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AP_HAL_Linux: Storage: prefer custom storage

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If ardupilot was started with --storage-directory option, use that
directory to save/load parameters.
This commit is contained in:
Lucas De Marchi 2018-03-27 23:42:42 -07:00 committed by Lucas De Marchi
parent ff6e76ea6a
commit 5526997d45
1 changed files with 24 additions and 6 deletions
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30
libraries/AP_HAL_Linux/Storage.cpp
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@ -20,7 +20,7 @@ using namespace Linux;
// name the storage file after the sketch so you can use the same board // name the storage file after the sketch so you can use the same board
// card for ArduCopter and ArduPlane // card for ArduCopter and ArduPlane
#define STORAGE_FILE HAL_BOARD_STORAGE_DIRECTORY "/" SKETCHNAME ".stg" #define STORAGE_FILE SKETCHNAME ".stg"
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -93,12 +93,30 @@ static int mkdir_p(const char *path, int len, mode_t mode)
void Storage::_storage_create(void) void Storage::_storage_create(void)
{ {
mkdir_p(HAL_BOARD_STORAGE_DIRECTORY, strlen(HAL_BOARD_STORAGE_DIRECTORY), 0777); const char *dpath = HAL_BOARD_STORAGE_DIRECTORY, *p;
unlink(STORAGE_FILE); int dfd = -1;
int fd = open(STORAGE_FILE, O_RDWR|O_CREAT|O_CLOEXEC, 0666);
if (fd == -1) { p = hal.util->get_custom_storage_directory();
AP_HAL::panic("Failed to create " STORAGE_FILE); if (p) {
dpath = p;
} }
mkdir_p(dpath, strlen(dpath), 0777);
dfd = open(dpath, O_RDWR|O_CLOEXEC);
if (dfd < 0) {
AP_HAL::panic("Error opening storage directory: %s\n", dpath);
}
unlinkat(dfd, STORAGE_FILE, 0);
int fd = openat(dfd, STORAGE_FILE, O_RDWR|O_CREAT|O_CLOEXEC, 0666);
close(dfd);
if (fd == -1) {
AP_HAL::panic("Failed to create %s/%s", HAL_BOARD_STORAGE_DIRECTORY,
STORAGE_FILE);
}
for (uint16_t loc=0; loc<sizeof(_buffer); loc += LINUX_STORAGE_MAX_WRITE) { for (uint16_t loc=0; loc<sizeof(_buffer); loc += LINUX_STORAGE_MAX_WRITE) {
if (write(fd, &_buffer[loc], LINUX_STORAGE_MAX_WRITE) != LINUX_STORAGE_MAX_WRITE) { if (write(fd, &_buffer[loc], LINUX_STORAGE_MAX_WRITE) != LINUX_STORAGE_MAX_WRITE) {
perror("write"); perror("write");