;
    bool success_ = false;
    int errorCode_ = 0;
    std::chrono::milliseconds start_time_;
    std::chrono::milliseconds total_time_;
    int messages_ = 0;
    int retries_ = 0;
    MavLinkFileTransferProtocol last_message_;
    bool watch_dog_running_ = false;
    std::mutex mutex_;
    std::vector<mavlinkcom::MavLinkFileInfo>* files_ = nullptr;
    MavLinkFtpProgress* progress_ = nullptr;
};
}

#endif