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ardupilot/libraries/AP_Filesystem/AP_Filesystem_Sys.cpp

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// 2 or 3 structures, select one that is before target point, closest to target
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
ArduPilot filesystem interface for system information
*/
#include "AP_Filesystem.h"
#include "AP_Filesystem_Sys.h"
#if AP_FILESYSTEM_SYS_ENABLED
#include <AP_Math/AP_Math.h>
#include <AP_CANManager/AP_CANManager.h>
#include <AP_Scheduler/AP_Scheduler.h>
#include <AP_Common/ExpandingString.h>
extern const AP_HAL::HAL& hal;
struct SysFileList {
const char* name;
};
static const SysFileList sysfs_file_list[] = {
{"threads.txt"},
{"tasks.txt"},
{"dma.txt"},
{"memory.txt"},
{"uarts.txt"},
{"timers.txt"},
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
{"can_log.txt"},
#endif
#if HAL_NUM_CAN_IFACES > 0
{"can0_stats.txt"},
{"can1_stats.txt"},
#endif
#if !defined(HAL_BOOTLOADER_BUILD) && (defined(STM32F7) || defined(STM32H7))
{"persistent.parm"},
#endif
{"crash_dump.bin"},
{"storage.bin"},
#if AP_FILESYSTEM_SYS_FLASH_ENABLED
{"flash.bin"},
#endif
};
int8_t AP_Filesystem_Sys::file_in_sysfs(const char *fname) {
for (uint8_t i = 0; i < ARRAY_SIZE(sysfs_file_list); i++) {
if (strcmp(fname, sysfs_file_list[i].name) == 0) {
return i;
}
}
return -1;
}
int AP_Filesystem_Sys::open(const char *fname, int flags, bool allow_absolute_paths)
{
if ((flags & O_ACCMODE) != O_RDONLY) {
errno = EROFS;
return -1;
}
uint8_t idx;
for (idx=0; idx<max_open_file; idx++) {
if (!file[idx].open) {
break;
}
}
if (idx == max_open_file) {
errno = ENFILE;
return -1;
}
struct rfile &r = file[idx];
r.str = new ExpandingString;
if (r.str == nullptr) {
errno = ENOMEM;
return -1;
}
// This ensure that whenever new sys file is added its also added to list above
int8_t pos = file_in_sysfs(fname);
if (pos < 0) {
delete r.str;
r.str = nullptr;
errno = ENOENT;
return -1;
}
if (strcmp(fname, "threads.txt") == 0) {
hal.util->thread_info(*r.str);
}
#if AP_SCHEDULER_ENABLED
if (strcmp(fname, "tasks.txt") == 0) {
AP::scheduler().task_info(*r.str);
}
#endif
if (strcmp(fname, "dma.txt") == 0) {
hal.util->dma_info(*r.str);
}
if (strcmp(fname, "memory.txt") == 0) {
hal.util->mem_info(*r.str);
}
#if HAL_UART_STATS_ENABLED
if (strcmp(fname, "uarts.txt") == 0) {
hal.util->uart_info(*r.str);
}
#endif
if (strcmp(fname, "timers.txt") == 0) {
hal.util->timer_info(*r.str);
}
#if HAL_CANMANAGER_ENABLED
if (strcmp(fname, "can_log.txt") == 0) {
AP::can().log_retrieve(*r.str);
}
#endif
#if HAL_NUM_CAN_IFACES > 0
int8_t can_stats_num = -1;
if (strcmp(fname, "can0_stats.txt") == 0) {
can_stats_num = 0;
} else if (strcmp(fname, "can1_stats.txt") == 0) {
can_stats_num = 1;
}
if (can_stats_num != -1 && can_stats_num < HAL_NUM_CAN_IFACES) {
if (hal.can[can_stats_num] != nullptr) {
hal.can[can_stats_num]->get_stats(*r.str);
}
}
#endif
if (strcmp(fname, "persistent.parm") == 0) {
hal.util->load_persistent_params(*r.str);
}
#if AP_CRASHDUMP_ENABLED
if (strcmp(fname, "crash_dump.bin") == 0) {
r.str->set_buffer((char*)hal.util->last_crash_dump_ptr(), hal.util->last_crash_dump_size(), hal.util->last_crash_dump_size());
}
#endif
if (strcmp(fname, "storage.bin") == 0) {
// we don't want to store the contents of storage.bin
// we read directly from the storage driver
void *ptr = nullptr;
size_t size = 0;
if (hal.storage->get_storage_ptr(ptr, size)) {
r.str->set_buffer((char*)ptr, size, size);
}
}
#if AP_FILESYSTEM_SYS_FLASH_ENABLED
if (strcmp(fname, "flash.bin") == 0) {
void *ptr = (void*)0x08000000;
const size_t size = BOARD_FLASH_SIZE*1024;
r.str->set_buffer((char*)ptr, size, size);
}
#endif
if (r.str->get_length() == 0) {
errno = r.str->has_failed_allocation()?ENOMEM:ENOENT;
delete r.str;
r.str = nullptr;
return -1;
}
r.file_ofs = 0;
r.open = true;
return idx;
}
int AP_Filesystem_Sys::close(int fd)
{
if (fd < 0 || fd >= max_open_file || !file[fd].open) {
errno = EBADF;
return -1;
}
struct rfile &r = file[fd];
r.open = false;
delete r.str;
r.str = nullptr;
return 0;
}
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;
return -1;
}
struct rfile &r = file[fd];
count = MIN(count, r.str->get_length() - r.file_ofs);
memcpy(buf, &r.str->get_string()[r.file_ofs], count);
r.file_ofs += count;
return count;
}
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;
return -1;
}
struct rfile &r = file[fd];
switch (seek_from) {
case SEEK_SET:
r.file_ofs = MIN(offset, int32_t(r.str->get_length()));
break;
case SEEK_CUR:
r.file_ofs = MIN(r.str->get_length(), offset+r.file_ofs);
break;
case SEEK_END:
errno = EINVAL;
return -1;
}
return r.file_ofs;
}
void *AP_Filesystem_Sys::opendir(const char *pathname)
{
if (strlen(pathname) > 0) {
// no sub directories
errno = ENOENT;
return nullptr;
}
DirReadTracker *dtracker = new DirReadTracker;
if (dtracker == nullptr) {
errno = ENOMEM;
return nullptr;
}
return dtracker;
}
struct dirent *AP_Filesystem_Sys::readdir(void *dirp)
{
DirReadTracker* dtracker = ((DirReadTracker*)dirp);
if (dtracker->file_offset >= ARRAY_SIZE(sysfs_file_list)) {
// we have reached end of list
return nullptr;
}
dtracker->curr_file.d_type = DT_REG;
size_t max_length = ARRAY_SIZE(dtracker->curr_file.d_name);
strncpy_noterm(dtracker->curr_file.d_name, sysfs_file_list[dtracker->file_offset].name, max_length);
dtracker->file_offset++;
return &dtracker->curr_file;
}
int AP_Filesystem_Sys::closedir(void *dirp)
{
if (dirp == nullptr) {
errno = EINVAL;
return -1;
}
delete (DirReadTracker*)dirp;
return 0;
}
int AP_Filesystem_Sys::stat(const char *pathname, struct stat *stbuf)
{
if (pathname == nullptr || stbuf == nullptr || (strlen(pathname) == 0)) {
errno = EINVAL;
return -1;
}
memset(stbuf, 0, sizeof(*stbuf));
if (strlen(pathname) == 1 && pathname[0] == '/') {
stbuf->st_size = 0; // just a placeholder value
return 0;
}
const char *pathname_noslash = pathname;
if (pathname[0] == '/') {
pathname_noslash = &pathname[1];
}
int8_t pos = file_in_sysfs(pathname_noslash);
if (pos < 0) {
errno = ENOENT;
return -1;
}
// give a fixed size for stat. It is too expensive to
// read every file for a directory listing
if (strcmp(pathname_noslash, "storage.bin") == 0) {
stbuf->st_size = HAL_STORAGE_SIZE;
#if AP_CRASHDUMP_ENABLED
} else if (strcmp(pathname_noslash, "crash_dump.bin") == 0) {
stbuf->st_size = hal.util->last_crash_dump_size();
#endif
} else {
stbuf->st_size = 100000;
}
return 0;
}
#endif // AP_FILESYSTEM_SYS_ENABLED
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