/*---------------------------------------------------------------------------------------------------------------------
Tests the network connection to the drone by fetching the drone version number
through the FTP server embedded on the drone.
This is how FreeFlight checks if a drone sofware update is required.
The FTP connection process is a quick and (very)dirty one. It uses FTP passive mode.
---------------------------------------------------------------------------------------------------------------------*/
int test_drone_connection()
{
const char * passivdeModeHeader = "\r\n227 PASV ok (";
vp_com_socket_t ftp_client,ftp_client2;
char buffer[1024];
static Write ftp_write = NULL;
static Read ftp_read = NULL;
int bytes_to_send,received_bytes;
int i,L,x[6],port;
vp_os_memset(buffer,0,sizeof(buffer));
/* Connects to the FTP server */
wifi_config_socket(&ftp_client,VP_COM_CLIENT,FTP_PORT,WIFI_ARDRONE_IP);
ftp_client.protocol = VP_COM_TCP;
if(VP_FAILED(vp_com_init(wifi_com()))) return -1;
if(VP_FAILED(vp_com_open(wifi_com(), &ftp_client, &ftp_read, &ftp_write))) return -2;
/* Request version file */
bytes_to_send = _snprintf(buffer,sizeof(buffer),"%s",
"USER anonymous\r\nCWD /\r\nPWD\r\nTYPE A\r\nPASV\r\nRETR version.txt\r\n");
ftp_write(&ftp_client, (const int8_t*)buffer,&bytes_to_send);
/* Dirty. We should wait for data to arrive with some kind of synchronization
or make the socket blocking.*/
Sleep(1000);
/* Gets the data port */
received_bytes = sizeof(buffer);
ftp_read(&ftp_client,(int8_t*)buffer,&received_bytes);
if (received_bytes<1) { vp_com_close(wifi_com(), &ftp_client); return -3; }
L=received_bytes-strlen(passivdeModeHeader);
/* Searches for the passive mode acknowlegment from the FTP server */
for (i=0;i<L;i++) {
if (strncmp((buffer+i),passivdeModeHeader,strlen(passivdeModeHeader))==0) break;
}
if (i==L) {
vp_com_close(wifi_com(), &ftp_client); return -4;
}
i+=strlen(passivdeModeHeader);
if (sscanf(buffer+i,"%i,%i,%i,%i,%i,%i)",&x[0],&x[1],&x[2],&x[3],&x[4],&x[5])!=6)
{ vp_com_close(wifi_com(), &ftp_client); return -5; }
port=(x[4]<<8)+x[5];
/* Connects to the FTP server data port */
wifi_config_socket(&ftp_client2,VP_COM_CLIENT,port,"192.168.1.1");
ftp_client2.protocol = VP_COM_TCP;
if(VP_FAILED(vp_com_init(wifi_com())))
{ vp_com_close(wifi_com(), &ftp_client2); return -6; }
if(VP_FAILED(vp_com_open(wifi_com(), &ftp_client2, &ftp_read, &ftp_write)))
{ vp_com_close(wifi_com(), &ftp_client2); return -7; }
/* Clean up */
vp_com_close(wifi_com(), &ftp_client);
vp_com_close(wifi_com(), &ftp_client2);
return 0;
}
/*---------------------------------------------------------------------------------------------------------------------
Tests the network connection to the drone by fetching the drone version number
through the FTP server embedded on the drone.
This is how FreeFlight checks if a drone sofware update is required.
The FTP connection process is a quick and (very)dirty one. It uses FTP passive mode.
---------------------------------------------------------------------------------------------------------------------*/
int test_drone_connection()
{
vp_com_socket_t ftp_client;
static Write ftp_write = NULL;
static Read ftp_read = NULL;
int timeout_windows = 1000; /*milliseconds*/
/* Connects to the FTP server */
wifi_config_socket(&ftp_client,VP_COM_CLIENT,FTP_PORT,WIFI_ARDRONE_IP);
ftp_client.protocol = VP_COM_TCP;
if(VP_FAILED(vp_com_init(wifi_com())))
return -1;
if(VP_FAILED(vp_com_open(wifi_com(), &ftp_client, &ftp_read, &ftp_write)))
return -2;
setsockopt((int32_t)ftp_client.priv,
SOL_SOCKET,
SO_RCVTIMEO,
(const char*)&timeout_windows, sizeof(timeout_windows)
);
/* Clean up */
vp_com_close(wifi_com(), &ftp_client);
return 0;
}
int test_drone_connection()
{
const char * passivdeModeHeader = "\r\n227 PASV ok (";
vp_com_socket_t ftp_client,ftp_client2;
char buffer[1024];
static Write ftp_write = NULL;
static Read ftp_read = NULL;
int bytes_to_send,received_bytes;
int i,L,x[6],port;
int timeout_windows = 1000; /*milliseconds*/
vp_os_memset(buffer,0,sizeof(buffer));
wifi_config_socket(&ftp_client,VP_COM_CLIENT,FTP_PORT,WIFI_ARDRONE_IP);
ftp_client.protocol = VP_COM_TCP;
if(VP_FAILED(vp_com_init(wifi_com()))) return -1;
if(VP_FAILED(vp_com_open(wifi_com(), &ftp_client, &ftp_read, &ftp_write))) return -2;
setsockopt((int32_t)ftp_client.priv,
SOL_SOCKET,
SO_RCVTIMEO,
(const char*)&timeout_windows, sizeof(timeout_windows)
);
bytes_to_send = _snprintf(buffer,sizeof(buffer),"%s",
"USER anonymous\r\nCWD /\r\nPWD\r\nTYPE A\r\nPASV\r\nRETR version.txt\r\n");
ftp_write(&ftp_client,buffer,&bytes_to_send);
Sleep(1000);
received_bytes = sizeof(buffer);
ftp_read(&ftp_client,buffer,&received_bytes);
if (received_bytes<1) {
vp_com_close(wifi_com(), &ftp_client);
return -3;
}
L=received_bytes-strlen(passivdeModeHeader);
for (i=0; i<L; i++) {
if (strncmp((buffer+i),passivdeModeHeader,strlen(passivdeModeHeader))==0) break;
}
if (i==L) {
vp_com_close(wifi_com(), &ftp_client);
return -4;
}
i+=strlen(passivdeModeHeader);
if (sscanf(buffer+i,"%i,%i,%i,%i,%i,%i)",&x[0],&x[1],&x[2],&x[3],&x[4],&x[5])!=6)
{
vp_com_close(wifi_com(), &ftp_client);
return -5;
}
port=(x[4]<<8)+x[5];
wifi_config_socket(&ftp_client2,VP_COM_CLIENT,port,"192.168.1.1");
ftp_client2.protocol = VP_COM_TCP;
if(VP_FAILED(vp_com_init(wifi_com())))
{
vp_com_close(wifi_com(), &ftp_client2);
return -6;
}
if(VP_FAILED(vp_com_open(wifi_com(), &ftp_client2, &ftp_read, &ftp_write)))
{
vp_com_close(wifi_com(), &ftp_client2);
return -7;
}
received_bytes = sizeof(buffer);
ftp_read(&ftp_client2,buffer,&received_bytes);
if (received_bytes>0) {
buffer[min(received_bytes,sizeof(buffer)-1)]=0;
printf("无人机版本 %s 被检测到 ... 按下 <Enter> 开始应用.\n",buffer);
getchar();
}
vp_com_close(wifi_com(), &ftp_client);
vp_com_close(wifi_com(), &ftp_client2);
return 0;
}
