async def once() -> typing.Union[int, bytes]:
res = await self._call(
Read, Read.Request(offset=offset, path=Path(path)))
assert isinstance(res, Read.Response)
if res.error.value != 0:
return int(res.error.value)
return bytes(res.data.value.tobytes())
async def get_info(self, path: str) -> GetInfo.Response:
"""
Proxy for ``uavcan.file.GetInfo``. Be sure to check the error code in the returned object.
"""
res = await self._call(GetInfo, GetInfo.Request(Path(path)))
assert isinstance(res, GetInfo.Response)
return res
async def once(d: typing.Union[memoryview, bytes]) -> int:
res = await self._call(
Write,
Write.Request(offset,
path=Path(path),
data=Unstructured(np.frombuffer(d, np.uint8))))
assert isinstance(res, Write.Response)
return res.error.value
async def move(self, src: str, dst: str, overwrite: bool = False) -> int:
"""
Proxy for ``uavcan.file.Modify``.
:returns: See ``uavcan.file.Error``
"""
res = await self._call(
Modify,
Modify.Request(
preserve_source=False,
overwrite_destination=overwrite,
source=Path(src),
destination=Path(dst),
),
)
assert isinstance(res, Modify.Response)
return int(res.error.value)
async def touch(self, path: str) -> int:
"""
Proxy for ``uavcan.file.Modify``.
:returns: See ``uavcan.file.Error``
"""
res = await self._call(Modify, Modify.Request(destination=Path(path)))
assert isinstance(res, Modify.Response)
return int(res.error.value)
async def list(self, path: str) -> typing.AsyncIterable[str]:
"""
Proxy for ``uavcan.file.List``. Invokes requests in series until all elements are listed.
"""
for index in itertools.count():
res = await self._call(
List, List.Request(entry_index=index,
directory_path=Path(path)))
assert isinstance(res, List.Response)
p = res.entry_base_name.path.tobytes().decode(errors="ignore")
if p:
yield str(p)
else:
break
async def _serve_ls(
self, request: List.Request,
meta: pyuavcan.presentation.ServiceRequestMetadata
) -> List.Response:
_logger.info("%r: Request from %r: %r", self, meta.client_node_id,
request)
try:
d = pathlib.Path(*self.locate(request.directory_path))
for i, e in enumerate(sorted(d.iterdir())):
if i == request.entry_index:
rel = e.absolute().relative_to(d.absolute())
return List.Response(Path(str(rel)))
except FileNotFoundError:
pass
except Exception as ex:
_logger.exception("%r: Directory list error: %s", self, ex)
return List.Response()