/// @brief Sends the specified FTP response message out through mavlink
void
MavlinkFTP::_reply(mavlink_file_transfer_protocol_t *ftp_req)
{
PayloadHeader *payload = reinterpret_cast<PayloadHeader *>(&ftp_req->payload[0]);
// keep a copy of the last sent response ((n)ack), so that if it gets lost and the GCS resends the request,
// we can simply resend the response.
// we only keep small responses to reduce RAM usage and avoid large memcpy's. The larger responses are all data
// retrievals without side-effects, meaning it's ok to reexecute them if a response gets lost
if (payload->size <= sizeof(uint32_t)) {
_last_reply_valid = true;
memcpy(_last_reply, ftp_req, sizeof(_last_reply));
}
#ifdef MAVLINK_FTP_DEBUG
warnx("FTP: %s seq_number: %d", payload->opcode == kRspAck ? "Ack" : "Nak", payload->seq_number);
#endif
ftp_req->target_network = 0;
ftp_req->target_component = 0;
#ifdef MAVLINK_FTP_UNIT_TEST
// Unit test hook is set, call that instead
_utRcvMsgFunc(ftp_req, _worker_data);
#else
mavlink_msg_file_transfer_protocol_send_struct(_mavlink->get_channel(), ftp_req);
#endif
}
/// @brief Sends the specified FTP reponse message out through mavlink
void
MavlinkFTP::_reply(Request *req)
{
PayloadHeader *payload = reinterpret_cast<PayloadHeader *>(&req->message.payload[0]);
payload->seqNumber = payload->seqNumber + 1;
mavlink_message_t msg;
msg.checksum = 0;
#ifndef MAVLINK_FTP_UNIT_TEST
uint16_t len =
#endif
mavlink_msg_file_transfer_protocol_pack_chan(req->serverSystemId, // Sender system id
req->serverComponentId, // Sender component id
req->serverChannel, // Channel to send on
&msg, // Message to pack payload into
0, // Target network
req->targetSystemId, // Target system id
0, // Target component id
(const uint8_t*)payload); // Payload to pack into message
bool success = true;
#ifdef MAVLINK_FTP_UNIT_TEST
// Unit test hook is set, call that instead
_utRcvMsgFunc(&msg, _ftp_test);
#else
Mavlink *mavlink = req->mavlink;
mavlink->lockMessageBufferMutex();
success = mavlink->message_buffer_write(&msg, len);
mavlink->unlockMessageBufferMutex();
#endif
if (!success) {
warnx("FTP TX ERR");
}
#ifdef MAVLINK_FTP_DEBUG
else {
warnx("wrote: sys: %d, comp: %d, chan: %d, checksum: %d",
req->serverSystemId,
req->serverComponentId,
req->serverChannel,
msg.checksum);
}
#endif
}
/// @brief Sends the specified FTP response message out through mavlink
void
MavlinkFTP::_reply(mavlink_file_transfer_protocol_t* ftp_req)
{
#ifdef MAVLINK_FTP_DEBUG
PayloadHeader *payload = reinterpret_cast<PayloadHeader *>(&ftp_req->payload[0]);
warnx("FTP: %s seq_number: %d", payload->opcode == kRspAck ? "Ack" : "Nak", payload->seq_number);
#endif
ftp_req->target_network = 0;
ftp_req->target_component = 0;
#ifdef MAVLINK_FTP_UNIT_TEST
// Unit test hook is set, call that instead
_utRcvMsgFunc(ftp_req, _worker_data);
#else
mavlink_msg_file_transfer_protocol_send_struct(_mavlink->get_channel(), ftp_req);
#endif
}