void
MavlinkFTP::handle_message(Mavlink* mavlink, mavlink_message_t *msg)
{
// get a free request
struct Request* req = _get_request();
// if we couldn't get a request slot, just drop it
if (req == nullptr) {
warnx("Dropping FTP request: queue full\n");
return;
}
if (msg->msgid == MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL) {
mavlink_msg_file_transfer_protocol_decode(msg, &req->message);
#ifdef MAVLINK_FTP_UNIT_TEST
if (!_utRcvMsgFunc) {
warnx("Incorrectly written unit test\n");
return;
}
// We use fake ids when unit testing
req->serverSystemId = MavlinkFtpTest::serverSystemId;
req->serverComponentId = MavlinkFtpTest::serverComponentId;
req->serverChannel = MavlinkFtpTest::serverChannel;
#else
// Not unit testing, use the real thing
req->serverSystemId = mavlink->get_system_id();
req->serverComponentId = mavlink->get_component_id();
req->serverChannel = mavlink->get_channel();
#endif
// This is the system id we want to target when sending
req->targetSystemId = msg->sysid;
if (req->message.target_system == req->serverSystemId) {
req->mavlink = mavlink;
#ifdef MAVLINK_FTP_UNIT_TEST
// We are running in Unit Test mode. Don't queue, just call _worket directly.
_process_request(req);
#else
// We are running in normal mode. Queue the request to the worker
work_queue(LPWORK, &req->work, &MavlinkFTP::_worker_trampoline, req, 0);
#endif
return;
}
}
_return_request(req);
}
void
MavlinkFTP::handle_message(const mavlink_message_t *msg)
{
//warnx("MavlinkFTP::handle_message %d %d", buf_size_1, buf_size_2);
if (msg->msgid == MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL) {
mavlink_file_transfer_protocol_t ftp_request;
mavlink_msg_file_transfer_protocol_decode(msg, &ftp_request);
#ifdef MAVLINK_FTP_DEBUG
warnx("FTP: received ftp protocol message target_system: %d", ftp_request.target_system);
#endif
if (ftp_request.target_system == _getServerSystemId()) {
_process_request(&ftp_request, msg->sysid);
}
}
}
/// @brief Decode and validate the incoming message
bool MavlinkFtpTest::_decode_message(const mavlink_message_t *msg, ///< Mavlink message to decode
mavlink_file_transfer_protocol_t *ftp_msg, ///< Decoded FTP message
MavlinkFTP::PayloadHeader **payload) ///< Payload inside FTP message response
{
mavlink_msg_file_transfer_protocol_decode(msg, ftp_msg);
// Make sure the targets are correct
ut_compare("Target network non-zero", ftp_msg->target_network, 0);
ut_compare("Target system id mismatch", ftp_msg->target_system, clientSystemId);
ut_compare("Target component id mismatch", ftp_msg->target_component, clientComponentId);
*payload = reinterpret_cast<MavlinkFTP::PayloadHeader *>(ftp_msg->payload);
// Make sure we have a good sequence number
ut_compare("Sequence number mismatch", (*payload)->seqNumber, _lastOutgoingSeqNumber + 1);
// Bump sequence number for next outgoing message
_lastOutgoingSeqNumber++;
return true;
}
