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AP_UAVCAN: convert to use AP_Filesystem

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This commit is contained in:
Andrew Tridgell 2019-08-01 15:14:00 +10:00
parent a4860afd32
commit d160f14856
2 changed files with 16 additions and 44 deletions
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57
libraries/AP_UAVCAN/AP_UAVCAN_Servers.cpp
View File

@ -33,29 +33,7 @@
#include <AP_Common/AP_Common.h>
#include <AP_Logger/AP_Logger.h>
#if HAL_OS_POSIX_IO
#include <unistd.h>
#include <errno.h>
#include <stdlib.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <assert.h>
#include <stdio.h>
#include <time.h>
#include <dirent.h>
#if defined(__APPLE__) && defined(__MACH__)
#include <sys/param.h>
#include <sys/mount.h>
#else
#include <sys/statfs.h>
#endif
#endif
#if HAL_OS_FATFS_IO
#include <stdio.h>
#endif
#include <AP_Filesystem/AP_Filesystem.h>
#ifndef UAVCAN_NODE_DB_PATH
#define UAVCAN_NODE_DB_PATH HAL_BOARD_STORAGE_DIRECTORY "/UAVCAN"
@ -117,8 +95,6 @@ class AP_UAVCAN_FileStorageBackend : public uavcan::dynamic_node_id_server::ISto
*/
enum { MaxPathLength = 128 };
enum { FilePermissions = 438 }; ///< 0o666
enum { MaxNumOpens = 100 };
/**
* This type is used for the path
@ -141,7 +117,7 @@ protected:
return value;
}
num_opens++;
int fd = open(path.c_str(), O_RDONLY);
int fd = AP::FS().open(path.c_str(), O_RDONLY);
if (fd >= 0)
{
char buffer[MaxStringLength + 1];
@ -151,7 +127,7 @@ protected:
ssize_t nread = 0;
do
{
nread = ::read(fd, &buffer[total_read], remaining);
nread = AP::FS().read(fd, &buffer[total_read], remaining);
if (nread > 0)
{
remaining -= nread,
@ -159,7 +135,7 @@ protected:
}
}
while (nread > 0 && remaining > 0);
(void)close(fd);
AP::FS().close(fd);
if (total_read > 0)
{
for (int i = 0; i < total_read; i++)
@ -187,11 +163,7 @@ protected:
return;
}
num_opens++;
#if HAL_OS_POSIX_IO
int fd = open(path.c_str(), O_WRONLY | O_CREAT | O_TRUNC, FilePermissions);
#else
int fd = open(path.c_str(), O_WRONLY | O_CREAT | O_TRUNC);
#endif
int fd = AP::FS().open(path.c_str(), O_WRONLY | O_CREAT | O_TRUNC);
if (fd >= 0)
{
ssize_t remaining = value.size();
@ -199,7 +171,7 @@ protected:
ssize_t written = 0;
do
{
written = write(fd, &value.c_str()[total_written], remaining);
written = AP::FS().write(fd, &value.c_str()[total_written], remaining);
if (written > 0)
{
total_written += written;
@ -208,8 +180,8 @@ protected:
}
while (written > 0 && remaining > 0);
(void)fsync(fd);
(void)close(fd);
AP::FS().fsync(fd);
AP::FS().close(fd);
}
}
@ -238,10 +210,9 @@ public:
rv = 0;
struct stat sb;
if (stat(base_path.c_str(), &sb) != 0 || !S_ISDIR(sb.st_mode))
if (AP::FS().stat(base_path.c_str(), &sb) != 0 || !S_ISDIR(sb.st_mode))
{
// coverity[toctou]
rv = mkdir(base_path.c_str(), S_IRWXU | S_IRWXG | S_IRWXO);
rv = AP::FS().mkdir(base_path.c_str());
}
if (rv >= 0)
{
@ -328,16 +299,16 @@ void AP_UAVCAN_Servers::reset()
debug_uavcan("UAVCAN_Servers: Resetting Server Database...\n");
DIR* dp;
struct dirent* ep;
dp = opendir(UAVCAN_NODE_DB_PATH);
dp = AP::FS().opendir(UAVCAN_NODE_DB_PATH);
char abs_filename[100];
if (dp != NULL)
{
while((ep = readdir(dp))) {
while((ep = AP::FS().readdir(dp))) {
snprintf(abs_filename, 100, "%s/%s", UAVCAN_NODE_DB_PATH, ep->d_name);
unlink(abs_filename);
AP::FS().unlink(abs_filename);
}
}
closedir(dp);
AP::FS().closedir(dp);
}
#endif

3
libraries/AP_UAVCAN/AP_UAVCAN_Servers.h
View File

@ -1,7 +1,8 @@
#pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_Filesystem/AP_Filesystem.h>
#if (HAL_OS_POSIX_IO || HAL_OS_FATFS_IO)
#if HAVE_FILESYSTEM_SUPPORT
#define HAS_UAVCAN_SERVERS