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DataFlash: enable minimal file mode

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This adds a "minimal" dataflash mode with a board specific macro. The
QURT port uses this to avoid problematic system calls that are buggy
in the QURT RTOS

With some pending updates to QURT we may be able to remove some (or
all) of this
This commit is contained in:
Andrew Tridgell 2015-12-09 10:53:20 +11:00
parent a042845da8
commit b967140572
3 changed files with 74 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

73
libraries/DataFlash/DataFlash_File.cpp
View File

@ -17,6 +17,7 @@
#if HAL_OS_POSIX_IO
#include "DataFlash_File.h"
#include <AP_Common/AP_Common.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <unistd.h>
@ -34,7 +35,7 @@
#ifdef __APPLE__
#include <sys/param.h>
#include <sys/mount.h>
#else
#elif !DATAFLASH_FILE_MINIMAL
#include <sys/statfs.h>
#endif
@ -98,7 +99,7 @@ void DataFlash_File::Init()
semaphore = hal.util->new_semaphore();
if (semaphore == nullptr) {
hal.console->printf("Failed to create DataFlash_File semaphore\n");
AP_HAL::panic("Failed to create DataFlash_File semaphore");
return;
}
@ -122,6 +123,7 @@ void DataFlash_File::Init()
_log_directory = custom_dir;
}
#if !DATAFLASH_FILE_MINIMAL
ret = stat(_log_directory, &st);
if (ret == -1) {
ret = mkdir(_log_directory, 0777);
@ -130,6 +132,8 @@ void DataFlash_File::Init()
hal.console->printf("Failed to create log directory %s\n", _log_directory);
return;
}
#endif
if (_writebuf != NULL) {
free(_writebuf);
_writebuf = NULL;
@ -166,12 +170,20 @@ void DataFlash_File::Init()
bool DataFlash_File::file_exists(const char *filename) const
{
#if DATAFLASH_FILE_MINIMAL
int fd = open(filename, O_RDONLY);
if (fd == -1) {
return false;
}
close(fd);
#else
struct stat st;
if (stat(filename, &st) == -1) {
// hopefully errno==ENOENT. If some error occurs it is
// probably better to assume this file exists.
return false;
}
#endif
return true;
}
@ -208,11 +220,16 @@ bool DataFlash_File::CardInserted(void)
// returns -1 on error
int64_t DataFlash_File::disk_space_avail()
{
#if !DATAFLASH_FILE_MINIMAL
struct statfs stats;
if (statfs(_log_directory, &stats) < 0) {
return -1;
}
return (((int64_t)stats.f_bavail) * stats.f_bsize);
#else
// return a fake disk space size
return 100*1000*1000UL;
#endif
}
// returns the total amount of disk space (in use + available) in
@ -220,11 +237,16 @@ int64_t DataFlash_File::disk_space_avail()
// returns -1 on error
int64_t DataFlash_File::disk_space()
{
#if !DATAFLASH_FILE_MINIMAL
struct statfs stats;
if (statfs(_log_directory, &stats) < 0) {
return -1;
}
return (((int64_t)stats.f_blocks) * stats.f_bsize);
#else
// return fake disk space size
return 200*1000*1000UL;
#endif
}
// returns the available space in _log_directory as a percentage
@ -247,6 +269,9 @@ float DataFlash_File::avail_space_percent()
// returns 0 if no log was found
uint16_t DataFlash_File::find_oldest_log()
{
#if DATAFLASH_FILE_MINIMAL
return 0;
#else
if (_cached_oldest_log != 0) {
return _cached_oldest_log;
}
@ -306,8 +331,10 @@ uint16_t DataFlash_File::find_oldest_log()
_cached_oldest_log = current_oldest_log;
return current_oldest_log;
#endif
}
#if !DATAFLASH_FILE_MINIMAL
void DataFlash_File::Prep_MinSpace()
{
const uint16_t first_log_to_remove = find_oldest_log();
@ -364,13 +391,16 @@ void DataFlash_File::Prep_MinSpace()
}
} while (log_to_remove != first_log_to_remove);
}
#endif
void DataFlash_File::Prep() {
if (hal.util->get_soft_armed()) {
// do not want to do any filesystem operations while we are e.g. flying
return;
}
#if !DATAFLASH_FILE_MINIMAL
Prep_MinSpace();
#endif
}
bool DataFlash_File::NeedPrep()
@ -419,6 +449,7 @@ void DataFlash_File::EraseAll()
{
uint16_t log_num;
stop_logging();
#if !DATAFLASH_FILE_MINIMAL
for (log_num=1; log_num<=MAX_LOG_FILES; log_num++) {
char *fname = _log_file_name(log_num);
if (fname == NULL) {
@ -432,7 +463,7 @@ void DataFlash_File::EraseAll()
unlink(fname);
free(fname);
}
#endif
_cached_oldest_log = 0;
}
@ -536,22 +567,24 @@ uint16_t DataFlash_File::find_last_log()
if (fname == NULL) {
return ret;
}
FILE *f = ::fopen(fname, "r");
int fd = open(fname, O_RDONLY);
free(fname);
if (f != NULL) {
if (fd != -1) {
char buf[10];
memset(buf, 0, sizeof(buf));
// PX4 doesn't have fscanf()
if (fread(buf, 1, sizeof(buf)-1, f) > 0) {
if (read(fd, buf, sizeof(buf)-1) > 0) {
sscanf(buf, "%u", &ret);
}
fclose(f);
close(fd);
}
return ret;
}
uint32_t DataFlash_File::_get_log_size(const uint16_t log_num) const
{
#if DATAFLASH_FILE_MINIMAL
return 1;
#else
char *fname = _log_file_name(log_num);
if (fname == NULL) {
return 0;
@ -563,10 +596,14 @@ uint32_t DataFlash_File::_get_log_size(const uint16_t log_num) const
}
free(fname);
return st.st_size;
#endif
}
uint32_t DataFlash_File::_get_log_time(const uint16_t log_num) const
{
#if DATAFLASH_FILE_MINIMAL
return 0;
#else
char *fname = _log_file_name(log_num);
if (fname == NULL) {
return 0;
@ -578,6 +615,7 @@ uint32_t DataFlash_File::_get_log_time(const uint16_t log_num) const
}
free(fname);
return st.st_mtime;
#endif
}
/*
@ -813,14 +851,19 @@ uint16_t DataFlash_File::start_new_log(void)
// now update lastlog.txt with the new log number
fname = _lastlog_file_name();
FILE *f = ::fopen(fname, "w");
if (f == NULL) {
// we avoid fopen()/fprintf() here as it is not available on as many
// systems as open/write (specifically the QURT RTOS)
int fd = open(fname, O_WRONLY|O_CREAT, 0644);
free(fname);
if (fd == -1) {
return 0xFFFF;
}
fprintf(f, "%u\r\n", (unsigned)log_num);
fclose(f);
free(fname);
char buf[30];
snprintf(buf, sizeof(buf), "%u\r\n", (unsigned)log_num);
write(fd, buf, strlen(buf));
close(fd);
return log_num;
}
@ -948,6 +991,7 @@ void DataFlash_File::ListAvailableLogs(AP_HAL::BetterStream *port)
}
port->printf("\n%u logs\n", (unsigned)num_logs);
#if !DATAFLASH_FILE_MINIMAL
for (uint16_t i=1; i<=num_logs; i++) {
uint16_t log_num = _log_num_from_list_entry(i);
char *filename = _log_file_name(log_num);
@ -968,6 +1012,7 @@ void DataFlash_File::ListAvailableLogs(AP_HAL::BetterStream *port)
free(filename);
}
}
#endif
port->println();
}
@ -1047,7 +1092,7 @@ void DataFlash_File::_io_timer(void)
write.
*/
BUF_ADVANCEHEAD(_writebuf, nwritten);
#if CONFIG_HAL_BOARD != HAL_BOARD_SITL && CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE
#if CONFIG_HAL_BOARD != HAL_BOARD_SITL && CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE && CONFIG_HAL_BOARD != HAL_BOARD_QURT
::fsync(_write_fd);
#endif
}

12
libraries/DataFlash/DataFlash_File.h
View File

@ -14,6 +14,18 @@
#include "DataFlash_Backend.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_QURT
/*
the QURT port has a limited range of system calls available. It
cannot provide all the facilities that DataFlash_File wants. It can
provide enough to be useful though, which is what
DATAFLASH_FILE_MINIMAL is for
*/
#define DATAFLASH_FILE_MINIMAL 1
#else
#define DATAFLASH_FILE_MINIMAL 0
#endif
class DataFlash_File : public DataFlash_Backend
{
public:

2
libraries/DataFlash/LogFile.cpp
View File

@ -36,9 +36,11 @@ void DataFlash_Class::Init(const struct LogStructure *structures, uint8_t num_ty
DFMessageWriter_DFLogStart *message_writer =
new DFMessageWriter_DFLogStart(_firmware_string);
if (message_writer != NULL) {
#if HAL_OS_POSIX_IO
backends[_next_backend] = new DataFlash_File(*this,
message_writer,
HAL_BOARD_LOG_DIRECTORY);
#endif
}
if (backends[_next_backend] == NULL) {
hal.console->printf("Unable to open DataFlash_File");