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MAVFTP: use smaller read/write sizes to keep radios happier #3087

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Merged
meee1 merged 2 commits into from
Apr 15, 2023
Merged

MAVFTP: use smaller read/write sizes to keep radios happier #3087

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dfa3ada
MAVFTP: use smaller read/write sizes to keep radios happier
tridge Mar 27, 2023
42b1353
Update MAVFtp.cs
meee1 Apr 15, 2023
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17 changes: 10 additions & 7 deletions ExtLibs/ArduPilot/Mavlink/MAVFtp.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,9 @@ public class MAVFtp
/// Identifies Skipped entry from List command
const byte kDirentSkip = (byte) 'S';

/// max read/write size we will use - low to keep some radios happy
const byte rwSize = 80;

private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
private readonly byte _compid;
private readonly MAVLinkInterface _mavint;
Expand Down Expand Up @@ -547,7 +550,7 @@ public enum FTPOpcode : uint8_t
kRspNak
};

public MemoryStream GetFile(string file, CancellationTokenSource cancel, bool burst = true, byte readsize = 239)
public MemoryStream GetFile(string file, CancellationTokenSource cancel, bool burst = true, byte readsize = rwSize)
{
log.InfoFormat("GetFile {0}-{1} {2}", _sysid, _compid, file);
Progress?.Invoke("Opening file " + file, -1);
Expand Down Expand Up @@ -681,7 +684,7 @@ public bool kCmdOpenFileRO(string file, out int size, CancellationTokenSource ca
return ans;
}

public MemoryStream kCmdBurstReadFile(string file, int size, CancellationTokenSource cancel, byte readsize = 239)
public MemoryStream kCmdBurstReadFile(string file, int size, CancellationTokenSource cancel, byte readsize = rwSize)
{
RetryTimeout timeout = new RetryTimeout();
fileTransferProtocol.target_system = _sysid;
Expand Down Expand Up @@ -1453,7 +1456,7 @@ public bool kCmdOpenFileWO(string file, ref int size, CancellationTokenSource ca
return ans;
}

public MemoryStream kCmdReadFile(string file, int size, CancellationTokenSource cancel, byte readsize = 239)
public MemoryStream kCmdReadFile(string file, int size, CancellationTokenSource cancel, byte readsize = rwSize)
{
RetryTimeout timeout = new RetryTimeout();
var payload = new FTPPayloadHeader()
Expand Down Expand Up @@ -2074,7 +2077,7 @@ public bool kCmdWriteFile(byte[] data, uint destoffset, string friendlyname, Can

// send next
payload.offset += (uint) payload.data.Length;
payload.data = data.Skip((int) payload.offset - (int) destoffset).Take(239).ToArray();
payload.data = data.Skip((int) payload.offset - (int) destoffset).Take(rwSize).ToArray();
bytes_read = payload.data.Length;
payload.size = (uint8_t) bytes_read;
payload.seq_number = seq_no++;
Expand All @@ -2087,7 +2090,7 @@ public bool kCmdWriteFile(byte[] data, uint destoffset, string friendlyname, Can
}, _sysid, _compid);
// fill buffer
payload.offset = destoffset;
payload.data = data.Skip((int) payload.offset - (int) destoffset).Take(239).ToArray();
payload.data = data.Skip((int) payload.offset - (int) destoffset).Take(rwSize).ToArray();
bytes_read = payload.data.Length;
payload.size = (uint8_t) bytes_read;
// package it
Expand Down Expand Up @@ -2205,7 +2208,7 @@ public bool kCmdWriteFile(Stream srcfile, string friendlyname, CancellationToken
}, _sysid, _compid);
// fill buffer
payload.offset = (uint32_t) stream.Position;
payload.data = new byte[239];
payload.data = new byte[rwSize];
bytes_read = stream.Read(payload.data, 0, payload.data.Length);
Array.Resize(ref payload.data, bytes_read);
payload.size = (uint8_t) bytes_read;
Expand Down Expand Up @@ -2320,4 +2323,4 @@ public override string ToString()

public event Action<string, int> Progress;
}
}
}