From 333d09bc8647d49306e33c37a67b5d9507c0c11c Mon Sep 17 00:00:00 2001
From: j444zhan <j444zhan@uwaterloo.ca>
Date: Sun, 1 Dec 2024 12:00:34 -0500
Subject: [PATCH 1/5] groundside script to open and read data from files in
 pixhawk file system

---
 modules/groundside_scripts.py | 160 ++++++++++++++++++++++++++++++++++
 1 file changed, 160 insertions(+)
 create mode 100644 modules/groundside_scripts.py

diff --git a/modules/groundside_scripts.py b/modules/groundside_scripts.py
new file mode 100644
index 00000000..23ab749b
--- /dev/null
+++ b/modules/groundside_scripts.py
@@ -0,0 +1,160 @@
+"""
+Groundside scripts to receive GPS location messages
+"""
+
+import struct
+import sys
+from pymavlink import mavutil
+
+# connection params
+CONNECTION_ADDRESS = "tcp:127.0.0.1:14550"
+TIMEOUT = 5.0
+DELAY_TIME = 1.0
+
+# file path to read from
+# 1. start up connection on mission planner
+# 2. mavlink and establish write tcp connection
+# 3. config menu -> MAVFtp -> simulation drone file paths
+FILE_PATH = b"/@ROMFS/locations.txt"
+SEQ_NUM = 0
+
+
+def send_ftp_command(
+    connection: mavutil.mavlink_connection,
+    seq_num: int,
+    opcode: int,
+    req_opcode: int,
+    session: int,
+    offset: int,
+    size: int,
+    payload: bytes,
+) -> None:
+    """
+    Send an FTP command to the vehicle.
+
+    Args:
+        connection (mavutil.mavlink_connection): MAVLink connection object.
+        opcode (int): FTP command opcode.
+        req_opcode (int): Requested opcode.
+        session (int): Session ID.
+        offset (int): Offset in the file.
+        size (int): Size of the payload.
+        payload (bytes): Payload data.
+    """
+    ftp_payload = bytearray(251)  # ftp payload size
+
+    # packing payload in file system
+    ftp_payload[0:2] = struct.pack("<H", seq_num)
+    ftp_payload[2] = session
+    ftp_payload[3] = opcode
+    ftp_payload[4] = size
+    ftp_payload[5] = req_opcode
+    ftp_payload[6] = 0  # burst_complete
+    ftp_payload[7] = 0  # padding
+    ftp_payload[8:12] = struct.pack("<I", offset)
+    ftp_payload[12 : 12 + len(payload)] = payload
+
+    connection.mav.file_transfer_protocol_send(
+        target_network=0,
+        target_system=connection.target_system,
+        target_component=connection.target_component,
+        payload=ftp_payload,
+    )
+    seq_num += 1
+
+
+vehicle = mavutil.mavlink_connection(CONNECTION_ADDRESS, baud=57600)
+vehicle.wait_heartbeat()
+print("heartbeat received")
+if vehicle:
+    print("CONNECTED...")
+else:
+    print("DISCONNECTED...")
+
+# open file for reading session
+send_ftp_command(
+    vehicle,
+    seq_num=SEQ_NUM,
+    opcode=4,
+    req_opcode=0,
+    session=0,
+    offset=0,
+    size=len(FILE_PATH),
+    payload=FILE_PATH,
+)
+response = vehicle.recv_match(type="FILE_TRANSFER_PROTOCOL", blocking=True, timeout=TIMEOUT)
+
+if response is None:
+    print("NO RESPONSE RECEIVED")
+    sys.exit()
+
+response_payload = bytes(response.payload)
+if response_payload[3] != 128:  # Check for error - NAK Response
+    print("ERROR RECEIVED")
+    print("ERROR CODE: ", response_payload[12])
+    sys.exit()
+
+print("FILE OPENED: ")
+
+# retrieve session id, file size, and sequence number from ACK response
+SESSION_ID = response_payload[2]
+DATA_OFFSET = struct.unpack("<I", response_payload[8:12])[0]
+FILE_SIZE = struct.unpack("<I", response_payload[12 : 12 + response_payload[4]])[0]
+SEQ_NUM = struct.unpack("<H", response_payload[0:2])[0]
+CHUNK_SIZE = 239  # Max data size per chunk
+FILE_DATA = b""
+
+# read file in chunks
+while DATA_OFFSET < FILE_SIZE:
+    send_ftp_command(
+        vehicle,
+        seq_num=SEQ_NUM,
+        opcode=5,
+        req_opcode=0,
+        session=SESSION_ID,
+        offset=DATA_OFFSET,
+        size=CHUNK_SIZE,
+        payload=b"",
+    )
+    response = vehicle.recv_match(type="FILE_TRANSFER_PROTOCOL", blocking=True, timeout=TIMEOUT)
+
+    if response is None:
+        print("ERROR: NO RESPONSE RECEIVED")
+        break
+
+    response_payload = bytes(response.payload)
+    if response_payload[3] != 128:
+        print("ERROR CODE: ", response_payload[12])
+        break
+
+    chunk_data = response_payload[12 : 12 + response_payload[4]]
+    FILE_DATA += chunk_data
+    DATA_OFFSET += len(chunk_data)
+
+    print(chunk_data.decode("utf-8", errors="ignore"), end="")
+
+    # Send the next read command while waiting for the current response
+    if DATA_OFFSET < FILE_SIZE:
+        send_ftp_command(
+            vehicle,
+            seq_num=SEQ_NUM,
+            opcode=5,
+            req_opcode=0,
+            session=SESSION_ID,
+            offset=DATA_OFFSET,
+            size=CHUNK_SIZE,
+            payload=b"",
+        )
+
+# Terminate read session
+send_ftp_command(
+    vehicle,
+    seq_num=SEQ_NUM,
+    opcode=1,
+    req_opcode=0,
+    session=SESSION_ID,
+    offset=0,
+    size=0,
+    payload=b"",
+)
+print("\nEND OF FILE")

From e9fbf72ef7e6d430350f09ae8e756f72a7ecdd86 Mon Sep 17 00:00:00 2001
From: j444zhan <j444zhan@uwaterloo.ca>
Date: Sun, 1 Dec 2024 12:11:07 -0500
Subject: [PATCH 2/5] fixed sequence number increment globally

---
 modules/groundside_scripts.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/modules/groundside_scripts.py b/modules/groundside_scripts.py
index 23ab749b..c688d7ae 100644
--- a/modules/groundside_scripts.py
+++ b/modules/groundside_scripts.py
@@ -60,7 +60,6 @@ def send_ftp_command(
         target_component=connection.target_component,
         payload=ftp_payload,
     )
-    seq_num += 1
 
 
 vehicle = mavutil.mavlink_connection(CONNECTION_ADDRESS, baud=57600)
@@ -82,6 +81,7 @@ def send_ftp_command(
     size=len(FILE_PATH),
     payload=FILE_PATH,
 )
+SEQ_NUM += 1
 response = vehicle.recv_match(type="FILE_TRANSFER_PROTOCOL", blocking=True, timeout=TIMEOUT)
 
 if response is None:
@@ -116,6 +116,7 @@ def send_ftp_command(
         size=CHUNK_SIZE,
         payload=b"",
     )
+    SEQ_NUM += 1
     response = vehicle.recv_match(type="FILE_TRANSFER_PROTOCOL", blocking=True, timeout=TIMEOUT)
 
     if response is None:
@@ -145,6 +146,7 @@ def send_ftp_command(
             size=CHUNK_SIZE,
             payload=b"",
         )
+        SEQ_NUM += 1
 
 # Terminate read session
 send_ftp_command(

From 230fd66e7a998ac6a150bf2862f2b051da95fe56 Mon Sep 17 00:00:00 2001
From: j444zhan <j444zhan@uwaterloo.ca>
Date: Sat, 1 Feb 2025 17:08:43 -0700
Subject: [PATCH 3/5] fixes to seq_num incrementation and function returning
 FTP_response object with all fields

---
 modules/mavlink/ftp_example.py | 211 +++++++++++++++++++++++++++++++++
 1 file changed, 211 insertions(+)
 create mode 100644 modules/mavlink/ftp_example.py

diff --git a/modules/mavlink/ftp_example.py b/modules/mavlink/ftp_example.py
new file mode 100644
index 00000000..98309a5a
--- /dev/null
+++ b/modules/mavlink/ftp_example.py
@@ -0,0 +1,211 @@
+"""
+Groundside scripts to receive GPS location messages
+"""
+
+import struct
+import sys
+from enum import Enum
+from pymavlink import mavutil
+
+# connection params
+CONNECTION_ADDRESS = "tcp:127.0.0.1:14550"
+TIMEOUT = 5.0
+DELAY_TIME = 1.0
+
+# file path to read from
+# 1. start up connection on mission planner
+# 2. mavlink and establish write tcp connection
+# 3. config menu -> MAVFtp -> simulation drone file paths
+FILE_PATH = b"/@ROMFS/locations.txt"
+SEQ_NUM = 0
+
+
+class Opcode(Enum):
+    """
+    Opcodes for FTP commands
+    """
+
+    NONE = 0
+    TERMINATE_SESSION = 1
+    RESET_SESSION = 2
+    LIST_DIRECTORY = 3
+    OPEN_FILE_RO = 4
+    READ_FILE = 5
+    CREATE_FILE = 6
+    WRITE_FILE = 7
+    REMOVE_FILE = 8
+    CREATE_DIRECTORY = 9
+    REMOVE_DIRECTORY = 10
+    OPEN_FILE_WO = 11
+    TRUNCATE_FILE = 12
+    RENAME = 13
+    CALC_FILE_CRC32 = 14
+    BURST_READ_FILE = 15
+    # ERROR responses
+    ACK_RESPONSE = 128
+    NAK_RESPONSE = 129
+    
+
+class NakErrorCode(Enum):
+    """
+    Error codes for FTP commands
+    """
+
+    NONE = 0  # No Error
+    FAIL = 1  # Unknown failure
+    FAIL_ERRNO = 2  # Command failed, Err number sent back in PayloadHeader.data[1]
+    INVALID_DATA_SIZE = 3  # Payload size is invalid
+    INVALID_SESSION = 4  # Session is not currently open
+    NO_SESSIONS_AVAILABLE = 5  # All available sessions are in use
+    EOF = 6  # Offset past end of file for ListDirectory and ReadFile commands
+    UNKNOWN_CMD = 7  # Unknown command / Opcode
+    FILE_EXISTS = 8  # File/Directory already exists
+    FILE_PROTECTED = 9  # File/Directory is write protected
+    FILE_NOT_FOUND = 10  # File/Directory is not found
+
+
+def send_ftp_command(
+    connection: mavutil.mavlink_connection,
+    seq_num: int,
+    opcode: int,
+    req_opcode: int,
+    session: int,
+    offset: int,
+    size: int,
+    payload: bytes,
+) -> None:
+    """
+    Send an FTP command to the vehicle.
+
+    Args:
+        connection (mavutil.mavlink_connection): MAVLink connection object.
+        session (int): Session ID. | index 2 | range 0-255.
+        opcode (int): FTP command opcode | index 3 | range 0-255.
+        size (int): Size of the payload. | index 4 | range 0-255.
+        req_opcode (int): Requested opcode. | index 5 | range 0-255.
+        offset (int): Offset in the file. | index 8-11.
+        payload (bytes): Payload data. | index 12-251.
+    """
+    ftp_payload = bytearray(251)  # ftp payload size
+
+    # packing payload in file system
+    ftp_payload[0:2] = struct.pack("<H", seq_num)
+    ftp_payload[2] = session
+    ftp_payload[3] = opcode
+    ftp_payload[4] = size
+    ftp_payload[5] = req_opcode
+    ftp_payload[6] = 0  # burst_complete
+    ftp_payload[7] = 0  # padding
+    ftp_payload[8:12] = struct.pack("<I", offset)
+    ftp_payload[12 : 12 + len(payload)] = payload
+
+    connection.mav.file_transfer_protocol_send(
+        target_network=0,
+        target_system=connection.target_system,
+        target_component=connection.target_component,
+        payload=ftp_payload,
+    )
+
+
+vehicle = mavutil.mavlink_connection(CONNECTION_ADDRESS, baud=57600)
+vehicle.wait_heartbeat()
+print("heartbeat received")
+if vehicle:
+    print("CONNECTED...")
+else:
+    print("DISCONNECTED...")
+
+# open file for reading session
+send_ftp_command(
+    vehicle,
+    seq_num=SEQ_NUM,
+    opcode=Opcode.OPEN_FILE_RO.value,
+    req_opcode=Opcode.NONE.value,
+    session=0,
+    offset=0,
+    size=len(FILE_PATH),
+    payload=FILE_PATH,
+)
+SEQ_NUM += 1
+response = vehicle.recv_match(type="FILE_TRANSFER_PROTOCOL", blocking=True, timeout=TIMEOUT)
+
+if response is None:
+    print("NO RESPONSE RECEIVED")
+    # sys.exit()
+
+response_payload = bytes(response.payload)
+if response_payload[3] != Opcode.ACK_RESPONSE.value:  # Check for error - NAK Response
+    error_code = response_payload[12]
+    error_message = NakErrorCode(error_code).name
+    print("ERROR CODE:", {error_code}, "ERROR MESSAGE:", {error_message})
+    sys.exit()
+
+print("FILE OPENED: ")
+
+# retrieve session id, file size, and sequence number from ACK response
+SESSION_ID = response_payload[2]
+DATA_OFFSET = struct.unpack("<I", response_payload[8:12])[0]
+FILE_SIZE = struct.unpack("<I", response_payload[12 : 12 + response_payload[4]])[0]
+CHUNK_SIZE = 239  # Max data size per chunk
+FILE_DATA = b""
+SEQ_NUM = struct.unpack("<H", response_payload[0:2])[0]
+
+# read file in chunks
+while DATA_OFFSET < FILE_SIZE:
+    send_ftp_command(
+        vehicle,
+        seq_num=SEQ_NUM,
+        opcode=Opcode.READ_FILE.value,
+        req_opcode=Opcode.NONE.value,
+        session=SESSION_ID,
+        offset=DATA_OFFSET,
+        size=CHUNK_SIZE,
+        payload=b"",
+    )
+    SEQ_NUM += 1
+    response = vehicle.recv_match(type="FILE_TRANSFER_PROTOCOL", blocking=True, timeout=TIMEOUT)
+
+    if response is None:
+        print("ERROR: NO RESPONSE RECEIVED")
+        break
+
+    response_payload = bytes(response.payload)
+    if response_payload[3] != Opcode.ACK_RESPONSE.value:
+        error_code = response_payload[12]
+        error_message = NakErrorCode(error_code).name
+        print("ERROR CODE:", {error_code}, "ERROR MESSAGE:", {error_message})
+        break
+
+    chunk_data = response_payload[12 : 12 + response_payload[4]]
+    FILE_DATA += chunk_data
+    DATA_OFFSET += len(chunk_data)
+
+    print(chunk_data.decode("utf-8", errors="ignore"), end="")
+
+    # Send the next read command while waiting for the current response
+    if DATA_OFFSET < FILE_SIZE:
+        send_ftp_command(
+            vehicle,
+            seq_num=SEQ_NUM,
+            opcode=Opcode.READ_FILE.value,
+            req_opcode=Opcode.NONE.value,
+            session=SESSION_ID,
+            offset=DATA_OFFSET,
+            size=CHUNK_SIZE,
+            payload=b"",
+        )
+        SEQ_NUM += 1
+
+# Terminate read session
+send_ftp_command(
+    vehicle,
+    seq_num=SEQ_NUM,
+    opcode=Opcode.TERMINATE_SESSION.value,
+    req_opcode=Opcode.NONE.value,
+    session=SESSION_ID,
+    offset=0,
+    size=0,
+    payload=b"",
+)
+
+print("\nEND OF FILE")

From b53c1f872b640afdaa36049e43ff90a5d6449460 Mon Sep 17 00:00:00 2001
From: j444zhan <j444zhan@uwaterloo.ca>
Date: Sat, 1 Feb 2025 17:12:11 -0700
Subject: [PATCH 4/5] formatting change

---
 modules/mavlink/ftp_example.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/modules/mavlink/ftp_example.py b/modules/mavlink/ftp_example.py
index 98309a5a..07d038fa 100644
--- a/modules/mavlink/ftp_example.py
+++ b/modules/mavlink/ftp_example.py
@@ -44,7 +44,7 @@ class Opcode(Enum):
     # ERROR responses
     ACK_RESPONSE = 128
     NAK_RESPONSE = 129
-    
+
 
 class NakErrorCode(Enum):
     """

From cae916937c620d0c1b44afeecfdecb83e659f64a Mon Sep 17 00:00:00 2001
From: j444zhan <j444zhan@uwaterloo.ca>
Date: Sat, 1 Feb 2025 17:25:36 -0700
Subject: [PATCH 5/5] deleted test file groundside_scripts.py

---
 modules/groundside_scripts.py | 162 ----------------------------------
 1 file changed, 162 deletions(-)
 delete mode 100644 modules/groundside_scripts.py

diff --git a/modules/groundside_scripts.py b/modules/groundside_scripts.py
deleted file mode 100644
index c688d7ae..00000000
--- a/modules/groundside_scripts.py
+++ /dev/null
@@ -1,162 +0,0 @@
-"""
-Groundside scripts to receive GPS location messages
-"""
-
-import struct
-import sys
-from pymavlink import mavutil
-
-# connection params
-CONNECTION_ADDRESS = "tcp:127.0.0.1:14550"
-TIMEOUT = 5.0
-DELAY_TIME = 1.0
-
-# file path to read from
-# 1. start up connection on mission planner
-# 2. mavlink and establish write tcp connection
-# 3. config menu -> MAVFtp -> simulation drone file paths
-FILE_PATH = b"/@ROMFS/locations.txt"
-SEQ_NUM = 0
-
-
-def send_ftp_command(
-    connection: mavutil.mavlink_connection,
-    seq_num: int,
-    opcode: int,
-    req_opcode: int,
-    session: int,
-    offset: int,
-    size: int,
-    payload: bytes,
-) -> None:
-    """
-    Send an FTP command to the vehicle.
-
-    Args:
-        connection (mavutil.mavlink_connection): MAVLink connection object.
-        opcode (int): FTP command opcode.
-        req_opcode (int): Requested opcode.
-        session (int): Session ID.
-        offset (int): Offset in the file.
-        size (int): Size of the payload.
-        payload (bytes): Payload data.
-    """
-    ftp_payload = bytearray(251)  # ftp payload size
-
-    # packing payload in file system
-    ftp_payload[0:2] = struct.pack("<H", seq_num)
-    ftp_payload[2] = session
-    ftp_payload[3] = opcode
-    ftp_payload[4] = size
-    ftp_payload[5] = req_opcode
-    ftp_payload[6] = 0  # burst_complete
-    ftp_payload[7] = 0  # padding
-    ftp_payload[8:12] = struct.pack("<I", offset)
-    ftp_payload[12 : 12 + len(payload)] = payload
-
-    connection.mav.file_transfer_protocol_send(
-        target_network=0,
-        target_system=connection.target_system,
-        target_component=connection.target_component,
-        payload=ftp_payload,
-    )
-
-
-vehicle = mavutil.mavlink_connection(CONNECTION_ADDRESS, baud=57600)
-vehicle.wait_heartbeat()
-print("heartbeat received")
-if vehicle:
-    print("CONNECTED...")
-else:
-    print("DISCONNECTED...")
-
-# open file for reading session
-send_ftp_command(
-    vehicle,
-    seq_num=SEQ_NUM,
-    opcode=4,
-    req_opcode=0,
-    session=0,
-    offset=0,
-    size=len(FILE_PATH),
-    payload=FILE_PATH,
-)
-SEQ_NUM += 1
-response = vehicle.recv_match(type="FILE_TRANSFER_PROTOCOL", blocking=True, timeout=TIMEOUT)
-
-if response is None:
-    print("NO RESPONSE RECEIVED")
-    sys.exit()
-
-response_payload = bytes(response.payload)
-if response_payload[3] != 128:  # Check for error - NAK Response
-    print("ERROR RECEIVED")
-    print("ERROR CODE: ", response_payload[12])
-    sys.exit()
-
-print("FILE OPENED: ")
-
-# retrieve session id, file size, and sequence number from ACK response
-SESSION_ID = response_payload[2]
-DATA_OFFSET = struct.unpack("<I", response_payload[8:12])[0]
-FILE_SIZE = struct.unpack("<I", response_payload[12 : 12 + response_payload[4]])[0]
-SEQ_NUM = struct.unpack("<H", response_payload[0:2])[0]
-CHUNK_SIZE = 239  # Max data size per chunk
-FILE_DATA = b""
-
-# read file in chunks
-while DATA_OFFSET < FILE_SIZE:
-    send_ftp_command(
-        vehicle,
-        seq_num=SEQ_NUM,
-        opcode=5,
-        req_opcode=0,
-        session=SESSION_ID,
-        offset=DATA_OFFSET,
-        size=CHUNK_SIZE,
-        payload=b"",
-    )
-    SEQ_NUM += 1
-    response = vehicle.recv_match(type="FILE_TRANSFER_PROTOCOL", blocking=True, timeout=TIMEOUT)
-
-    if response is None:
-        print("ERROR: NO RESPONSE RECEIVED")
-        break
-
-    response_payload = bytes(response.payload)
-    if response_payload[3] != 128:
-        print("ERROR CODE: ", response_payload[12])
-        break
-
-    chunk_data = response_payload[12 : 12 + response_payload[4]]
-    FILE_DATA += chunk_data
-    DATA_OFFSET += len(chunk_data)
-
-    print(chunk_data.decode("utf-8", errors="ignore"), end="")
-
-    # Send the next read command while waiting for the current response
-    if DATA_OFFSET < FILE_SIZE:
-        send_ftp_command(
-            vehicle,
-            seq_num=SEQ_NUM,
-            opcode=5,
-            req_opcode=0,
-            session=SESSION_ID,
-            offset=DATA_OFFSET,
-            size=CHUNK_SIZE,
-            payload=b"",
-        )
-        SEQ_NUM += 1
-
-# Terminate read session
-send_ftp_command(
-    vehicle,
-    seq_num=SEQ_NUM,
-    opcode=1,
-    req_opcode=0,
-    session=SESSION_ID,
-    offset=0,
-    size=0,
-    payload=b"",
-)
-print("\nEND OF FILE")