/// @brief Responds to an Open command
MavlinkFTP::ErrorCode
MavlinkFTP::_workOpen(PayloadHeader* payload, int oflag)
{
int session_index = _find_unused_session();
if (session_index < 0) {
warnx("FTP: Open failed - out of sessions\n");
return kErrNoSessionsAvailable;
}
char *filename = _data_as_cstring(payload);
uint32_t fileSize = 0;
struct stat st;
if (stat(filename, &st) != 0) {
// fail only if requested open for read
if (oflag & O_RDONLY)
return kErrFailErrno;
else
st.st_size = 0;
}
fileSize = st.st_size;
int fd = ::open(filename, oflag);
if (fd < 0) {
return kErrFailErrno;
}
_session_fds[session_index] = fd;
payload->session = session_index;
payload->size = sizeof(uint32_t);
*((uint32_t*)payload->data) = fileSize;
return kErrNone;
}
/// @brief Responds to a CalcFileCRC32 command
MavlinkFTP::ErrorCode
MavlinkFTP::_workCalcFileCRC32(PayloadHeader* payload)
{
char file_buf[256];
uint32_t checksum = 0;
ssize_t bytes_read;
strncpy(file_buf, _data_as_cstring(payload), kMaxDataLength);
int fd = ::open(file_buf, O_RDONLY);
if (fd < 0) {
return kErrFailErrno;
}
do {
bytes_read = ::read(fd, file_buf, sizeof(file_buf));
if (bytes_read < 0) {
int r_errno = errno;
::close(fd);
errno = r_errno;
return kErrFailErrno;
}
checksum = crc32part((uint8_t*)file_buf, bytes_read, checksum);
} while (bytes_read == sizeof(file_buf));
::close(fd);
payload->size = sizeof(uint32_t);
*((uint32_t*)payload->data) = checksum;
return kErrNone;
}
/// @brief Responds to a Rename command
MavlinkFTP::ErrorCode
MavlinkFTP::_workRename(PayloadHeader* payload)
{
char oldpath[kMaxDataLength];
char newpath[kMaxDataLength];
char *ptr = _data_as_cstring(payload);
size_t oldpath_sz = strlen(ptr);
if (oldpath_sz == payload->size) {
// no newpath
errno = EINVAL;
return kErrFailErrno;
}
strncpy(oldpath, ptr, kMaxDataLength);
strncpy(newpath, ptr + oldpath_sz + 1, kMaxDataLength);
if (rename(oldpath, newpath) == 0) {
payload->size = 0;
return kErrNone;
} else {
return kErrFailErrno;
}
}
/// @brief Responds to a CalcFileCRC32 command
MavlinkFTP::ErrorCode
MavlinkFTP::_workCalcFileCRC32(PayloadHeader *payload)
{
uint32_t checksum = 0;
ssize_t bytes_read;
strncpy(_work_buffer2, _root_dir, _work_buffer2_len);
strncpy(_work_buffer2 + _root_dir_len, _data_as_cstring(payload), _work_buffer2_len - _root_dir_len);
// ensure termination
_work_buffer2[_work_buffer2_len - 1] = '\0';
int fd = ::open(_work_buffer2, O_RDONLY);
if (fd < 0) {
return kErrFailErrno;
}
do {
bytes_read = ::read(fd, _work_buffer2, _work_buffer2_len);
if (bytes_read < 0) {
int r_errno = errno;
::close(fd);
errno = r_errno;
return kErrFailErrno;
}
checksum = crc32part((uint8_t *)_work_buffer2, bytes_read, checksum);
} while (bytes_read == _work_buffer2_len);
::close(fd);
payload->size = sizeof(uint32_t);
std::memcpy(payload->data, &checksum, payload->size);
return kErrNone;
}
/// @brief Responds to a Rename command
MavlinkFTP::ErrorCode
MavlinkFTP::_workRename(PayloadHeader *payload)
{
char *ptr = _data_as_cstring(payload);
size_t oldpath_sz = strlen(ptr);
if (oldpath_sz == payload->size) {
// no newpath
errno = EINVAL;
return kErrFailErrno;
}
strncpy(_work_buffer1, _root_dir, _work_buffer1_len);
strncpy(_work_buffer1 + _root_dir_len, ptr, _work_buffer1_len - _root_dir_len);
_work_buffer1[_work_buffer1_len - 1] = '\0'; // ensure termination
strncpy(_work_buffer2, _root_dir, _work_buffer2_len);
strncpy(_work_buffer2 + _root_dir_len, ptr + oldpath_sz + 1, _work_buffer2_len - _root_dir_len);
_work_buffer2[_work_buffer2_len - 1] = '\0'; // ensure termination
if (rename(_work_buffer1, _work_buffer2) == 0) {
payload->size = 0;
return kErrNone;
} else {
return kErrFailErrno;
}
}
/// @brief Responds to a CreateDirectory command
MavlinkFTP::ErrorCode
MavlinkFTP::_workCreateDirectory(PayloadHeader* payload)
{
char dir[kMaxDataLength];
strncpy(dir, _data_as_cstring(payload), kMaxDataLength);
if (mkdir(dir, S_IRWXU | S_IRWXG | S_IRWXO) == 0) {
payload->size = 0;
return kErrNone;
} else {
return kErrFailErrno;
}
}
/// @brief Responds to a RemoveFile command
MavlinkFTP::ErrorCode
MavlinkFTP::_workRemoveFile(PayloadHeader* payload)
{
char file[kMaxDataLength];
strncpy(file, _data_as_cstring(payload), kMaxDataLength);
if (unlink(file) == 0) {
payload->size = 0;
return kErrNone;
} else {
return kErrFailErrno;
}
}
/// @brief Responds to a CreateDirectory command
MavlinkFTP::ErrorCode
MavlinkFTP::_workCreateDirectory(PayloadHeader *payload)
{
strncpy(_work_buffer1, _root_dir, _work_buffer1_len);
strncpy(_work_buffer1 + _root_dir_len, _data_as_cstring(payload), _work_buffer1_len - _root_dir_len);
// ensure termination
_work_buffer1[_work_buffer1_len - 1] = '\0';
if (mkdir(_work_buffer1, S_IRWXU | S_IRWXG | S_IRWXO) == 0) {
payload->size = 0;
return kErrNone;
} else {
return kErrFailErrno;
}
}
/// @brief Responds to an Open command
MavlinkFTP::ErrorCode
MavlinkFTP::_workOpen(PayloadHeader *payload, int oflag)
{
if (_session_info.fd >= 0) {
warnx("FTP: Open failed - out of sessions\n");
return kErrNoSessionsAvailable;
}
char *filename = _data_as_cstring(payload);
#ifdef MAVLINK_FTP_DEBUG
warnx("FTP: open '%s'", filename);
#endif
uint32_t fileSize = 0;
struct stat st;
if (stat(filename, &st) != 0) {
// fail only if requested open for read
if (oflag & O_RDONLY) {
return kErrFailErrno;
} else {
st.st_size = 0;
}
}
fileSize = st.st_size;
// Set mode to 666 incase oflag has O_CREAT
int fd = ::open(filename, oflag, PX4_O_MODE_666);
if (fd < 0) {
return kErrFailErrno;
}
_session_info.fd = fd;
_session_info.file_size = fileSize;
_session_info.stream_download = false;
payload->session = 0;
payload->size = sizeof(uint32_t);
std::memcpy(payload->data, &fileSize, payload->size);
return kErrNone;
}
/// @brief Responds to an Open command
MavlinkFTP::ErrorCode
MavlinkFTP::_workOpen(PayloadHeader* payload, bool create)
{
int session_index = _find_unused_session();
if (session_index < 0) {
warnx("FTP: Open failed - out of sessions\n");
return kErrNoSessionsAvailable;
}
char *filename = _data_as_cstring(payload);
uint32_t fileSize = 0;
if (!create) {
struct stat st;
if (stat(filename, &st) != 0) {
return kErrFailErrno;
}
fileSize = st.st_size;
}
int oflag = create ? (O_CREAT | O_EXCL | O_APPEND) : O_RDONLY;
int fd = ::open(filename, oflag);
if (fd < 0) {
return kErrFailErrno;
}
_session_fds[session_index] = fd;
payload->session = session_index;
if (create) {
payload->size = 0;
} else {
payload->size = sizeof(uint32_t);
*((uint32_t*)payload->data) = fileSize;
}
return kErrNone;
}
/// @brief Responds to a TruncateFile command
MavlinkFTP::ErrorCode
MavlinkFTP::_workTruncateFile(PayloadHeader* payload)
{
char file[kMaxDataLength];
const char temp_file[] = "/fs/microsd/.trunc.tmp";
strncpy(file, _data_as_cstring(payload), kMaxDataLength);
payload->size = 0;
// emulate truncate(file, payload->offset) by
// copying to temp and overwrite with O_TRUNC flag.
struct stat st;
if (stat(file, &st) != 0) {
return kErrFailErrno;
}
if (!S_ISREG(st.st_mode)) {
errno = EISDIR;
return kErrFailErrno;
}
// check perms allow us to write (not romfs)
if (!(st.st_mode & (S_IWUSR | S_IWGRP | S_IWOTH))) {
errno = EROFS;
return kErrFailErrno;
}
if (payload->offset == (unsigned)st.st_size) {
// nothing to do
return kErrNone;
}
else if (payload->offset == 0) {
// 1: truncate all data
int fd = ::open(file, O_TRUNC | O_WRONLY);
if (fd < 0) {
return kErrFailErrno;
}
::close(fd);
return kErrNone;
}
else if (payload->offset > (unsigned)st.st_size) {
// 2: extend file
int fd = ::open(file, O_WRONLY);
if (fd < 0) {
return kErrFailErrno;
}
if (lseek(fd, payload->offset - 1, SEEK_SET) < 0) {
::close(fd);
return kErrFailErrno;
}
bool ok = 1 == ::write(fd, "", 1);
::close(fd);
return (ok)? kErrNone : kErrFailErrno;
}
else {
// 3: truncate
if (_copy_file(file, temp_file, payload->offset) != 0) {
return kErrFailErrno;
}
if (_copy_file(temp_file, file, payload->offset) != 0) {
return kErrFailErrno;
}
if (::unlink(temp_file) != 0) {
return kErrFailErrno;
}
return kErrNone;
}
}
/// @brief Responds to a List command
MavlinkFTP::ErrorCode
MavlinkFTP::_workList(PayloadHeader* payload)
{
char dirPath[kMaxDataLength];
strncpy(dirPath, _data_as_cstring(payload), kMaxDataLength);
DIR *dp = opendir(dirPath);
if (dp == nullptr) {
warnx("FTP: can't open path '%s'", dirPath);
return kErrFailErrno;
}
#ifdef MAVLINK_FTP_DEBUG
warnx("FTP: list %s offset %d", dirPath, payload->offset);
#endif
ErrorCode errorCode = kErrNone;
struct dirent entry, *result = nullptr;
unsigned offset = 0;
// move to the requested offset
seekdir(dp, payload->offset);
for (;;) {
// read the directory entry
if (readdir_r(dp, &entry, &result)) {
warnx("FTP: list %s readdir_r failure\n", dirPath);
errorCode = kErrFailErrno;
break;
}
// no more entries?
if (result == nullptr) {
if (payload->offset != 0 && offset == 0) {
// User is requesting subsequent dir entries but there were none. This means the user asked
// to seek past EOF.
errorCode = kErrEOF;
}
// Otherwise we are just at the last directory entry, so we leave the errorCode at kErrorNone to signal that
break;
}
uint32_t fileSize = 0;
char buf[256];
char direntType;
// Determine the directory entry type
switch (entry.d_type) {
case DTYPE_FILE:
// For files we get the file size as well
direntType = kDirentFile;
snprintf(buf, sizeof(buf), "%s/%s", dirPath, entry.d_name);
struct stat st;
if (stat(buf, &st) == 0) {
fileSize = st.st_size;
}
break;
case DTYPE_DIRECTORY:
if (strcmp(entry.d_name, ".") == 0 || strcmp(entry.d_name, "..") == 0) {
// Don't bother sending these back
direntType = kDirentSkip;
} else {
direntType = kDirentDir;
}
break;
default:
// We only send back file and diretory entries, skip everything else
direntType = kDirentSkip;
}
if (direntType == kDirentSkip) {
// Skip send only dirent identifier
buf[0] = '\0';
} else if (direntType == kDirentFile) {
// Files send filename and file length
snprintf(buf, sizeof(buf), "%s\t%d", entry.d_name, fileSize);
} else {
// Everything else just sends name
strncpy(buf, entry.d_name, sizeof(buf));
buf[sizeof(buf)-1] = 0;
}
size_t nameLen = strlen(buf);
// Do we have room for the name, the one char directory identifier and the null terminator?
if ((offset + nameLen + 2) > kMaxDataLength) {
break;
}
// Move the data into the buffer
payload->data[offset++] = direntType;
strcpy((char *)&payload->data[offset], buf);
#ifdef MAVLINK_FTP_DEBUG
printf("FTP: list %s %s\n", dirPath, (char *)&payload->data[offset-1]);
#endif
offset += nameLen + 1;
}
closedir(dp);
payload->size = offset;
return errorCode;
}
/// @brief Responds to a TruncateFile command
MavlinkFTP::ErrorCode
MavlinkFTP::_workTruncateFile(PayloadHeader *payload)
{
strncpy(_work_buffer1, _root_dir, _work_buffer1_len);
strncpy(_work_buffer1 + _root_dir_len, _data_as_cstring(payload), _work_buffer1_len - _root_dir_len);
// ensure termination
_work_buffer1[_work_buffer1_len - 1] = '\0';
payload->size = 0;
#ifdef __PX4_NUTTX
// emulate truncate(_work_buffer1, payload->offset) by
// copying to temp and overwrite with O_TRUNC flag (NuttX does not support truncate()).
const char temp_file[] = PX4_ROOTFSDIR"/fs/microsd/.trunc.tmp";
struct stat st;
if (stat(_work_buffer1, &st) != 0) {
return kErrFailErrno;
}
if (!S_ISREG(st.st_mode)) {
errno = EISDIR;
return kErrFailErrno;
}
// check perms allow us to write (not romfs)
if (!(st.st_mode & (S_IWUSR | S_IWGRP | S_IWOTH))) {
errno = EROFS;
return kErrFailErrno;
}
if (payload->offset == (unsigned)st.st_size) {
// nothing to do
return kErrNone;
} else if (payload->offset == 0) {
// 1: truncate all data
int fd = ::open(_work_buffer1, O_TRUNC | O_WRONLY);
if (fd < 0) {
return kErrFailErrno;
}
::close(fd);
return kErrNone;
} else if (payload->offset > (unsigned)st.st_size) {
// 2: extend file
int fd = ::open(_work_buffer1, O_WRONLY);
if (fd < 0) {
return kErrFailErrno;
}
if (lseek(fd, payload->offset - 1, SEEK_SET) < 0) {
::close(fd);
return kErrFailErrno;
}
bool ok = 1 == ::write(fd, "", 1);
::close(fd);
return (ok) ? kErrNone : kErrFailErrno;
} else {
// 3: truncate
if (_copy_file(_work_buffer1, temp_file, payload->offset) != 0) {
return kErrFailErrno;
}
if (_copy_file(temp_file, _work_buffer1, payload->offset) != 0) {
return kErrFailErrno;
}
if (::unlink(temp_file) != 0) {
return kErrFailErrno;
}
return kErrNone;
}
#else
int ret = truncate(_work_buffer1, payload->offset);
if (ret == 0) {
return kErrNone;
}
return kErrFailErrno;
#endif /* __PX4_NUTTX */
}
/// @brief Responds to a List command
MavlinkFTP::ErrorCode
MavlinkFTP::_workList(PayloadHeader *payload, bool list_hidden)
{
strncpy(_work_buffer1, _root_dir, _work_buffer1_len);
strncpy(_work_buffer1 + _root_dir_len, _data_as_cstring(payload), _work_buffer1_len - _root_dir_len);
// ensure termination
_work_buffer1[_work_buffer1_len - 1] = '\0';
ErrorCode errorCode = kErrNone;
unsigned offset = 0;
DIR *dp = opendir(_work_buffer1);
if (dp == nullptr) {
#ifdef MAVLINK_FTP_UNIT_TEST
warnx("File open failed");
#else
_mavlink->send_statustext_critical("FTP: can't open path (file system corrupted?)");
_mavlink->send_statustext_critical(_work_buffer1);
#endif
// this is not an FTP error, abort directory by simulating eof
return kErrEOF;
}
#ifdef MAVLINK_FTP_DEBUG
warnx("FTP: list %s offset %d", _work_buffer1, payload->offset);
#endif
struct dirent *result = nullptr;
// move to the requested offset
int requested_offset = payload->offset;
while (requested_offset-- > 0 && readdir(dp));
for (;;) {
errno = 0;
result = readdir(dp);
// read the directory entry
if (result == nullptr) {
if (errno) {
#ifdef MAVLINK_FTP_UNIT_TEST
warnx("readdir failed");
#else
_mavlink->send_statustext_critical("FTP: list readdir failure");
_mavlink->send_statustext_critical(_work_buffer1);
#endif
payload->data[offset++] = kDirentSkip;
*((char *)&payload->data[offset]) = '\0';
offset++;
payload->size = offset;
closedir(dp);
return errorCode;
}
// no more entries?
if (payload->offset != 0 && offset == 0) {
// User is requesting subsequent dir entries but there were none. This means the user asked
// to seek past EOF.
errorCode = kErrEOF;
}
// Otherwise we are just at the last directory entry, so we leave the errorCode at kErrorNone to signal that
break;
}
uint32_t fileSize = 0;
char direntType;
// Determine the directory entry type
switch (result->d_type) {
#ifdef __PX4_NUTTX
case DTYPE_FILE: {
#else
case DT_REG: {
#endif
// For files we get the file size as well
direntType = kDirentFile;
int ret = snprintf(_work_buffer2, _work_buffer2_len, "%s/%s", _work_buffer1, result->d_name);
bool buf_is_ok = ((ret > 0) && (ret < _work_buffer2_len));
if (buf_is_ok) {
struct stat st;
if (stat(_work_buffer2, &st) == 0) {
fileSize = st.st_size;
}
}
break;
}
#ifdef __PX4_NUTTX
case DTYPE_DIRECTORY:
#else
case DT_DIR:
#endif
if ((!list_hidden && (strncmp(result->d_name, ".", 1) == 0)) ||
strcmp(result->d_name, ".") == 0 || strcmp(result->d_name, "..") == 0) {
// Don't bother sending these back
direntType = kDirentSkip;
} else {
direntType = kDirentDir;
}
break;
default:
// We only send back file and diretory entries, skip everything else
direntType = kDirentSkip;
}
if (direntType == kDirentSkip) {
// Skip send only dirent identifier
_work_buffer2[0] = '\0';
} else if (direntType == kDirentFile) {
// Files send filename and file length
int ret = snprintf(_work_buffer2, _work_buffer2_len, "%s\t%d", result->d_name, fileSize);
bool buf_is_ok = ((ret > 0) && (ret < _work_buffer2_len));
if (!buf_is_ok) {
_work_buffer2[_work_buffer2_len - 1] = '\0';
}
} else {
// Everything else just sends name
strncpy(_work_buffer2, result->d_name, _work_buffer2_len);
_work_buffer2[_work_buffer2_len - 1] = '\0';
}
size_t nameLen = strlen(_work_buffer2);
// Do we have room for the name, the one char directory identifier and the null terminator?
if ((offset + nameLen + 2) > kMaxDataLength) {
break;
}
// Move the data into the buffer
payload->data[offset++] = direntType;
strcpy((char *)&payload->data[offset], _work_buffer2);
#ifdef MAVLINK_FTP_DEBUG
printf("FTP: list %s %s\n", _work_buffer1, (char *)&payload->data[offset - 1]);
#endif
offset += nameLen + 1;
}
closedir(dp);
payload->size = offset;
return errorCode;
}
/// @brief Responds to an Open command
MavlinkFTP::ErrorCode
MavlinkFTP::_workOpen(PayloadHeader *payload, int oflag)
{
if (_session_info.fd >= 0) {
PX4_ERR("FTP: Open failed - out of sessions\n");
return kErrNoSessionsAvailable;
}
strncpy(_work_buffer1, _root_dir, _work_buffer1_len);
strncpy(_work_buffer1 + _root_dir_len, _data_as_cstring(payload), _work_buffer1_len - _root_dir_len);
#ifdef MAVLINK_FTP_DEBUG
warnx("FTP: open '%s'", _work_buffer1);
#endif
uint32_t fileSize = 0;
struct stat st;
if (stat(_work_buffer1, &st) != 0) {
// fail only if requested open for read
if (oflag & O_RDONLY) {
return kErrFailErrno;
} else {
st.st_size = 0;
}
}
fileSize = st.st_size;
// Set mode to 666 incase oflag has O_CREAT
int fd = ::open(_work_buffer1, oflag, PX4_O_MODE_666);
if (fd < 0) {
return kErrFailErrno;
}
_session_info.fd = fd;
_session_info.file_size = fileSize;
_session_info.stream_download = false;
payload->session = 0;
payload->size = sizeof(uint32_t);
std::memcpy(payload->data, &fileSize, payload->size);
return kErrNone;
}
/// @brief Responds to a Read command
MavlinkFTP::ErrorCode
MavlinkFTP::_workRead(PayloadHeader *payload)
{
if (payload->session != 0 || _session_info.fd < 0) {
return kErrInvalidSession;
}
#ifdef MAVLINK_FTP_DEBUG
warnx("FTP: read offset:%d", payload->offset);
#endif
// We have to test seek past EOF ourselves, lseek will allow seek past EOF
if (payload->offset >= _session_info.file_size) {
PX4_ERR("request past EOF");
return kErrEOF;
}
if (lseek(_session_info.fd, payload->offset, SEEK_SET) < 0) {
PX4_ERR("seek fail");
return kErrFailErrno;
}
int bytes_read = ::read(_session_info.fd, &payload->data[0], kMaxDataLength);
if (bytes_read < 0) {
// Negative return indicates error other than eof
PX4_ERR("read fail %d", bytes_read);
return kErrFailErrno;
}
payload->size = bytes_read;
return kErrNone;
}
/// @brief Responds to a Stream command
MavlinkFTP::ErrorCode
MavlinkFTP::_workBurst(PayloadHeader *payload, uint8_t target_system_id)
{
if (payload->session != 0 && _session_info.fd < 0) {
return kErrInvalidSession;
}
#ifdef MAVLINK_FTP_DEBUG
warnx("FTP: burst offset:%d", payload->offset);
#endif
// Setup for streaming sends
_session_info.stream_download = true;
_session_info.stream_offset = payload->offset;
_session_info.stream_chunk_transmitted = 0;
_session_info.stream_seq_number = payload->seq_number + 1;
_session_info.stream_target_system_id = target_system_id;
return kErrNone;
}
/// @brief Responds to a Write command
MavlinkFTP::ErrorCode
MavlinkFTP::_workWrite(PayloadHeader *payload)
{
if (payload->session != 0 && _session_info.fd < 0) {
return kErrInvalidSession;
}
if (lseek(_session_info.fd, payload->offset, SEEK_SET) < 0) {
// Unable to see to the specified location
PX4_ERR("seek fail");
return kErrFailErrno;
}
int bytes_written = ::write(_session_info.fd, &payload->data[0], payload->size);
if (bytes_written < 0) {
// Negative return indicates error other than eof
PX4_ERR("write fail %d", bytes_written);
return kErrFailErrno;
}
payload->size = sizeof(uint32_t);
std::memcpy(payload->data, &bytes_written, payload->size);
return kErrNone;
}
/// @brief Responds to a RemoveFile command
MavlinkFTP::ErrorCode
MavlinkFTP::_workRemoveFile(PayloadHeader *payload)
{
strncpy(_work_buffer1, _root_dir, _work_buffer1_len);
strncpy(_work_buffer1 + _root_dir_len, _data_as_cstring(payload), _work_buffer1_len - _root_dir_len);
// ensure termination
_work_buffer1[_work_buffer1_len - 1] = '\0';
if (unlink(_work_buffer1) == 0) {
payload->size = 0;
return kErrNone;
} else {
return kErrFailErrno;
}
}
/// @brief Responds to a List command
MavlinkFTP::ErrorCode
MavlinkFTP::_workList(PayloadHeader *payload, bool list_hidden)
{
char dirPath[kMaxDataLength];
strncpy(dirPath, _data_as_cstring(payload), kMaxDataLength);
ErrorCode errorCode = kErrNone;
unsigned offset = 0;
DIR *dp = opendir(dirPath);
if (dp == nullptr) {
#ifdef MAVLINK_FTP_UNIT_TEST
warnx("File open failed");
#else
_mavlink->send_statustext_critical("FTP: can't open path (file system corrupted?)");
_mavlink->send_statustext_critical(dirPath);
#endif
// this is not an FTP error, abort directory by simulating eof
return kErrEOF;
}
#ifdef MAVLINK_FTP_DEBUG
warnx("FTP: list %s offset %d", dirPath, payload->offset);
#endif
struct dirent *result = nullptr;
// move to the requested offset
seekdir(dp, payload->offset);
for (;;) {
errno = 0;
result = readdir(dp);
// read the directory entry
if (result == nullptr) {
if (errno) {
#ifdef MAVLINK_FTP_UNIT_TEST
warnx("readdir failed");
#else
_mavlink->send_statustext_critical("FTP: list readdir failure");
_mavlink->send_statustext_critical(dirPath);
#endif
payload->data[offset++] = kDirentSkip;
*((char *)&payload->data[offset]) = '\0';
offset++;
payload->size = offset;
closedir(dp);
return errorCode;
}
// no more entries?
if (payload->offset != 0 && offset == 0) {
// User is requesting subsequent dir entries but there were none. This means the user asked
// to seek past EOF.
errorCode = kErrEOF;
}
// Otherwise we are just at the last directory entry, so we leave the errorCode at kErrorNone to signal that
break;
}
uint32_t fileSize = 0;
char buf[256];
char direntType;
// Determine the directory entry type
switch (result->d_type) {
#ifdef __PX4_NUTTX
case DTYPE_FILE:
#else
case DT_REG:
#endif
// For files we get the file size as well
direntType = kDirentFile;
snprintf(buf, sizeof(buf), "%s/%s", dirPath, result->d_name);
struct stat st;
if (stat(buf, &st) == 0) {
fileSize = st.st_size;
}
break;
#ifdef __PX4_NUTTX
case DTYPE_DIRECTORY:
#else
case DT_DIR:
#endif
if ((!list_hidden && (strncmp(result->d_name, ".", 1) == 0)) ||
strcmp(result->d_name, ".") == 0 || strcmp(result->d_name, "..") == 0) {
// Don't bother sending these back
direntType = kDirentSkip;
} else {
direntType = kDirentDir;
}
break;
default:
// We only send back file and diretory entries, skip everything else
direntType = kDirentSkip;
}
if (direntType == kDirentSkip) {
// Skip send only dirent identifier
buf[0] = '\0';
} else if (direntType == kDirentFile) {
// Files send filename and file length
snprintf(buf, sizeof(buf), "%s\t%d", result->d_name, fileSize);
} else {
// Everything else just sends name
strncpy(buf, result->d_name, sizeof(buf));
buf[sizeof(buf) - 1] = 0;
}
size_t nameLen = strlen(buf);
// Do we have room for the name, the one char directory identifier and the null terminator?
if ((offset + nameLen + 2) > kMaxDataLength) {
break;
}
// Move the data into the buffer
payload->data[offset++] = direntType;
strcpy((char *)&payload->data[offset], buf);
#ifdef MAVLINK_FTP_DEBUG
printf("FTP: list %s %s\n", dirPath, (char *)&payload->data[offset - 1]);
#endif
offset += nameLen + 1;
}
closedir(dp);
payload->size = offset;
return errorCode;
}
