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GCS_MAVLink: support variable sized packets in burst read

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this allows packet size to be tailored to the transport
This commit is contained in:
Andrew Tridgell 2020-03-25 15:10:11 +11:00
parent 8a84dbc19e
commit 5c9ae33151
1 changed files with 3 additions and 2 deletions
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5
libraries/GCS_MAVLink/GCS_FTP.cpp
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@ -437,6 +437,7 @@ void GCS_MAVLINK::ftp_worker(void) {
}
case FTP_OP::BurstReadFile:
{
const uint16_t max_read = (request.size == 0?sizeof(reply.data):request.size);
// must actually be working on a file
if (ftp.fd == -1) {
ftp_error(reply, FTP_ERROR::FileNotFound);
@ -459,7 +460,7 @@ void GCS_MAVLINK::ftp_worker(void) {
const uint32_t transfer_size = 100;
for (uint32_t i = 0; (i < transfer_size) && more_pending; i++) {
// fill the buffer
const ssize_t read_bytes = AP::FS().read(ftp.fd, reply.data, sizeof(reply.data));
const ssize_t read_bytes = AP::FS().read(ftp.fd, reply.data, max_read);
if (read_bytes == -1) {
ftp_error(reply, FTP_ERROR::FailErrno);
more_pending = false;
@ -478,7 +479,7 @@ void GCS_MAVLINK::ftp_worker(void) {
}
reply.opcode = FTP_OP::Ack;
reply.offset = request.offset + i * sizeof(reply.data);
reply.offset = request.offset + i * max_read;
reply.burst_complete = (i == (transfer_size - 1));
reply.size = (uint8_t)read_bytes;