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GCS_MAVLink: handle session timeout due to lost packets

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and fixed handling of losing last pkt in a burst
This commit is contained in:
Andrew Tridgell 2020-04-19 14:56:27 +10:00
parent db0d3c5e89
commit 7571e616de
1 changed files with 30 additions and 1 deletions
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31
libraries/GCS_MAVLink/GCS_FTP.cpp
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@ -24,6 +24,9 @@ extern const AP_HAL::HAL& hal;
struct GCS_MAVLINK::ftp_state GCS_MAVLINK::ftp; struct GCS_MAVLINK::ftp_state GCS_MAVLINK::ftp;
// timeout for session inactivity
#define FTP_SESSION_TIMEOUT 3000
bool GCS_MAVLINK::ftp_init(void) { bool GCS_MAVLINK::ftp_init(void) {
// we can simply check if we allocated everything we need // we can simply check if we allocated everything we need
if (ftp.requests != nullptr) { if (ftp.requests != nullptr) {
@ -184,16 +187,29 @@ void GCS_MAVLINK::ftp_worker(void) {
continue; continue;
} }
uint32_t now = AP_HAL::millis();
// check for session termination // check for session termination
if (request.session != ftp.current_session && if (request.session != ftp.current_session &&
(request.opcode == FTP_OP::TerminateSession || request.opcode == FTP_OP::ResetSessions)) { (request.opcode == FTP_OP::TerminateSession || request.opcode == FTP_OP::ResetSessions)) {
// terminating a different session, just ack // terminating a different session, just ack
reply.opcode = FTP_OP::Ack; reply.opcode = FTP_OP::Ack;
} else if (ftp.fd != -1 && request.session != ftp.current_session) { } else if (ftp.fd != -1 && request.session != ftp.current_session &&
now - ftp.last_send_ms < FTP_SESSION_TIMEOUT) {
// if we have an open file and the session isn't right // if we have an open file and the session isn't right
// then reject. This prevents IO on the wrong file // then reject. This prevents IO on the wrong file
ftp_error(reply, FTP_ERROR::InvalidSession); ftp_error(reply, FTP_ERROR::InvalidSession);
} else { } else {
if (ftp.fd != -1 &&
request.session != ftp.current_session &&
now - ftp.last_send_ms >= FTP_SESSION_TIMEOUT) {
// if a new session appears and the old session has
// been idle for more than the timeout then force
// close the old session
AP::FS().close(ftp.fd);
ftp.fd = -1;
ftp.current_session = -1;
}
// dispatch the command as needed // dispatch the command as needed
switch (request.opcode) { switch (request.opcode) {
case FTP_OP::None: case FTP_OP::None:
@ -215,6 +231,14 @@ void GCS_MAVLINK::ftp_worker(void) {
case FTP_OP::OpenFileRO: case FTP_OP::OpenFileRO:
{ {
// only allow one file to be open per session // only allow one file to be open per session
if (ftp.fd != -1 && now - ftp.last_send_ms > FTP_SESSION_TIMEOUT) {
// no activity for 3s, assume client has
// timed out receiving open reply, close
// the file
AP::FS().close(ftp.fd);
ftp.fd = -1;
ftp.current_session = -1;
}
if (ftp.fd != -1) { if (ftp.fd != -1) {
ftp_error(reply, FTP_ERROR::Fail); ftp_error(reply, FTP_ERROR::Fail);
break; break;
@ -480,6 +504,11 @@ void GCS_MAVLINK::ftp_worker(void) {
ftp_push_replies(reply); ftp_push_replies(reply);
if (read_bytes < max_read) {
// ensure the NACK which we send next is at the right offset
reply.offset += read_bytes;
}
// prep the reply to be used again // prep the reply to be used again
reply.seq_number++; reply.seq_number++;
} }