mirror of https://github.com/ArduPilot/ardupilot
145 lines
3.7 KiB
C++
145 lines
3.7 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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ArduPilot filesystem interface. This offsets a minimal subset of
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full functionality offered by posix type interfaces, meeting the
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needs of ArduPilot
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*/
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#pragma once
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#include <stdint.h>
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#include <AP_HAL/AP_HAL_Boards.h>
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#include "AP_Filesystem_Available.h"
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#ifndef MAX_NAME_LEN
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#define MAX_NAME_LEN 255
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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#if HAVE_FILESYSTEM_SUPPORT
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#include "AP_Filesystem_FATFS.h"
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#endif
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#define DT_REG 0
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#define DT_DIR 1
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struct dirent {
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char d_name[MAX_NAME_LEN]; /* filename */
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uint8_t d_type;
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};
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#endif // HAL_BOARD_CHIBIOS
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#include <fcntl.h>
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#include <errno.h>
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#include <unistd.h>
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#ifndef AP_FILESYSTEM_FORMAT_ENABLED
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// only enable for SDMMC filesystems for now as other types can't query
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// block size
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#ifndef HAL_USE_SDMMC
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#define HAL_USE_SDMMC 0
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#endif
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#define AP_FILESYSTEM_FORMAT_ENABLED HAL_USE_SDMMC
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include "AP_Filesystem_posix.h"
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_ESP32
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#include "AP_Filesystem_ESP32.h"
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#endif
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#include "AP_Filesystem_backend.h"
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#ifndef AP_FILESYSTEM_FORMAT_ENABLED
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#define AP_FILESYSTEM_FORMAT_ENABLED 0
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#endif
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class AP_Filesystem {
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private:
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struct DirHandle {
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uint8_t fs_index;
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void *dir;
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};
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public:
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AP_Filesystem() {}
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// functions that closely match the equivalent posix calls
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int open(const char *fname, int flags, bool allow_absolute_paths = false);
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int close(int fd);
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int32_t read(int fd, void *buf, uint32_t count);
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int32_t write(int fd, const void *buf, uint32_t count);
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int fsync(int fd);
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int32_t lseek(int fd, int32_t offset, int whence);
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int stat(const char *pathname, struct stat *stbuf);
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int unlink(const char *pathname);
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int mkdir(const char *pathname);
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DirHandle *opendir(const char *pathname);
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struct dirent *readdir(DirHandle *dirp);
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int closedir(DirHandle *dirp);
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// return free disk space in bytes, -1 on error
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int64_t disk_free(const char *path);
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// return total disk space in bytes, -1 on error
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int64_t disk_space(const char *path);
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// set modification time on a file
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bool set_mtime(const char *filename, const uint32_t mtime_sec);
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// if filesystem is not running then try a remount. Return true if fs is mounted
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bool retry_mount(void);
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// unmount filesystem for reboot
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void unmount(void);
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// returns null-terminated string; cr or lf terminates line
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bool fgets(char *buf, uint8_t buflen, int fd);
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// format filesystem
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bool format(void);
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/*
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load a full file. Use delete to free the data
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*/
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FileData *load_file(const char *filename);
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private:
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struct Backend {
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const char *prefix;
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AP_Filesystem_Backend &fs;
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};
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static const struct Backend backends[];
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/*
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find backend by path
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*/
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const Backend &backend_by_path(const char *&path) const;
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/*
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find backend by open fd
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*/
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const Backend &backend_by_fd(int &fd) const;
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};
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namespace AP {
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AP_Filesystem &FS();
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};
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