Merge pull request #2060 from mavlink/pr-split-ftp

Split Ftp plugin into Ftp and FtpServer
mavlink · Nov 2, 2023 · 578ec76 · 578ec76
2 parents b545332 + 62874de
commit 578ec76
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Showing 67 changed files with 7,807 additions and 6,956 deletions.
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -32,7 +32,7 @@ jobs:
       - name: Install dependencies
         run: sudo apt-get update && sudo apt-get install -y lcov python3-future
       - name: configure
-        run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Coverage -DASAN=ON -DWERROR=OFF -Bbuild -H.
+        run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Coverage -DASAN=ON -DWERROR=OFF -DENABLE_CPPTRACE=On -Bbuild -H.
       - name: build
         run: cmake --build build -j2
       - name: unit tests
@@ -64,13 +64,13 @@ jobs:
             cmake -Bthird_party/mavlink/build -Sthird_party/mavlink
             sudo cmake --build third_party/mavlink/build
       - name: configure
-        run: cmake -DCMAKE_BUILD_TYPE=Release -DSUPERBUILD=OFF -DWERROR=OFF -Bbuild/release -H.
+        run: cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo -DSUPERBUILD=OFF -DWERROR=OFF -DENABLE_CPPTRACE=On -Bbuild/release -H.
       - name: build
         run: cmake --build build/release -j2
       - name: unit tests
         run: ./build/release/src/unit_tests/unit_tests_runner
-      - name: system tests
-        run: ./build/release/src/system_tests/system_tests_runner
+      #- name: system tests
+      #  run: ./build/release/src/system_tests/system_tests_runner
 
   ubuntu-superbuild:
     name: ${{ matrix.ubuntu_image }} (mavsdk_server, superbuild)
@@ -91,7 +91,7 @@ jobs:
         if: steps.cache.outputs.cache-hit == 'true'
         run: echo "superbuild=-DSUPERBUILD=OFF" >> $GITHUB_ENV && echo "cmake_prefix_path=-DCMAKE_PREFIX_PATH=$(pwd)/build/release/third_party/install" >> $GITHUB_ENV
       - name: configure
-        run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -DWERROR=OFF -Bbuild/release -H.
+        run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_MAVSDK_SERVER=ON -DWERROR=OFF -DENABLE_CPPTRACE=On -Bbuild/release -H.
       - name: build
         run: cmake --build build/release -j2
       - name: install
@@ -104,13 +104,13 @@ jobs:
       - name: install examples dependencies
         run: sudo apt-get install libsdl2-dev
       - name: configure examples
-        run: cmake -DCMAKE_PREFIX_PATH=$(pwd)/build/release/third_party/install -DCMAKE_BUILD_TYPE=Release -DWERROR=OFF -Bexamples/build -Hexamples
+        run: cmake -DCMAKE_PREFIX_PATH=$(pwd)/build/release/third_party/install -DCMAKE_BUILD_TYPE=RelWithDebInfo -DWERROR=OFF -Bexamples/build -Hexamples
       - name: build examples
         run: cmake --build examples/build -j2
       - name: unit tests
         run: ./build/release/src/unit_tests/unit_tests_runner
-      - name: system tests
-        run: ./build/release/src/system_tests/system_tests_runner
+       # - name: system tests
+       #   run: ./build/release/src/system_tests/system_tests_runner
       - name: test (mavsdk_server)
         run: ./build/release/src/mavsdk_server/test/unit_tests_mavsdk_server
 
@@ -125,22 +125,22 @@ jobs:
         id: cache
         with:
           path: ~/.hunter
-          key: ${{ github.job }}-${{ hashFiles('~/.hunter/**') }}
+          key: ${{ github.job }}-${{ hashFiles('~/.hunter/**') }}-2
       - name: install mavlink on the system
         run: |
             cmake -Bthird_party/mavlink/build -Sthird_party/mavlink
             sudo cmake --build third_party/mavlink/build
       - name: configure
-        run: cmake -DSUPERBUILD=OFF -DHUNTER_ENABLED=ON -DCMAKE_TOOLCHAIN_FILE=$(pwd)/src/cmake/fpic_toolchain.cmake  -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=OFF -DBUILD_SHARED_LIBS=OFF -Bbuild -H.
+        run: cmake -DSUPERBUILD=OFF -DHUNTER_ENABLED=ON -DCMAKE_TOOLCHAIN_FILE=$(pwd)/src/cmake/fpic_toolchain.cmake  -DCMAKE_BUILD_TYPE=Debug -DBUILD_MAVSDK_SERVER=OFF -DBUILD_SHARED_LIBS=OFF -DENABLE_CPPTRACE=On -Bbuild -H.
       - name: build
         run: cmake --build build -j2
       - name: unit tests
         run: ./build/src/unit_tests/unit_tests_runner
-      - name: system tests
-        run: ./build/src/system_tests/system_tests_runner
+      #- name: system tests
+      #  run: ./build/src/system_tests/system_tests_runner
 
-  ubuntu20-proto-check:
-    name: ubuntu-22.04 (proto check)
+  ubuntu22-style-and-proto-check:
+    name: ubuntu-22.04 (style and proto check)
     runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v3
@@ -157,28 +157,14 @@ jobs:
         if: steps.cache.outputs.cache-hit == 'true'
         run: echo "superbuild=-DSUPERBUILD=OFF" >> $GITHUB_ENV && echo "cmake_prefix_path=-DCMAKE_PREFIX_PATH=$(pwd)/build/default/third_party/install" >> $GITHUB_ENV
       - name: build necessary protoc tooling
-        run: cmake $superbuild $cmake_prefix_path -DBUILD_MAVSDK_SERVER=ON -Bbuild/default -H.
+        run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Debug -DBUILD_MAVSDK_SERVER=ON -DENABLE_CPPTRACE=On -Bbuild/default -H.
       - name: generate code from protos
         run: PATH="$PATH:$HOME/.local/bin" tools/generate_from_protos.sh
       - name: fix style
         run: tools/fix_style.sh . || true
       - name: check for diff
         run: git diff --exit-code
 
-  ubuntu20-check-style:
-    name: ubuntu-22.04 (check style and docs)
-    runs-on: ubuntu-20.04
-    steps:
-      - uses: actions/checkout@v3
-        with:
-          submodules: recursive
-      - name: install dependencies
-        run: sudo apt-get update && sudo apt-get install -y doxygen clang-format-12
-      - name: check style
-        run: ./tools/fix_style.sh .
-      - name: check docs
-        run: tools/generate_docs.sh
-
   deb-package:
     name: ${{ matrix.container_name }} (package, non-mavsdk_server)
     runs-on: ubuntu-20.04
@@ -195,7 +181,7 @@ jobs:
           git config --global --add safe.directory "$GITHUB_WORKSPACE"
           git config --global --add safe.directory /github/workspace
       - name: configure
-        run: cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=OFF -DBUILD_SHARED_LIBS=ON -DCMAKE_INSTALL_PREFIX=install -DWERROR=OFF -Bbuild/release -H.
+        run: cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_MAVSDK_SERVER=OFF -DBUILD_SHARED_LIBS=ON -DCMAKE_INSTALL_PREFIX=install -DWERROR=OFF -Bbuild/release -H.
       - name: build
         run: cmake --build build/release --target install -- -j2
       - name: Package
@@ -251,7 +237,7 @@ jobs:
         if: steps.cache.outputs.cache-hit == 'true'
         run: echo "superbuild=-DSUPERBUILD=OFF" >> $GITHUB_ENV && echo "cmake_prefix_path=-DCMAKE_PREFIX_PATH=/work/build/linux-${{ matrix.arch_name }}/third_party/install" >> $GITHUB_ENV
       - name: configure
-        run: ./dockcross-linux-${{ matrix.arch_name }}-custom /bin/bash -c "cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=build/linux-${{ matrix.arch_name }}/install -DBUILD_MAVSDK_SERVER=OFF -DBUILD_SHARED_LIBS=ON -DWERROR=OFF -Bbuild/linux-${{ matrix.arch_name }} -H."
+        run: ./dockcross-linux-${{ matrix.arch_name }}-custom /bin/bash -c "cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_INSTALL_PREFIX=build/linux-${{ matrix.arch_name }}/install -DBUILD_MAVSDK_SERVER=OFF -DBUILD_SHARED_LIBS=ON -DWERROR=OFF -Bbuild/linux-${{ matrix.arch_name }} -H."
       - name: build
         run: ./dockcross-linux-${{ matrix.arch_name }}-custom cmake --build build/linux-${{ matrix.arch_name }} -j2 --target install
       - name: create deb packages
@@ -289,13 +275,13 @@ jobs:
         if: steps.cache.outputs.cache-hit == 'true'
         run: echo "superbuild=-DSUPERBUILD=OFF" >> $GITHUB_ENV && echo "cmake_prefix_path=-DCMAKE_PREFIX_PATH=$(pwd)/build/release/third_party/install" >> $GITHUB_ENV
       - name: configure
-        run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_MAVSDK_SERVER=ON -DCMAKE_INSTALL_PREFIX=install -DWERROR=OFF -Bbuild/release -H.
+        run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_MAVSDK_SERVER=ON -DCMAKE_INSTALL_PREFIX=install -DWERROR=OFF -DENABLE_CPPTRACE=On -Bbuild/release -H.
       - name: build
         run: cmake --build build/release --target install -- -j2
       - name: unit tests
         run: ./build/release/src/unit_tests/unit_tests_runner
-      - name: system tests
-        run: ./build/release/src/system_tests/system_tests_runner
+      # - name: system tests
+      #   run: ./build/release/src/system_tests/system_tests_runner
       - name: test (mavsdk_server)
         run: ./build/release/src/mavsdk_server/test/unit_tests_mavsdk_server
       - name: Upload as artefact
@@ -335,7 +321,7 @@ jobs:
         if: steps.cache.outputs.cache-hit == 'true'
         run: echo "superbuild=-DSUPERBUILD=OFF" >> $GITHUB_ENV && echo "cmake_prefix_path=-DCMAKE_PREFIX_PATH=/work/build/${{ matrix.arch_name }}/third_party/install" >> $GITHUB_ENV
       - name: configure
-        run: ./dockcross-${{ matrix.arch_name }} /bin/bash -c "cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=build/${{ matrix.arch_name }}/install -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_MAVSDK_SERVER=ON -DWERROR=OFF -Bbuild/${{ matrix.arch_name }} -H."
+        run: ./dockcross-${{ matrix.arch_name }} /bin/bash -c "cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_INSTALL_PREFIX=build/${{ matrix.arch_name }}/install -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_MAVSDK_SERVER=ON -DWERROR=OFF -Bbuild/${{ matrix.arch_name }} -H."
       - name: build
         run: ./dockcross-${{ matrix.arch_name }} cmake --build build/${{ matrix.arch_name }} -j2 --target install
       - name: Publish artefacts
@@ -377,7 +363,7 @@ jobs:
         if: steps.cache.outputs.cache-hit == 'true'
         run: echo "superbuild=-DSUPERBUILD=OFF" >> $GITHUB_ENV && echo "cmake_prefix_path=-DCMAKE_PREFIX_PATH=/work/build/${{ matrix.name }}/third_party/install" >> $GITHUB_ENV
       - name: configure
-        run: ./dockcross-${{ matrix.name }} /bin/bash -c "cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=build/${{ matrix.name }}/install -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DWERROR=OFF -Bbuild/${{ matrix.name }} -H."
+        run: ./dockcross-${{ matrix.name }} /bin/bash -c "cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_INSTALL_PREFIX=build/${{ matrix.name }}/install -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DWERROR=OFF -Bbuild/${{ matrix.name }} -H."
       - name: build
         run: ./dockcross-${{ matrix.name }} cmake --build build/${{ matrix.name }} -j2 --target install
       - name: create tar with header and library
@@ -418,7 +404,7 @@ jobs:
       - name: set SDKROOT value
         run: echo "SDKROOT=$(xcrun --sdk macosx --show-sdk-path)" >> $GITHUB_ENV
       - name: configure
-        run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=build/macos/install -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DMACOS_FRAMEWORK=${{ matrix.build-framework }} -DWERROR=OFF -Bbuild/macos -H.
+        run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_INSTALL_PREFIX=build/macos/install -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DMACOS_FRAMEWORK=${{ matrix.build-framework }} -DWERROR=OFF -DENABLE_CPPTRACE=On -Bbuild/macos -H.
       - name: build
         run: cmake --build build/macos -j2 --target install
       - name: unit tests
@@ -478,7 +464,7 @@ jobs:
           python3 -m pip install wheel
           python3 -m pip install future
       - name: configure
-        run: cmake $superbuild $cmake_prefix_path -DENABLE_STRICT_TRY_COMPILE=ON -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=$(pwd)/tools/ios.toolchain.cmake -DENABLE_BITCODE=Off -DPLATFORM=${{ matrix.platform }} -DDEPLOYMENT_TARGET=14.0 -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DWERROR=OFF -Bbuild/${{ matrix.name }} -H.
+        run: cmake $superbuild $cmake_prefix_path -DENABLE_STRICT_TRY_COMPILE=ON -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_TOOLCHAIN_FILE=$(pwd)/tools/ios.toolchain.cmake -DENABLE_BITCODE=Off -DPLATFORM=${{ matrix.platform }} -DDEPLOYMENT_TARGET=14.0 -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DWERROR=OFF -Bbuild/${{ matrix.name }} -H.
       - name: build
         run: cmake --build build/${{ matrix.name }} -j2
       - uses: actions/upload-artifact@v3
@@ -555,9 +541,9 @@ jobs:
             choco install nasm
             echo "C:\Program Files\NASM" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
       - name: configure
-        run: cmake -G "Visual Studio 17 2022" $env:superbuild $env:cmake_prefix_path -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=build/release/install -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DWERROR=OFF -Bbuild/release -S.
+        run: cmake -G "Visual Studio 17 2022" $env:superbuild $env:cmake_prefix_path -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_INSTALL_PREFIX=build/release/install -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DWERROR=OFF -Bbuild/release -S.
       - name: build
-        run: cmake --build build/release -j2 --config Release --target install
+        run: cmake --build build/release -j2 --config RelWithDebInfo --target install
       - name: Create zip file mavsdk libraries
         if: startsWith(github.ref, 'refs/tags/v')
         run: cd build/release/install && 7z.exe a -tzip ../../../mavsdk-windows-x64-release.zip . && cd ../../..

diff --git a/examples/ftp_client/ftp_client.cpp b/examples/ftp_client/ftp_client.cpp
@@ -47,14 +47,6 @@ void usage(const std::string& bin_name)
         << " 3 : Files are different (cmp command)\n";
 }
 
-Ftp::Result reset_server(Ftp& ftp)
-{
-    auto prom = std::promise<Ftp::Result>{};
-    auto future_result = prom.get_future();
-    ftp.reset_async([&prom](Ftp::Result result) { prom.set_value(result); });
-    return future_result.get();
-}
-
 Ftp::Result create_directory(Ftp& ftp, const std::string& path)
 {
     std::cerr << "Creating directory: " << path << '\n';
@@ -131,7 +123,10 @@ download_file(Ftp& ftp, const std::string& remote_file_path, const std::string&
     auto prom = std::promise<Ftp::Result>{};
     auto future_result = prom.get_future();
     ftp.download_async(
-        remote_file_path, local_path, [&prom](Ftp::Result result, Ftp::ProgressData progress) {
+        remote_file_path,
+        local_path,
+        false,
+        [&prom](Ftp::Result result, Ftp::ProgressData progress) {
             if (result == Ftp::Result::Next) {
                 int percentage = progress.total_bytes > 0 ?
                                      progress.bytes_transferred * 100 / progress.total_bytes :
@@ -215,21 +210,14 @@ int main(int argc, char** argv)
         return 1;
     }
 
-    Ftp::Result res;
-    res = reset_server(ftp);
-    if (res != Ftp::Result::Success) {
-        std::cerr << "Reset server error: " << res << '\n';
-        return 1;
-    }
-
     std::string command = argv[3];
 
     if (command == "put") {
         if (argc < 6) {
             usage(argv[0]);
             return 1;
         }
-        res = upload_file(ftp, argv[4], argv[5]);
+        auto res = upload_file(ftp, argv[4], argv[5]);
         if (res == Ftp::Result::Success) {
             std::cerr << "File uploaded.\n";
         } else {
@@ -241,7 +229,7 @@ int main(int argc, char** argv)
             usage(argv[0]);
             return 1;
         }
-        res = download_file(ftp, argv[4], (argc == 6) ? argv[5] : ".");
+        auto res = download_file(ftp, argv[4], (argc == 6) ? argv[5] : ".");
         if (res == Ftp::Result::Success) {
             std::cerr << "File downloaded.\n";
         } else {
@@ -253,7 +241,7 @@ int main(int argc, char** argv)
             usage(argv[0]);
             return 1;
         }
-        res = rename_file(ftp, argv[4], argv[5]);
+        auto res = rename_file(ftp, argv[4], argv[5]);
         if (res == Ftp::Result::Success) {
             std::cerr << "File renamed.\n";
         } else {
@@ -265,7 +253,7 @@ int main(int argc, char** argv)
             usage(argv[0]);
             return 1;
         }
-        res = create_directory(ftp, argv[4]);
+        auto res = create_directory(ftp, argv[4]);
         if (res == Ftp::Result::Success) {
             std::cerr << "Directory created.\n";
         } else if (res == Ftp::Result::FileExists) {
@@ -289,7 +277,7 @@ int main(int argc, char** argv)
                 recursive = true;
             }
         }
-        res = remove_directory(ftp, path, recursive);
+        auto res = remove_directory(ftp, path, recursive);
         if (res == Ftp::Result::Success) {
             std::cerr << "Directory removed.\n";
         } else if (res == Ftp::Result::FileDoesNotExist) {
@@ -304,7 +292,7 @@ int main(int argc, char** argv)
             usage(argv[0]);
             return 1;
         }
-        res = list_directory(ftp, argv[4]);
+        auto res = list_directory(ftp, argv[4]);
         if (res == Ftp::Result::Success) {
             std::cerr << "Directory listed.\n";
         } else if (res == Ftp::Result::FileDoesNotExist) {
@@ -319,7 +307,7 @@ int main(int argc, char** argv)
             usage(argv[0]);
             return 1;
         }
-        res = remove_file(ftp, argv[4]);
+        auto res = remove_file(ftp, argv[4]);
         if (res == Ftp::Result::Success) {
             std::cerr << "File deleted.\n";
         } else if (res == Ftp::Result::FileDoesNotExist) {

diff --git a/examples/ftp_server/ftp_server.cpp b/examples/ftp_server/ftp_server.cpp
@@ -3,7 +3,7 @@
 //
 
 #include <mavsdk/mavsdk.h>
-#include <mavsdk/plugins/ftp/ftp.h>
+#include <mavsdk/plugins/ftp_server/ftp_server.h>
 
 #include <chrono>
 #include <iostream>
@@ -37,15 +37,15 @@ int main(int argc, char** argv)
         return 1;
     }
 
-    auto system_cc = mavsdk.systems().at(0);
-
-    auto ftp_server = Ftp{system_cc};
-    ftp_server.set_root_directory(argv[3]);
+    auto component =
+        mavsdk.server_component_by_type(mavsdk::Mavsdk::ServerComponentType::CompanionComputer);
+    auto ftp_server = FtpServer{component};
+    ftp_server.set_root_dir(argv[3]);
 
     std::cout << "Mavlink FTP server running.\n"
               << '\n'
               << "Remote:       " << argv[1] << ":" << argv[2] << '\n'
-              << "Component ID: " << static_cast<int>(ftp_server.get_our_compid()) << '\n';
+              << "Component ID: " << std::to_string(component->component_id()) << '\n';
 
     while (true) {
         std::this_thread::sleep_for(std::chrono::seconds(1));

diff --git a/proto b/proto
diff --git a/src/integration_tests/CMakeLists.txt b/src/integration_tests/CMakeLists.txt
@@ -27,7 +27,6 @@ add_executable(integration_tests_runner
     offboard_attitude.cpp
     #logging.cpp # Not fully implemented
     log_files.cpp
-    ftp.cpp
     mission_cancellation.cpp
     mission_change_speed.cpp
     mission.cpp
+1 −29		protos/ftp/ftp.proto
+43 −0		protos/ftp_server/ftp_server.proto