MAVLinkFTP.h

Go to the documentation of this file.

#pragma once
 
#include <QtCore/QString>
#include <QtCore/QLoggingCategory>
 
#include "MAVLinkLib.h"
 
Q_DECLARE_LOGGING_CATEGORY(MavlinkFTPLog)
 
class MavlinkFTP {
public:
    MAVPACKED(
            typedef struct RequestHeader {
                uint16_t    seqNumber;      
                uint8_t     session;        
                uint8_t     opcode;         
                uint8_t     size;           
                uint8_t     req_opcode;     
                uint8_t     burstComplete;  
                uint8_t     paddng;        
                uint32_t    offset;         
            }) RequestHeader;
 
    MAVPACKED(
            typedef struct Request{
                RequestHeader hdr;
 
                // We use a union here instead of just casting (uint32_t)&payload[0] to not break strict aliasing rules
                union {
                    // The entire Request must fit into the payload member of the mavlink_file_transfer_protocol_t structure. We use as many leftover bytes
                    // after we use up space for the RequestHeader for the data portion of the Request.
                    uint8_t data[sizeof(((mavlink_file_transfer_protocol_t*)0)->payload) - sizeof(RequestHeader)];
 
                    // File length returned by Open command
                    uint32_t openFileLength;
                };
            }) Request;
 
    typedef enum {
        kCmdNone = 0,           
        kCmdTerminateSession,   
        kCmdResetSessions,      
        kCmdListDirectory,      
        kCmdOpenFileRO,         
        kCmdReadFile,           
        kCmdCreateFile,         
        kCmdWriteFile,          
        kCmdRemoveFile,         
        kCmdCreateDirectory,    
        kCmdRemoveDirectory,    
        kCmdOpenFileWO,         
        kCmdTruncateFile,       
        kCmdRename,             
        kCmdCalcFileCRC32,      
        kCmdBurstReadFile,      
 
        kRspAck = 128,          
        kRspNak,                
    } OpCode_t;
 
   typedef enum {
        kErrNone = 0,
        kErrFail,                   
        kErrFailErrno,              
        kErrInvalidDataSize,        
        kErrInvalidSession,         
        kErrNoSessionsAvailable,    
        kErrEOF,                    
        kErrUnknownCommand,         
        kErrFailFileExists,         
        kErrFailFileProtected,      
        kErrFailFileNotFound
    } ErrorCode_t;
 
    static QString opCodeToString   (OpCode_t opCode);
    static QString errorCodeToString(ErrorCode_t errorCode);
};