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AP_Filesystem: enable @PARAM, @ROMFS and @SYS with no microSD

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This commit is contained in:
Andrew Tridgell 2020-03-30 12:53:29 +11:00
parent 7cd901fa5b
commit 9b14fa7ed9
13 changed files with 84 additions and 246 deletions
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20
libraries/AP_Filesystem/AP_Filesystem.cpp
View File

@ -15,14 +15,18 @@
#include "AP_Filesystem.h"
#if HAVE_FILESYSTEM_SUPPORT
static AP_Filesystem fs;
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#if HAVE_FILESYSTEM_SUPPORT
#include "AP_Filesystem_FATFS.h"
static AP_Filesystem_FATFS fs_local;
#endif
#else
static AP_Filesystem_Backend fs_local;
int errno;
#endif // HAVE_FILESYSTEM_SUPPORT
#endif // HAL_BOARD_CHIBIOS
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include "AP_Filesystem_posix.h"
static AP_Filesystem_Posix fs_local;
@ -109,13 +113,13 @@ int AP_Filesystem::close(int fd)
return backend.fs.close(fd);
}
ssize_t AP_Filesystem::read(int fd, void *buf, size_t count)
int32_t AP_Filesystem::read(int fd, void *buf, uint32_t count)
{
const Backend &backend = backend_by_fd(fd);
return backend.fs.read(fd, buf, count);
}
ssize_t AP_Filesystem::write(int fd, const void *buf, size_t count)
int32_t AP_Filesystem::write(int fd, const void *buf, uint32_t count)
{
const Backend &backend = backend_by_fd(fd);
return backend.fs.write(fd, buf, count);
@ -127,7 +131,7 @@ int AP_Filesystem::fsync(int fd)
return backend.fs.fsync(fd);
}
off_t AP_Filesystem::lseek(int fd, off_t offset, int seek_from)
int32_t AP_Filesystem::lseek(int fd, int32_t offset, int seek_from)
{
const Backend &backend = backend_by_fd(fd);
return backend.fs.lseek(fd, offset, seek_from);
@ -205,7 +209,7 @@ int64_t AP_Filesystem::disk_space(const char *path)
/*
set mtime on a file
*/
bool AP_Filesystem::set_mtime(const char *filename, const time_t mtime_sec)
bool AP_Filesystem::set_mtime(const char *filename, const uint32_t mtime_sec)
{
const Backend &backend = backend_by_path(filename);
return backend.fs.set_mtime(filename, mtime_sec);
@ -218,4 +222,4 @@ AP_Filesystem &FS()
return fs;
}
}
#endif

29
libraries/AP_Filesystem/AP_Filesystem.h
View File

@ -24,14 +24,31 @@
#include "AP_Filesystem_Available.h"
#if HAVE_FILESYSTEM_SUPPORT
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#if HAVE_FILESYSTEM_SUPPORT
#include "AP_Filesystem_FATFS.h"
#endif
#define DT_REG 0
#define DT_DIR 1
#if defined(FF_MAX_LFN) && FF_USE_LFN != 0
#define MAX_NAME_LEN FF_MAX_LFN
#else
#define MAX_NAME_LEN 13
#endif
struct dirent {
char d_name[MAX_NAME_LEN]; /* filename */
uint8_t d_type;
};
#include <fcntl.h>
#include <errno.h>
#include <unistd.h>
#endif // HAL_BOARD_CHIBIOS
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include "AP_Filesystem_posix.h"
#endif
#include "AP_Filesystem_backend.h"
class AP_Filesystem {
private:
struct DirHandle {
@ -45,10 +62,10 @@ public:
// functions that closely match the equivalent posix calls
int open(const char *fname, int flags);
int close(int fd);
ssize_t read(int fd, void *buf, size_t count);
ssize_t write(int fd, const void *buf, size_t count);
int32_t read(int fd, void *buf, uint32_t count);
int32_t write(int fd, const void *buf, uint32_t count);
int fsync(int fd);
off_t lseek(int fd, off_t offset, int whence);
int32_t lseek(int fd, int32_t offset, int whence);
int stat(const char *pathname, struct stat *stbuf);
int unlink(const char *pathname);
int mkdir(const char *pathname);
@ -64,7 +81,7 @@ public:
int64_t disk_space(const char *path);
// set modification time on a file
bool set_mtime(const char *filename, const time_t mtime_sec);
bool set_mtime(const char *filename, const uint32_t mtime_sec);
private:
struct Backend {
@ -87,4 +104,4 @@ private:
namespace AP {
AP_Filesystem &FS();
};
#endif // HAVE_FILESYSTEM_SUPPORT

6
libraries/AP_Filesystem/AP_Filesystem_FATFS.cpp
View File

@ -382,7 +382,7 @@ int AP_Filesystem_FATFS::close(int fileno)
return 0;
}
ssize_t AP_Filesystem_FATFS::read(int fd, void *buf, size_t count)
int32_t AP_Filesystem_FATFS::read(int fd, void *buf, uint32_t count)
{
UINT bytes = count;
int res;
@ -431,7 +431,7 @@ ssize_t AP_Filesystem_FATFS::read(int fd, void *buf, size_t count)
return (ssize_t)total;
}
ssize_t AP_Filesystem_FATFS::write(int fd, const void *buf, size_t count)
int32_t AP_Filesystem_FATFS::write(int fd, const void *buf, uint32_t count)
{
UINT bytes = count;
FRESULT res;
@ -843,7 +843,7 @@ static void unix_time_to_fat(time_t epoch, uint16_t &date, uint16_t &time)
/*
set mtime on a file
*/
bool AP_Filesystem_FATFS::set_mtime(const char *filename, const time_t mtime_sec)
bool AP_Filesystem_FATFS::set_mtime(const char *filename, const uint32_t mtime_sec)
{
FILINFO fno;
uint16_t fdate, ftime;

16
libraries/AP_Filesystem/AP_Filesystem_FATFS.h
View File

@ -23,24 +23,16 @@
#define MAX_NAME_LEN 13
#endif
#define DT_REG 0
#define DT_DIR 1
struct dirent {
char d_name[MAX_NAME_LEN]; /* filename */
uint8_t d_type;
};
class AP_Filesystem_FATFS : public AP_Filesystem_Backend
{
public:
// functions that closely match the equivalent posix calls
int open(const char *fname, int flags) override;
int close(int fd) override;
ssize_t read(int fd, void *buf, size_t count) override;
ssize_t write(int fd, const void *buf, size_t count) override;
int32_t read(int fd, void *buf, uint32_t count) override;
int32_t write(int fd, const void *buf, uint32_t count) override;
int fsync(int fd) override;
off_t lseek(int fd, off_t offset, int whence) override;
int32_t lseek(int fd, int32_t offset, int whence) override;
int stat(const char *pathname, struct stat *stbuf) override;
int unlink(const char *pathname) override;
int mkdir(const char *pathname) override;
@ -55,5 +47,5 @@ public:
int64_t disk_space(const char *path) override;
// set modification time on a file
bool set_mtime(const char *filename, const time_t mtime_sec) override;
bool set_mtime(const char *filename, const uint32_t mtime_sec) override;
};

71
libraries/AP_Filesystem/AP_Filesystem_Param.cpp
View File

@ -22,16 +22,14 @@
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
#if HAVE_FILESYSTEM_SUPPORT
#define PACKED_NAME "param.pck"
extern const AP_HAL::HAL& hal;
extern int errno;
int AP_Filesystem_Param::open(const char *fname, int flags)
{
if ((flags & O_ACCMODE) != O_RDONLY) {
errno = EROFS;
return -1;
}
uint8_t idx;
@ -159,7 +157,7 @@ bool AP_Filesystem_Param::token_seek(const struct rfile &r, struct cursor &c)
return r.file_ofs == c.token_ofs;
}
ssize_t AP_Filesystem_Param::read(int fd, void *buf, size_t count)
int32_t AP_Filesystem_Param::read(int fd, void *buf, uint32_t count)
{
if (fd < 0 || fd >= max_open_file || !file[fd].open) {
errno = EBADF;
@ -238,18 +236,7 @@ ssize_t AP_Filesystem_Param::read(int fd, void *buf, size_t count)
return total;
}
ssize_t AP_Filesystem_Param::write(int fd, const void *buf, size_t count)
{
errno = EROFS;
return -1;
}
int AP_Filesystem_Param::fsync(int fd)
{
return 0;
}
off_t AP_Filesystem_Param::lseek(int fd, off_t offset, int seek_from)
int32_t AP_Filesystem_Param::lseek(int fd, int32_t offset, int seek_from)
{
if (fd < 0 || fd >= max_open_file || !file[fd].open) {
errno = EBADF;
@ -281,55 +268,3 @@ int AP_Filesystem_Param::stat(const char *name, struct stat *stbuf)
stbuf->st_size = 65535;
return 0;
}
int AP_Filesystem_Param::unlink(const char *pathname)
{
errno = EROFS;
return -1;
}
int AP_Filesystem_Param::mkdir(const char *pathname)
{
errno = EROFS;
return -1;
}
void *AP_Filesystem_Param::opendir(const char *pathname)
{
errno = EINVAL;
return nullptr;
}
struct dirent *AP_Filesystem_Param::readdir(void *dirp)
{
errno = EBADF;
return nullptr;
}
int AP_Filesystem_Param::closedir(void *dirp)
{
errno = EBADF;
return -1;
}
// return free disk space in bytes
int64_t AP_Filesystem_Param::disk_free(const char *path)
{
return 0;
}
// return total disk space in bytes
int64_t AP_Filesystem_Param::disk_space(const char *path)
{
return 0;
}
/*
set mtime on a file
*/
bool AP_Filesystem_Param::set_mtime(const char *filename, const time_t mtime_sec)
{
return false;
}
#endif

24
libraries/AP_Filesystem/AP_Filesystem_Param.h
View File

@ -17,8 +17,6 @@
#include "AP_Filesystem_backend.h"
#if HAVE_FILESYSTEM_SUPPORT
#include <AP_Param/AP_Param.h>
class AP_Filesystem_Param : public AP_Filesystem_Backend
@ -27,25 +25,9 @@ public:
// functions that closely match the equivalent posix calls
int open(const char *fname, int flags) override;
int close(int fd) override;
ssize_t read(int fd, void *buf, size_t count) override;
ssize_t write(int fd, const void *buf, size_t count) override;
int fsync(int fd) override;
off_t lseek(int fd, off_t offset, int whence) override;
int32_t read(int fd, void *buf, uint32_t count) override;
int32_t lseek(int fd, int32_t offset, int whence) override;
int stat(const char *pathname, struct stat *stbuf) override;
int unlink(const char *pathname) override;
int mkdir(const char *pathname) override;
void *opendir(const char *pathname) override;
struct dirent *readdir(void *dirp) override;
int closedir(void *dirp) override;
// return free disk space in bytes, -1 on error
int64_t disk_free(const char *path) override;
// return total disk space in bytes, -1 on error
int64_t disk_space(const char *path) override;
// set modification time on a file
bool set_mtime(const char *filename, const time_t mtime_sec) override;
private:
// we maintain two cursors per open file to minimise seeking
@ -76,5 +58,3 @@ private:
uint8_t pack_param(const AP_Param *ap, const char *pname, const char *last_name,
enum ap_var_type ptype, uint8_t *buf, uint8_t buflen);
};
#endif // HAVE_FILESYSTEM_SUPPORT

10
libraries/AP_Filesystem/AP_Filesystem_ROMFS.cpp
View File

@ -21,7 +21,7 @@
#include <AP_Math/AP_Math.h>
#include <AP_ROMFS/AP_ROMFS.h>
#if defined(HAL_HAVE_AP_ROMFS_EMBEDDED_H) && HAVE_FILESYSTEM_SUPPORT
#if defined(HAL_HAVE_AP_ROMFS_EMBEDDED_H)
int AP_Filesystem_ROMFS::open(const char *fname, int flags)
{
@ -63,7 +63,7 @@ int AP_Filesystem_ROMFS::close(int fd)
return 0;
}
ssize_t AP_Filesystem_ROMFS::read(int fd, void *buf, size_t count)
int32_t AP_Filesystem_ROMFS::read(int fd, void *buf, uint32_t count)
{
if (fd < 0 || fd >= max_open_file || file[fd].data == nullptr) {
errno = EBADF;
@ -78,7 +78,7 @@ ssize_t AP_Filesystem_ROMFS::read(int fd, void *buf, size_t count)
return count;
}
ssize_t AP_Filesystem_ROMFS::write(int fd, const void *buf, size_t count)
int32_t AP_Filesystem_ROMFS::write(int fd, const void *buf, uint32_t count)
{
errno = EROFS;
return -1;
@ -89,7 +89,7 @@ int AP_Filesystem_ROMFS::fsync(int fd)
return 0;
}
off_t AP_Filesystem_ROMFS::lseek(int fd, off_t offset, int seek_from)
int32_t AP_Filesystem_ROMFS::lseek(int fd, int32_t offset, int seek_from)
{
if (fd < 0 || fd >= max_open_file || file[fd].data == nullptr) {
errno = EBADF;
@ -203,7 +203,7 @@ int64_t AP_Filesystem_ROMFS::disk_space(const char *path)
/*
set mtime on a file
*/
bool AP_Filesystem_ROMFS::set_mtime(const char *filename, const time_t mtime_sec)
bool AP_Filesystem_ROMFS::set_mtime(const char *filename, const uint32_t mtime_sec)
{
return false;
}

12
libraries/AP_Filesystem/AP_Filesystem_ROMFS.h
View File

@ -17,18 +17,16 @@
#include "AP_Filesystem_backend.h"
#if HAVE_FILESYSTEM_SUPPORT
class AP_Filesystem_ROMFS : public AP_Filesystem_Backend
{
public:
// functions that closely match the equivalent posix calls
int open(const char *fname, int flags) override;
int close(int fd) override;
ssize_t read(int fd, void *buf, size_t count) override;
ssize_t write(int fd, const void *buf, size_t count) override;
int32_t read(int fd, void *buf, uint32_t count) override;
int32_t write(int fd, const void *buf, uint32_t count) override;
int fsync(int fd) override;
off_t lseek(int fd, off_t offset, int whence) override;
int32_t lseek(int fd, int32_t offset, int whence) override;
int stat(const char *pathname, struct stat *stbuf) override;
int unlink(const char *pathname) override;
int mkdir(const char *pathname) override;
@ -43,7 +41,7 @@ public:
int64_t disk_space(const char *path) override;
// set modification time on a file
bool set_mtime(const char *filename, const time_t mtime_sec) override;
bool set_mtime(const char *filename, const uint32_t mtime_sec) override;
private:
// only allow up to 4 files at a time
@ -62,5 +60,3 @@ private:
struct dirent de;
} dir[max_open_dir];
};
#endif // HAVE_FILESYSTEM_SUPPORT

71
libraries/AP_Filesystem/AP_Filesystem_Sys.cpp
View File

@ -21,8 +21,6 @@
#include "AP_Filesystem_Sys.h"
#include <AP_Math/AP_Math.h>
#if HAVE_FILESYSTEM_SUPPORT
extern const AP_HAL::HAL& hal;
int AP_Filesystem_Sys::open(const char *fname, int flags)
@ -77,7 +75,7 @@ int AP_Filesystem_Sys::close(int fd)
return 0;
}
ssize_t AP_Filesystem_Sys::read(int fd, void *buf, size_t count)
int32_t AP_Filesystem_Sys::read(int fd, void *buf, uint32_t count)
{
if (fd < 0 || fd >= max_open_file || !file[fd].open) {
errno = EBADF;
@ -90,18 +88,7 @@ ssize_t AP_Filesystem_Sys::read(int fd, void *buf, size_t count)
return count;
}
ssize_t AP_Filesystem_Sys::write(int fd, const void *buf, size_t count)
{
errno = EROFS;
return -1;
}
int AP_Filesystem_Sys::fsync(int fd)
{
return 0;
}
off_t AP_Filesystem_Sys::lseek(int fd, off_t offset, int seek_from)
int32_t AP_Filesystem_Sys::lseek(int fd, int32_t offset, int seek_from)
{
if (fd < 0 || fd >= max_open_file || !file[fd].open) {
errno = EBADF;
@ -110,7 +97,7 @@ off_t AP_Filesystem_Sys::lseek(int fd, off_t offset, int seek_from)
struct rfile &r = file[fd];
switch (seek_from) {
case SEEK_SET:
r.file_ofs = MIN(offset, r.data->length);
r.file_ofs = MIN(offset, int32_t(r.data->length));
break;
case SEEK_CUR:
r.file_ofs = MIN(r.data->length, offset+r.file_ofs);
@ -129,55 +116,3 @@ int AP_Filesystem_Sys::stat(const char *name, struct stat *stbuf)
stbuf->st_size = 1024*1024;
return 0;
}
int AP_Filesystem_Sys::unlink(const char *pathname)
{
errno = EROFS;
return -1;
}
int AP_Filesystem_Sys::mkdir(const char *pathname)
{
errno = EROFS;
return -1;
}
void *AP_Filesystem_Sys::opendir(const char *pathname)
{
errno = EINVAL;
return nullptr;
}
struct dirent *AP_Filesystem_Sys::readdir(void *dirp)
{
errno = EBADF;
return nullptr;
}
int AP_Filesystem_Sys::closedir(void *dirp)
{
errno = EBADF;
return -1;
}
// return free disk space in bytes
int64_t AP_Filesystem_Sys::disk_free(const char *path)
{
return 0;
}
// return total disk space in bytes
int64_t AP_Filesystem_Sys::disk_space(const char *path)
{
return 0;
}
/*
set mtime on a file
*/
bool AP_Filesystem_Sys::set_mtime(const char *filename, const time_t mtime_sec)
{
return false;
}
#endif

24
libraries/AP_Filesystem/AP_Filesystem_Sys.h
View File

@ -17,33 +17,15 @@
#include "AP_Filesystem_backend.h"
#if HAVE_FILESYSTEM_SUPPORT
class AP_Filesystem_Sys : public AP_Filesystem_Backend
{
public:
// functions that closely match the equivalent posix calls
int open(const char *fname, int flags) override;
int close(int fd) override;
ssize_t read(int fd, void *buf, size_t count) override;
ssize_t write(int fd, const void *buf, size_t count) override;
int fsync(int fd) override;
off_t lseek(int fd, off_t offset, int whence) override;
int32_t read(int fd, void *buf, uint32_t count) override;
int32_t lseek(int fd, int32_t offset, int whence) override;
int stat(const char *pathname, struct stat *stbuf) override;
int unlink(const char *pathname) override;
int mkdir(const char *pathname) override;
void *opendir(const char *pathname) override;
struct dirent *readdir(void *dirp) override;
int closedir(void *dirp) override;
// return free disk space in bytes, -1 on error
int64_t disk_free(const char *path) override;
// return total disk space in bytes, -1 on error
int64_t disk_space(const char *path) override;
// set modification time on a file
bool set_mtime(const char *filename, const time_t mtime_sec) override;
private:
// only allow up to 4 files at a time
@ -60,5 +42,3 @@ private:
struct file_data *data;
} file[max_open_file];
};
#endif // HAVE_FILESYSTEM_SUPPORT

35
libraries/AP_Filesystem/AP_Filesystem_backend.h
View File

@ -22,32 +22,31 @@
#include "AP_Filesystem_Available.h"
#if HAVE_FILESYSTEM_SUPPORT
class AP_Filesystem_Backend {
public:
// functions that closely match the equivalent posix calls
virtual int open(const char *fname, int flags) = 0;
virtual int close(int fd) = 0;
virtual ssize_t read(int fd, void *buf, size_t count) = 0;
virtual ssize_t write(int fd, const void *buf, size_t count) = 0;
virtual int fsync(int fd) = 0;
virtual off_t lseek(int fd, off_t offset, int whence) = 0;
virtual int stat(const char *pathname, struct stat *stbuf) = 0;
virtual int unlink(const char *pathname) = 0;
virtual int mkdir(const char *pathname) = 0;
virtual void *opendir(const char *pathname) = 0;
virtual struct dirent *readdir(void *dirp) = 0;
virtual int closedir(void *dirp) = 0;
virtual int open(const char *fname, int flags) {
return -1;
}
virtual int close(int fd) { return -1; }
virtual int32_t read(int fd, void *buf, uint32_t count) { return -1; }
virtual int32_t write(int fd, const void *buf, uint32_t count) { return -1; }
virtual int fsync(int fd) { return 0; }
virtual int32_t lseek(int fd, int32_t offset, int whence) { return -1; }
virtual int stat(const char *pathname, struct stat *stbuf) { return -1; }
virtual int unlink(const char *pathname) { return -1; }
virtual int mkdir(const char *pathname) { return -1; }
virtual void *opendir(const char *pathname) { return nullptr; }
virtual struct dirent *readdir(void *dirp) { return nullptr; }
virtual int closedir(void *dirp) { return -1; }
// return free disk space in bytes, -1 on error
virtual int64_t disk_free(const char *path) = 0;
virtual int64_t disk_free(const char *path) { return 0; }
// return total disk space in bytes, -1 on error
virtual int64_t disk_space(const char *path) = 0;
virtual int64_t disk_space(const char *path) { return 0; }
// set modification time on a file
virtual bool set_mtime(const char *filename, const time_t mtime_sec) = 0;
virtual bool set_mtime(const char *filename, const uint32_t mtime_sec) { return false; }
};
#endif // HAVE_FILESYSTEM_SUPPORT

4
libraries/AP_Filesystem/AP_Filesystem_posix.cpp
View File

@ -75,7 +75,7 @@ int AP_Filesystem_Posix::fsync(int fd)
return ::fsync(fd);
}
off_t AP_Filesystem_Posix::lseek(int fd, off_t offset, int seek_from)
int32_t AP_Filesystem_Posix::lseek(int fd, int32_t offset, int seek_from)
{
return ::lseek(fd, offset, seek_from);
}
@ -146,7 +146,7 @@ int64_t AP_Filesystem_Posix::disk_space(const char *path)
/*
set mtime on a file
*/
bool AP_Filesystem_Posix::set_mtime(const char *filename, const time_t mtime_sec)
bool AP_Filesystem_Posix::set_mtime(const char *filename, const uint32_t mtime_sec)
{
filename = map_filename(filename);
struct utimbuf times {};

8
libraries/AP_Filesystem/AP_Filesystem_posix.h
View File

@ -31,10 +31,10 @@ public:
// functions that closely match the equivalent posix calls
int open(const char *fname, int flags) override;
int close(int fd) override;
ssize_t read(int fd, void *buf, size_t count) override;
ssize_t write(int fd, const void *buf, size_t count) override;
int32_t read(int fd, void *buf, uint32_t count) override;
ssize_t write(int fd, const void *buf, uint32_t count) override;
int fsync(int fd) override;
off_t lseek(int fd, off_t offset, int whence) override;
int32_t lseek(int fd, int32_t offset, int whence) override;
int stat(const char *pathname, struct stat *stbuf) override;
int unlink(const char *pathname) override;
int mkdir(const char *pathname) override;
@ -49,6 +49,6 @@ public:
int64_t disk_space(const char *path) override;
// set modification time on a file
bool set_mtime(const char *filename, const time_t mtime_sec) override;
bool set_mtime(const char *filename, const uint32_t mtime_sec) override;
};