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pylint fixes to mavftp
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@amilcarlucas @tridge
amilcarlucas authored and tridge committed Sep 30, 2024
1 parent c0c1a78 commit 7ec4248
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Showing 2 changed files with 49 additions and 30 deletions.
51 changes: 23 additions & 28 deletions mavftp.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,9 @@

from pymavlink import mavutil


# pylint: disable=too-many-lines

from pymavlink.mavftp_op import (
FTP_OP,
OP_Ack,
Expand All @@ -53,9 +56,9 @@
OP_CalcFileCRC32,
)


# error codes
# pylint: disable=invalid-name
class FtpError(IntEnum):
"""error codes"""
Success = 0
Fail = 1
FailErrno = 2
Expand Down Expand Up @@ -84,21 +87,11 @@ class FtpError(IntEnum):

@dataclass
class DirectoryEntry:
"""Directory entry, either a file or a directory and the size"""
name: str
is_dir: bool
size_b: int

def items(self):
"""Yield each attribute and its value for the FTP_OP instance. For debugging purposes."""
yield "seq", self.seq
yield "session", self.session
yield "opcode", self.opcode
yield "size", self.size
yield "req_opcode", self.req_opcode
yield "burst_complete", self.burst_complete
yield "offset", self.offset
yield "payload", self.payload


class WriteQueue: # pylint: disable=too-few-public-methods
"""
Expand Down Expand Up @@ -238,7 +231,7 @@ class MAVFTP: # pylint: disable=too-many-instance-attributes
Handles file operations such as reading, writing, listing directories, and managing sessions.
"""
def __init__(self, master, target_system, target_component,
def __init__(self, master, target_system, target_component, # pylint: disable=too-many-statements
settings=MAVFTPSettings(
[('debug', int, 0),
('pkt_loss_tx', int, 0),
Expand Down Expand Up @@ -298,6 +291,8 @@ def __init__(self, master, target_system, target_component,
self.master = master
self.target_system = target_system
self.target_component = target_component
self.get_result = None
self.done = False

# Reset the flight controller FTP state-machine
self.__send(FTP_OP(self.seq, self.session, OP_ResetSessions, 0, 0, 0, 0, None))
Expand Down Expand Up @@ -415,7 +410,7 @@ def __handle_list_reply(self, op, _m) -> MAVFTPReturn:
self.dir_offset += 1
try:
dir_entry = str(d, "ascii")
except Exception as error:
except Exception as error: # pylint: disable=broad-exception-caught
logging.debug(error)
continue
if dir_entry[0] == "D":
Expand All @@ -435,7 +430,7 @@ def __handle_list_reply(self, op, _m) -> MAVFTPReturn:


def read_sector(self, path: str, offset: int, size: int) -> Optional[bytes]:
logging.info(f"reading sector {path}, offset={offset}, size={size}")
logging.info("reading sector %s, offset=%u, size=%u", path, offset, size)
return self.read(path, size, offset)

def read(self, path: str, size: int, offset: int = 0) -> Optional[bytes]:
Expand All @@ -446,7 +441,7 @@ def read(self, path: str, size: int, offset: int = 0) -> Optional[bytes]:
self.filename = path
self.done = False

logging.info(f"Getting {path} starting at {self.requested_offset}, reading {self.requested_size} bytes")
logging.info("Getting %s starting at %u reading %u bytes", path, self.requested_offset, self.requested_size)

self.op_start = time.time()
self.read_total = 0
Expand Down Expand Up @@ -477,10 +472,10 @@ def read(self, path: str, size: int, offset: int = 0) -> Optional[bytes]:
logging.error(e)
self.__idle_task()
time.sleep(0.0001)
logging.info(f"loop closed, gaps:{self.read_gaps}, done: {self.done}")
logging.info("loop closed, gaps:%u, done: %u", self.read_gaps, self.done)
if len(self.read_gaps) == 0:
return self.get_result
logging.error(f"closed read with {self.read_gaps} gaaps")
logging.error("closed read with %u gaps", self.read_gaps)
return None

def cmd_get(self, args, callback=None, progress_callback=None) -> MAVFTPReturn:
Expand Down Expand Up @@ -569,10 +564,9 @@ def __check_read_finished(self) -> bool:
self.fh.seek(0)
print(self.fh.read().decode('utf-8'))
else:
logging.info(
f"Wrote {self.read_total}/{self.requested_size} bytes to {self.filename} in {dt:.2f}s {rate:.1f}kByte/s"
)
logging.info(f"terminating with {self.read_total} out of {self.requested_size} (ofs={ofs})")
logging.info("Wrote %u/%u bytes to %s in %.2fs %.1fkByte/s",
self.read_total, self.requested_size, self.filename, dt, rate)
logging.info("terminating with %u out of %u (ofs=%u)", self.read_total, self.requested_size, ofs)
self.done = True

assert self.fh is not None
Expand All @@ -581,8 +575,8 @@ def __check_read_finished(self) -> bool:
self.get_result = result[self.requested_offset : self.requested_offset + self.requested_size]
assert self.get_result is not None
if len(self.get_result) < self.requested_size:
logging.warning(f"expected {self.requested_size}, got {len(self.get_result)}")
logging.info(f"read {len(self.get_result)} bytes")
logging.warning("expected %u, got %u", self.requested_size, len(self.get_result))
logging.info("read %u bytes", len(self.get_result))
self.fh.flush()
self.fh.close()
self.__terminate_session()
Expand Down Expand Up @@ -1155,7 +1149,7 @@ def process_ftp_reply(self, operation_name, timeout=5) -> MAVFTPReturn:
break
return ret

def __decode_ftp_ack_and_nack(self, op: FTP_OP, operation_name: str='') -> MAVFTPReturn:
def __decode_ftp_ack_and_nack(self, op: FTP_OP, operation_name: str='') -> MAVFTPReturn: # pylint: disable=too-many-branches
'''decode FTP Acknowledge reply'''
system_error = 0
invalid_error_code = 0
Expand Down Expand Up @@ -1196,8 +1190,9 @@ def __decode_ftp_ack_and_nack(self, op: FTP_OP, operation_name: str='') -> MAVFT
error_code = FtpError.NoErrorCodeInNack
elif error_code == FtpError.FailErrno:
error_code = FtpError.NoFilesystemErrorInPayload
elif error_code not in [FtpError.Fail, FtpError.InvalidDataSize, FtpError.InvalidSession, FtpError.NoSessionsAvailable,
FtpError.EndOfFile, FtpError.UnknownCommand, FtpError.FileExists, FtpError.FileProtected,
elif error_code not in [FtpError.Fail, FtpError.InvalidDataSize, FtpError.InvalidSession,
FtpError.NoSessionsAvailable, FtpError.EndOfFile,
FtpError.UnknownCommand, FtpError.FileExists, FtpError.FileProtected,
FtpError.FileNotFound]:
invalid_error_code = error_code
error_code = FtpError.InvalidErrorCode
Expand Down
28 changes: 26 additions & 2 deletions mavftp_op.py
View file
Original file line number Diff line number Diff line change
@@ -1,8 +1,18 @@
#!/usr/bin/env python3

'''
MAVLink File Transfer Protocol support - https://mavlink.io/en/services/ftp.html
SPDX-FileCopyrightText: 2011-2024 Andrew Tridgell, 2024 Amilcar Lucas
SPDX-License-Identifier: GPL-3.0-or-later
'''

import struct
from typing import Optional


# pylint: disable=invalid-name
OP_None = 0
OP_TerminateSession = 1
OP_ResetSessions = 2
Expand All @@ -22,12 +32,14 @@
OP_Ack = 128
OP_Nack = 129

# pylint: enable=invalid-name

# pylint: disable=too-many-arguments
# pylint: disable=too-many-instance-attributes


class FTP_OP:
class FTP_OP: # pylint: disable=invalid-name
"""FTP operation"""
def __init__(
self,
seq: int,
Expand Down Expand Up @@ -70,7 +82,19 @@ def __str__(self) -> str:
plen = 0
if self.payload is not None:
plen = len(self.payload)
ret = f"OP seq:{self.seq} sess:{self.session} opcode:{self.opcode} req_opcode:{self.req_opcode} size:{self.size} bc:{self.burst_complete} ofs:{self.offset} plen={plen}"
ret = f"OP seq:{self.seq} sess:{self.session} opcode:{self.opcode} req_opcode:{self.req_opcode} size:{self.size}" \
f" bc:{self.burst_complete} ofs:{self.offset} plen={plen}"
if self.payload is not None and plen > 0:
ret += f" [{self.payload[0]}]"
return ret

def items(self):
"""Yield each attribute and its value for the FTP_OP instance. For debugging purposes."""
yield "seq", self.seq
yield "session", self.session
yield "opcode", self.opcode
yield "size", self.size
yield "req_opcode", self.req_opcode
yield "burst_complete", self.burst_complete
yield "offset", self.offset
yield "payload", self.payload

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