mavftpfuse #129: done!

Fix #129.

mavros_extras/scripts/mavftpfuse

@@ -45,6 +45,16 @@ class RosLoggingMixIn(object):
  rospy.logdebug('<- %s %s', op, repr(ret))
 
 
+def ioerror_to_oserror(foo):
+ def decorator(*args, **kvargs):
+ try:
+ return foo(*args, **kvargs)
+ except IOError as e:
+ raise OSError(e.errno, e.message)
+
+ return decorator
+
+
 class MavFtp(RosLoggingMixIn, Operations):
  """
  MAVLink-FTP wrapper for mavros ftp plugin.
@@ -80,12 +90,14 @@ class MavFtp(RosLoggingMixIn, Operations):
 
  def _update_attr_cache(self, dir_path, fe_list):
  rospy.logdebug("update attr cache for: %s", ', '.join((os.path.join(dir_path, fe.name) for fe in fe_list)))
+ self.fsyncdir(dir_path)
  for fe in fe_list:
  key = os.path.join(dir_path, fe.name)
  self._attr_cache[key] = MavFtp._make_attr(dir_path, fe)
 
- def create(self, path, mode):
- return ftp.open(path, 'cw')
+ def _update_attr_size(self, path, size):
+ if self._attr_cache.has_key(path):
+ self._attr_cache[path]['st_size'] = size
 
  def destroy(self, path):
  pass
@@ -103,7 +115,6 @@ class MavFtp(RosLoggingMixIn, Operations):
  return self._attr_cache[path]
 
  try:
- fn = os.path.basename(path)
  dir_path = os.path.dirname(path)
  fe_list = ftp.listdir(dir_path)
  self._update_attr_cache(dir_path, fe_list)
@@ -113,47 +124,75 @@ class MavFtp(RosLoggingMixIn, Operations):
  except KeyError:
  raise FuseOSError(ENOENT)
 
+ @ioerror_to_oserror
  def readdir(self, path, fh):
- try:
- fe_list = ftp.listdir(path)
- self._update_attr_cache(path, fe_list)
- return ['.', '..'] + [fe.name for fe in fe_list if fe not in ('.', '..')]
- except IOError as e:
- raise OSError(e.errno, e.message)
+ fe_list = ftp.listdir(path)
+ self._update_attr_cache(path, fe_list)
+ return ['.', '..'] + [fe.name for fe in fe_list if fe not in ('.', '..')]
 
- def fsyncdir(self, path, datasync, fh):
+ def fsyncdir(self, path, datasync=None, fh=None):
  for k in self._attr_cache.keys():
  if k.startswith(path):
  del self._attr_cache[k]
 
+ @ioerror_to_oserror
  def mkdir(self, path, mode):
- try:
- ftp.mkdir(path)
- except IOError as e:
- raise OSError(e.errno, e.message)
+ ftp.mkdir(path)
 
+ @ioerror_to_oserror
  def rmdir(self, path):
- self.fsyncdir(path, None, None)
- try:
- ftp.rmdir(path)
- except IOError as e:
- raise OSError(e.errno, e.message)
+ self.fsyncdir(path)
+ ftp.rmdir(path)
+
+ @ioerror_to_oserror
+ def create(self, path, mode):
+ with ftp.open(path, 'cw'):
+ return 0
+
+ @ioerror_to_oserror
+ def read(self, path, size, offset, fh):
+ with ftp.open(path, 'r') as fd:
+ self._update_attr_size(path, fd.size)
+ fd.seek(offset)
+ return str(fd.read(size))
+
+ @ioerror_to_oserror
+ def write(self, path, data, offset, fh):
+ with ftp.open(path, 'w') as fd:
+ fd.seek(offset)
+ fd.write(data)
+ self._update_attr_size(path, fd.size)
+ return len(data)
+
+ @ioerror_to_oserror
+ def unlink(self, path):
+ self.fsyncdir(path)
+ ftp.unlink(path)
+
+ @ioerror_to_oserror
+ def rename(self, old, new):
+ self.fsyncdir(old)
+ ftp.rename(old, new)
+
+ @ioerror_to_oserror
+ def truncate(self, path, length, fh=None):
+ with ftp.open(path, 'w') as fd:
+ fd.truncate(length)
 
 
 def main():
  parser = argparse.ArgumentParser(description="FUSE for MAVLink-FTP mavros plugin")
  parser.add_argument('-n', '--mavros-ns', help="ROS node namespace", default="/mavros")
  parser.add_argument('-v', '--verbose', action='store_true', help="verbose output")
  parser.add_argument('-d', '--debug', action='store_true', help="libfuse debug")
- parser.add_argument('-f', '--foreground', action='store_true', help="don't daemonize")
  parser.add_argument('path', type=str, help="mount point")
 
  args = parser.parse_args(rospy.myargv(argv=sys.argv)[1:])
 
  rospy.init_node("mavftp_fuse", log_level=rospy.DEBUG if args.verbose else None)
  mavros.set_namespace(args.mavros_ns)
 
- fuse = FUSE(MavFtp(), args.path, foreground=args.foreground, debug=args.debug)
+ fuse = FUSE(MavFtp(), args.path, foreground=True, debug=args.debug)
 
 
 if __name__ == '__main__':