def wp_ftp_upload(self, filename):
'''upload waypoints to vehicle with ftp'''
ftp = self.mpstate.module('ftp')
if ftp is None:
print("Need ftp module")
return
self.wploader.target_system = self.target_system
self.wploader.target_component = self.target_component
try:
#need to remove the leading and trailing quotes in filename
self.wploader.load(filename.strip('"'))
except Exception as msg:
print("Unable to load %s - %s" % (filename, msg))
return
print("Loaded %u waypoints from %s" % (self.wploader.count(), filename))
print("Sending mission with ftp")
fh = SIO()
fh.write(struct.pack("<HHHHH", 0x763d,mavutil.mavlink.MAV_MISSION_TYPE_MISSION,0,0,self.wploader.count()))
mavmsg = mavutil.mavlink.MAVLink_mission_item_int_message
for i in range(self.wploader.count()):
w = self.wploader.wp(i)
w = self.wp_to_mission_item_int(w)
tlist = []
for field in mavmsg.ordered_fieldnames:
tlist.append(getattr(w, field))
tlist = tuple(tlist)
buf = struct.pack(mavmsg.format, *tlist)
fh.write(buf)
fh.seek(0)
self.upload_start = time.time()
ftp.cmd_put([self.mission_ftp_name, self.mission_ftp_name],
fh=fh, callback=self.ftp_upload_callback, progress_callback=self.ftp_upload_progress)
def ftp_load(self, filename, param_wildcard, master):
'''load parameters with ftp'''
ftp = self.mpstate.module('ftp')
if ftp is None:
print("Need ftp module")
return
newparm = mavparm.MAVParmDict()
newparm.load(filename, param_wildcard, check=False)
fh = SIO()
for k in sorted(newparm.keys()):
v = newparm.get(k)
oldv = self.mav_param.get(k, None)
if oldv is not None and abs(oldv - v) <= newparm.mindelta:
# not changed
newparm.pop(k)
count = len(newparm.keys())
if count == 0:
print("No parameter changes")
return
fh.write(struct.pack("<HHH", 0x671b, count, count))
last_param = ""
for k in sorted(newparm.keys()):
v = newparm.get(k)
vtype = self.best_type(v)
common_len = self.str_common_len(last_param, k)
b1 = vtype
b2 = common_len | ((len(k) - (common_len + 1)) << 4)
fh.write(struct.pack("<BB", b1, b2))
fh.write(k[common_len:].encode("UTF-8"))
if vtype == 1: # int8
fh.write(struct.pack("<b", int(v)))
if vtype == 2: # int16
fh.write(struct.pack("<h", int(v)))
if vtype == 3: # int32
fh.write(struct.pack("<i", int(v)))
if vtype == 4: # float
fh.write(struct.pack("<f", v))
last_param = k
# re-pack with full file length in total_params
file_len = fh.tell()
fh.seek(0)
fh.write(struct.pack("<HHH", 0x671b, count, file_len))
fh.seek(0)
self.ftp_send_param = newparm
print("Sending %u params" % count)
ftp.cmd_put(["-", "@PARAM/param.pck"],
fh=fh,
callback=self.ftp_upload_callback,
progress_callback=self.ftp_upload_progress)
def send_to_port(host, port, payload):
for res in socket.getaddrinfo(host, port, socket.AF_INET,
socket.SOCK_STREAM):
af, socktype, proto, canonname, sa = res
received = SIO()
s = socket.socket(af, socktype, proto)
try:
s.connect(sa)
s.send(payload)
for tmp in s.recv(1024):
received.write(tmp)
return received.getvalue()
finally:
s.close()
received.close()
def handle_open_RO_reply(self, op, m):
'''handle OP_OpenFileRO reply'''
if op.opcode == OP_Ack:
if self.filename is None:
return
try:
if self.callback is not None or self.filename == '-':
self.fh = SIO()
else:
self.fh = open(self.filename, 'wb')
except Exception as ex:
print("Failed to open %s: %s" % (self.filename, ex))
self.terminate_session()
return
read = FTP_OP(self.seq, self.session, OP_BurstReadFile,
self.burst_size, 0, 0, 0, None)
self.last_burst_read = time.time()
self.send(read)
else:
if self.callback is None or self.ftp_settings.debug > 0:
print("ftp open failed")
self.terminate_session()
def response_content(self):
content = self.response.content.decode('UTF-8')
pagesource = etree.parse(SIO(content), etree.HTMLParser())
return pagesource