mirror of https://github.com/ArduPilot/ardupilot
109 lines
2.9 KiB
C++
109 lines
2.9 KiB
C++
//Simple File I/O example
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#include <AP_HAL/AP_HAL.h>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#include <AP_Filesystem/AP_Filesystem.h>
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#include <stdio.h>
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//set according to the data size in file
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#define BUFFER_SIZE 50
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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void setup();
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void loop();
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static AP_BoardConfig board_config;
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int file_count = 0;
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const char *dir_path = nullptr;
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static void write_file(const char *);
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static void read_file(const char *);
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void setup()
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{
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board_config.init();
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//creating a test directory to store all files
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dir_path = "./test_dir";
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hal.console->printf("Creating directory - %s\n", dir_path);
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int ret = AP::FS().mkdir(dir_path);
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if (ret == -1) {
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if (errno == EEXIST) {
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hal.console->printf("Directory - %s already exist\n", dir_path);
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} else {
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hal.console->printf("Failed to create directory %s - %s\n", dir_path, strerror(errno));
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}
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}
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}
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void loop()
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{
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//creating 10 files in test directory
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if (file_count == 10) {
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hal.console->printf("Finished creating files\n\n");
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hal.scheduler->delay(1000);
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return;
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}
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file_count += 1;
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char file_path[100];
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snprintf(file_path, sizeof(file_path), "%s/test_%d.txt", dir_path, file_count);
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write_file(file_path);
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hal.scheduler->delay(1000);
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read_file(file_path);
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hal.scheduler->delay(1000);
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}
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static void write_file(const char *file_path)
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{
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char write_buf[BUFFER_SIZE];
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//creating or opening a file in write mode
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const int open_fd = AP::FS().open(file_path, O_WRONLY | O_CREAT | O_TRUNC);
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if (open_fd == -1) {
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hal.console->printf("Open %s failed - %s\n", file_path, strerror(errno));
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return;
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}
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//writing to file
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const char *s = "Hello_World";
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hal.console->printf("Writing to file %s => %s_%d\n", file_path, s, file_count);
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snprintf(write_buf, sizeof(write_buf), "%s_%d\n", s, file_count);
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const ssize_t to_write = strlen(write_buf);
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const ssize_t write_size = AP::FS().write(open_fd, write_buf, to_write);
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if (write_size == -1 or write_size != to_write) {
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hal.console->printf("Write failed - %s\n", strerror(errno));
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return;
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}
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//closing file after writing
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AP::FS().close(open_fd);
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}
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static void read_file(const char *file_path)
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{
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char read_buf[BUFFER_SIZE];
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//opening a file in read mode
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const int open_fd = AP::FS().open(file_path, O_RDONLY);
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if (open_fd == -1) {
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hal.console->printf("Open %s failed\n", file_path);
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return;
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}
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//reading from file
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const ssize_t read_size = AP::FS().read(open_fd, read_buf, sizeof(read_buf));
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if (read_size == -1) {
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hal.console->printf("Read failed - %s\n", strerror(errno));
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return;
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}
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hal.console->printf("Reading from file %s => %s\n", file_path, read_buf);
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//closing file after reading
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AP::FS().close(open_fd);
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}
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AP_HAL_MAIN();
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