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GCS_MAVLink: added ftp_push_replies()

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This commit is contained in:
Andrew Tridgell 2019-11-02 21:15:51 +11:00
parent 10ed848dd7
commit 43da68ae59
2 changed files with 13 additions and 13 deletions
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1
libraries/GCS_MAVLink/GCS.h
View File

@ -688,6 +688,7 @@ private:
void handle_file_transfer_protocol(const mavlink_message_t &msg);
void send_ftp_replies(void);
void ftp_worker(void);
void ftp_push_replies(pending_ftp &reply);
#endif // HAVE_FILESYSTEM_SUPPORT
void send_distance_sensor(const class AP_RangeFinder_Backend *sensor, const uint8_t instance) const;

25
libraries/GCS_MAVLink/GCS_FTP.cpp
View File

@ -143,6 +143,14 @@ void GCS_MAVLINK::ftp_error(struct pending_ftp &response, FTP_ERROR error) {
}
}
// send our response back out to the system
void GCS_MAVLINK::ftp_push_replies(pending_ftp &reply)
{
while (!ftp.replies->push(reply)) { // we must fit the response, keep shoving it in
hal.scheduler->delay(10);
}
}
void GCS_MAVLINK::ftp_worker(void) {
pending_ftp request;
pending_ftp reply = {};
@ -157,9 +165,7 @@ void GCS_MAVLINK::ftp_worker(void) {
// if it's a rerequest and we still have the last response then send it
if ((request.sysid == reply.sysid) && (request.compid = reply.compid) &&
(request.session == reply.session) && (request.seq_number + 1 == reply.seq_number)) {
while (!ftp.replies->push(reply)) {
hal.scheduler->delay(10);
}
ftp_push_replies(reply);
continue;
}
@ -175,9 +181,7 @@ void GCS_MAVLINK::ftp_worker(void) {
// sanity check the request size
if (request.size > sizeof(request.data)) {
ftp_error(reply, FTP_ERROR::InvalidDataSize);
while (!ftp.replies->push(reply)) {
hal.scheduler->delay(10);
}
ftp_push_replies(reply);
continue;
}
@ -477,9 +481,7 @@ void GCS_MAVLINK::ftp_worker(void) {
reply.burst_complete = (i == (transfer_size - 1));
reply.size = (uint8_t)read_bytes;
while (!ftp.replies->push(reply)) { // we must fit the response, keep shoving it in
hal.scheduler->delay(10);
}
ftp_push_replies(reply);
// prep the reply to be used again
reply.seq_number++;
@ -497,10 +499,7 @@ void GCS_MAVLINK::ftp_worker(void) {
}
}
// send our response back out to the system
while (!ftp.replies->push(reply)) { // we must fit the response, keep shoving it in
hal.scheduler->delay(10);
}
ftp_push_replies(reply);
continue;
}
}