GCS_MAVLink: allow FTP to be compiled out with build_options.py

Tools/scripts/build_options.py

@@ -332,6 +332,7 @@ BUILD_OPTIONS = [
     Feature('MAVLink', 'AP_MAVLINK_SERVO_RELAY_ENABLED', 'AP_MAVLINK_SERVO_RELAY_ENABLED', 'Enable handling of ServoRelay mavlink messages', 0, 'SERVORELAY_EVENTS'),  # noqa
     Feature('MAVLink', 'AP_MAVLINK_MSG_SERIAL_CONTROL_ENABLED', 'AP_MAVLINK_MSG_SERIAL_CONTROL_ENABLED', 'Enable handling of Serial Control mavlink messages', 0, None),  # noqa
     Feature('MAVLink', 'AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED', 'AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED', 'Enable handling of MISSION_REQUEST mavlink messages', 0, None),  # noqa
+    Feature('MAVLink', 'AP_MAVLINK_FTP_ENABLED', 'AP_MAVLINK_FTP_ENABLED', 'Enable MAVLink FTP Protocol', 0, None),  # noqa
 
     Feature('Developer', 'KILL_IMU', 'AP_INERTIALSENSOR_KILL_IMU_ENABLED', 'Allow IMUs to be disabled at runtime', 0, None),
     Feature('Developer', 'CRASHCATCHER', 'AP_CRASHDUMP_ENABLED', 'Enable CrashCatcher', 0, None),

Tools/scripts/extract_features.py

@@ -232,6 +232,8 @@ class ExtractFeatures(object):
             ('AP_MAVLINK_SERVO_RELAY_ENABLED', 'GCS_MAVLINK::handle_servorelay_message'),
             ('AP_MAVLINK_MSG_SERIAL_CONTROL_ENABLED', 'GCS_MAVLINK::handle_serial_control'),
             ('AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED', 'GCS_MAVLINK::handle_mission_request\b'),
+            ('AP_MAVLINK_FTP_ENABLED', 'GCS_MAVLINK::ftp_worker'),
+
             ('AP_DRONECAN_HIMARK_SERVO_SUPPORT', 'AP_DroneCAN::SRV_send_himark'),
             ('AP_DRONECAN_HOBBYWING_ESC_SUPPORT', 'AP_DroneCAN::hobbywing_ESC_update'),
             ('COMPASS_CAL_ENABLED', 'CompassCalibrator::stop'),

libraries/GCS_MAVLink/GCS.h

@@ -941,6 +941,7 @@ private:
 
     uint8_t send_parameter_async_replies();
 
+#if AP_MAVLINK_FTP_ENABLED
     enum class FTP_OP : uint8_t {
         None = 0,
         TerminateSession = 1,
@@ -1016,6 +1017,7 @@ private:
     bool send_ftp_reply(const pending_ftp &reply);
     void ftp_worker(void);
     void ftp_push_replies(pending_ftp &reply);
+#endif  // AP_MAVLINK_FTP_ENABLED
 
     void send_distance_sensor(const class AP_RangeFinder_Backend *sensor, const uint8_t instance) const;
 

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -1156,10 +1156,12 @@ uint16_t GCS_MAVLINK::get_reschedule_interval_ms(const deferred_message_bucket_t
         // we are sending requests for waypoints, penalize streams:
         interval_ms *= 4;
     }
+#if AP_MAVLINK_FTP_ENABLED
     if (AP_HAL::millis() - ftp.last_send_ms < 500) {
         // we are sending ftp replies
         interval_ms *= 4;
     }
+#endif
 
     if (interval_ms > 60000) {
         return 60000;
@@ -4005,9 +4007,11 @@ void GCS_MAVLINK::handle_message(const mavlink_message_t &msg)
         break;
 #endif
 
+#if AP_MAVLINK_FTP_ENABLED
     case MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL:
         handle_file_transfer_protocol(msg);
         break;
+#endif
 
 #if AP_CAMERA_ENABLED
     case MAVLINK_MSG_ID_DIGICAM_CONTROL:
@@ -6771,9 +6775,11 @@ uint64_t GCS_MAVLINK::capabilities() const
     }
 #endif
 
+#if AP_MAVLINK_FTP_ENABLED
     if (!AP_BoardConfig::ftp_disabled()){  //if ftp disable board option is not set
         ret |= MAV_PROTOCOL_CAPABILITY_FTP;
     }
+#endif
 
     return ret;
 }

libraries/GCS_MAVLink/GCS_FTP.cpp

@@ -17,7 +17,7 @@
 
 #include "GCS_config.h"
 
-#if HAL_GCS_ENABLED
+#if AP_MAVLINK_FTP_ENABLED
 
 #include <AP_HAL/AP_HAL.h>
 
@@ -694,4 +694,4 @@ void GCS_MAVLINK::ftp_list_dir(struct pending_ftp &request, struct pending_ftp &
     AP::FS().closedir(dir);
 }
 
-#endif  // HAL_GCS_ENABLED
+#endif  // AP_MAVLINK_FTP_ENABLED

libraries/GCS_MAVLink/GCS_config.h

@@ -84,6 +84,10 @@
 #define AP_MAVLINK_MSG_UAVIONIX_ADSB_OUT_STATUS_ENABLED HAL_ADSB_ENABLED
 #endif
 
+#ifndef AP_MAVLINK_FTP_ENABLED
+#define AP_MAVLINK_FTP_ENABLED HAL_GCS_ENABLED
+#endif
+
 // GCS should be using MISSION_REQUEST_INT instead; this is a waste of
 // flash.  MISSION_REQUEST was deprecated in June 2020.  We started
 // sending warnings to the GCS in Sep 2022 if this command was used.