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HAL_PX4: reopen storage file on any IO error

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This commit is contained in:
Andrew Tridgell 2013-01-27 13:38:47 +11:00
parent 6f5050a8b9
commit e4a204d2f6
2 changed files with 41 additions and 12 deletions
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52
libraries/AP_HAL_PX4/Storage.cpp
View File

@ -28,34 +28,48 @@ void PX4Storage::_storage_create(void)
{ {
mkdir(STORAGE_DIR, 0777); mkdir(STORAGE_DIR, 0777);
unlink(STORAGE_FILE); unlink(STORAGE_FILE);
_fd = open(STORAGE_FILE, O_RDWR|O_CREAT, 0666); int fd = open(STORAGE_FILE, O_RDWR|O_CREAT, 0666);
if (_fd == -1) { if (fd == -1) {
hal.scheduler->panic("Failed to create " STORAGE_FILE); hal.scheduler->panic("Failed to create " STORAGE_FILE);
} }
for (uint16_t loc=0; loc<sizeof(_buffer); loc += PX4_STORAGE_MAX_WRITE) { for (uint16_t loc=0; loc<sizeof(_buffer); loc += PX4_STORAGE_MAX_WRITE) {
if (write(_fd, &_buffer[loc], PX4_STORAGE_MAX_WRITE) != PX4_STORAGE_MAX_WRITE) { if (write(fd, &_buffer[loc], PX4_STORAGE_MAX_WRITE) != PX4_STORAGE_MAX_WRITE) {
hal.scheduler->panic("Error filling " STORAGE_FILE); hal.scheduler->panic("Error filling " STORAGE_FILE);
} }
} }
// ensure the directory is updated with the new size // ensure the directory is updated with the new size
fsync(_fd); fsync(fd);
close(fd);
} }
void PX4Storage::_storage_open(void) void PX4Storage::_storage_open(void)
{ {
if (_fd != -1) { if (_initialised) {
return; return;
} }
_dirty_mask = 0; _dirty_mask = 0;
_fd = open(STORAGE_FILE, O_RDWR); int fd = open(STORAGE_FILE, O_RDONLY);
if (_fd == -1) { if (fd == -1) {
_storage_create();
} else if (read(_fd, _buffer, sizeof(_buffer)) != sizeof(_buffer)) {
close(_fd);
_fd = -1;
_storage_create(); _storage_create();
fd = open(STORAGE_FILE, O_RDONLY);
if (fd == -1) {
hal.scheduler->panic("Failed to open " STORAGE_FILE);
}
} }
if (read(fd, _buffer, sizeof(_buffer)) != sizeof(_buffer)) {
close(fd);
_storage_create();
fd = open(STORAGE_FILE, O_RDONLY);
if (fd == -1) {
hal.scheduler->panic("Failed to open " STORAGE_FILE);
}
if (read(fd, _buffer, sizeof(_buffer)) != sizeof(_buffer)) {
hal.scheduler->panic("Failed to read " STORAGE_FILE);
}
}
close(fd);
_initialised = true;
} }
/* /*
@ -165,10 +179,20 @@ void PX4Storage::write_block(uint16_t loc, void *src, size_t n)
void PX4Storage::_timer_tick(void) void PX4Storage::_timer_tick(void)
{ {
if (_fd == -1 || _dirty_mask == 0) { if (!_initialised || _dirty_mask == 0) {
return; return;
} }
perf_begin(_perf_storage); perf_begin(_perf_storage);
if (_fd == -1) {
_fd = open(STORAGE_FILE, O_WRONLY);
if (_fd == -1) {
perf_end(_perf_storage);
perf_count(_perf_errors);
return;
}
}
// write out the first dirty set of lines. We don't write more // write out the first dirty set of lines. We don't write more
// than one to keep the latency of this call to a minimum // than one to keep the latency of this call to a minimum
uint8_t i, n; uint8_t i, n;
@ -205,10 +229,14 @@ void PX4Storage::_timer_tick(void)
if (write(_fd, &_buffer[i<<PX4_STORAGE_LINE_SHIFT], n<<PX4_STORAGE_LINE_SHIFT) != n<<PX4_STORAGE_LINE_SHIFT) { if (write(_fd, &_buffer[i<<PX4_STORAGE_LINE_SHIFT], n<<PX4_STORAGE_LINE_SHIFT) != n<<PX4_STORAGE_LINE_SHIFT) {
// write error - likely EINTR // write error - likely EINTR
_dirty_mask |= write_mask; _dirty_mask |= write_mask;
close(_fd);
_fd = -1;
perf_count(_perf_errors); perf_count(_perf_errors);
} }
if (_dirty_mask == 0) { if (_dirty_mask == 0) {
if (fsync(_fd) != 0) { if (fsync(_fd) != 0) {
close(_fd);
_fd = -1;
perf_count(_perf_errors); perf_count(_perf_errors);
} }
} }

1
libraries/AP_HAL_PX4/Storage.h
View File

@ -36,6 +36,7 @@ public:
private: private:
int _fd; int _fd;
volatile bool _initialised;
void _storage_create(void); void _storage_create(void);
void _storage_open(void); void _storage_open(void);
void _mark_dirty(uint16_t loc, uint16_t length); void _mark_dirty(uint16_t loc, uint16_t length);