forked from Archive/PX4-Autopilot
parameters: open export files O_TRUNC to discard previous data
- rcS parameter backup try to directly restore param (FRAM) from backup (in case SD card is removed before successful export) - rcS parameter backup logging rearrange to capture more logging output (param_import_fail.txt) - posix rcS try to keep param backup and restore roughly in sync with NuttX rcS - tinybson fix debug printf format - param_export_internal ensure file descriptor positioned at 0 (precaution)
This commit is contained in:
Daniel Agar
parent
296b1704c5
commit
3f3a5f19f0
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@ -7,7 +7,7 @@ param set-default IMU_INTEG_RATE 250
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if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
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if ! simulator_sih start; then
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echo "ERROR [init] simulator_sih failed to start"
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echo "ERROR [init] simulator_sih failed to start"
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exit 1
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fi
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@ -46,7 +46,7 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
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sensor_gps_sim start
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sensor_mag_sim start
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else
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echo "ERROR [init] ign gazebo failed to start"
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echo "ERROR [init] ign gazebo failed to start"
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exit 1
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fi
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else
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@ -61,7 +61,7 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
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sensor_gps_sim start
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sensor_mag_sim start
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else
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echo "ERROR [init] ign gazebo failed to start"
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echo "ERROR [init] ign gazebo failed to start"
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exit 1
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fi
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@ -52,7 +52,7 @@ then
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# shellcheck disable=SC2012
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REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
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if [ -z "$REQUESTED_AUTOSTART" ]; then
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echo "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
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echo "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
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exit 1
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else
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SYS_AUTOSTART=$REQUESTED_AUTOSTART
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@ -62,18 +62,46 @@ fi
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# Load parameters
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set PARAM_FILE parameters.bson
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param select $PARAM_FILE
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set PARAM_BACKUP_FILE parameters_backup.bson
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if [ -f $PARAM_FILE ]
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then
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if param load
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param select $PARAM_FILE
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if [ -f $PARAM_FILE ]; then
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set +e # disable exit on error control for param import
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if ! param import
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then
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echo "[param] Loaded: $PARAM_FILE"
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else
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echo "[param] FAILED loading $PARAM_FILE"
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echo "ERROR [init] param import failed"
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param dump $PARAM_FILE
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# try to make a backup copy
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cp $PARAM_FILE param_import_fail.bson
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# try importing from backup file
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if [ -f $PARAM_BACKUP_FILE ]
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then
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echo "[init] importing from parameter backup"
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# dump current backup file contents for comparison
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param dump $PARAM_BACKUP_FILE
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param import $PARAM_BACKUP_FILE
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# overwrite invalid $PARAM_FILE with backup
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cp $PARAM_BACKUP_FILE $PARAM_FILE
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fi
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param status
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fi
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set -e # restore exit on error control
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elif [ -f $PARAM_BACKUP_FILE ]; then
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echo "ERROR [init] primary param file $PARAM_FILE unavailable, using backup $PARAM_BACKUP_FILE"
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param import $PARAM_BACKUP_FILE
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fi
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param select-backup $PARAM_BACKUP_FILE
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# exit early when the minimal shell is requested
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[ $RUN_MINIMAL_SHELL = yes ] && exit 0
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@ -28,6 +28,7 @@ set IOFW "/etc/extras/px4_io-v2_default.bin"
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set LOGGER_ARGS ""
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set LOGGER_BUF 8
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set PARAM_FILE ""
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set PARAM_BACKUP_FILE ""
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set RC_INPUT_ARGS ""
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set SDCARD_AVAILABLE no
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set SDCARD_EXT_PATH /fs/microsd/ext_autostart
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@ -93,6 +94,7 @@ then
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fi
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set PARAM_FILE /fs/microsd/params
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set PARAM_BACKUP_FILE "/fs/microsd/parameters_backup.bson"
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fi
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#
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@ -132,27 +134,32 @@ else
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if [ -d "/fs/microsd" ]
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then
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dmesg >> /fs/microsd/param_import_fail.txt &
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# try to make a backup copy
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cp $PARAM_FILE /fs/microsd/param_import_fail.bson &
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fi
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cp $PARAM_FILE /fs/microsd/param_import_fail.bson
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# try importing from backup file
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if [ -f "/fs/microsd/parameters_backup.bson" ]
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then
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echo "[init] importing from parameter backup"
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# try importing from backup file
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if [ -f $PARAM_BACKUP_FILE ]
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then
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echo "[init] importing from parameter backup"
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# dump current backup file contents for comparison
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param dump /fs/microsd/parameters_backup.bson
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# dump current backup file contents for comparison
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param dump $PARAM_BACKUP_FILE
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param import /fs/microsd/parameters_backup.bson
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param import $PARAM_BACKUP_FILE
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# overwrite invalid $PARAM_FILE with backup
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cp $PARAM_BACKUP_FILE $PARAM_FILE
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fi
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param status
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dmesg >> /fs/microsd/param_import_fail.txt &
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fi
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fi
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if [ $SDCARD_AVAILABLE = yes ]
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then
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param select-backup /fs/microsd/parameters_backup.bson
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param select-backup $PARAM_BACKUP_FILE
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fi
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if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
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@ -534,6 +541,7 @@ unset IOFW
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unset LOGGER_ARGS
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unset LOGGER_BUF
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unset PARAM_FILE
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unset PARAM_BACKUP_FILE
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unset RC_INPUT_ARGS
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unset SDCARD_AVAILABLE
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unset SDCARD_EXT_PATH
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@ -78,7 +78,7 @@ class RCOutput():
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result += "\t. /etc/init.d/airframes/${AIRFRAME}\n"
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if not post_start:
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result += "else\n"
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result += "\techo \"ERROR [init] No file matches SYS_AUTOSTART value found in : /etc/init.d/airframes\"\n"
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result += "\techo \"ERROR [init] No file matches SYS_AUTOSTART value found in : /etc/init.d/airframes\"\n"
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# Reset the configuration
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result += "\tparam set SYS_AUTOSTART 0\n"
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result += "\ttone_alarm ${TUNE_ERR}\n"
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@ -1116,7 +1116,7 @@ int param_save_default()
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for (int attempt = 1; attempt <= MAX_ATTEMPTS; attempt++) {
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// write parameters to file
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int fd = ::open(filename, O_WRONLY | O_CREAT, PX4_O_MODE_666);
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int fd = ::open(filename, O_WRONLY | O_CREAT | O_TRUNC, PX4_O_MODE_666);
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if (fd > -1) {
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perf_begin(param_export_perf);
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@ -1155,7 +1155,7 @@ int param_save_default()
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// backup file
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if (param_backup_file) {
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int fd_backup_file = ::open(param_backup_file, O_WRONLY | O_CREAT, PX4_O_MODE_666);
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int fd_backup_file = ::open(param_backup_file, O_WRONLY | O_CREAT | O_TRUNC, PX4_O_MODE_666);
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if (fd_backup_file > -1) {
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int backup_export_ret = param_export_internal(fd_backup_file, nullptr);
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@ -1374,6 +1374,11 @@ static int param_export_internal(int fd, param_filter_func filter)
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bson_encoder_s encoder{};
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uint8_t bson_buffer[256];
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if (lseek(fd, 0, SEEK_SET) != 0) {
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PX4_ERR("export seek failed %d", errno);
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return -1;
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}
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if (bson_encoder_init_buf_file(&encoder, fd, &bson_buffer, sizeof(bson_buffer)) != 0) {
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goto out;
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}
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@ -147,7 +147,7 @@ bson_decoder_init_buf(bson_decoder_t decoder, void *buf, unsigned bufsize, bson_
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if (bufsize == 0) {
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decoder->bufsize = *(uint32_t *)buf;
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debug("auto-detected %u byte object", decoder->bufsize);
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debug("auto-detected %zu byte object", decoder->bufsize);
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} else {
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decoder->bufsize = bufsize;
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@ -403,7 +403,7 @@ write_x(bson_encoder_t encoder, const void *p, size_t s)
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memcpy(encoder->buf + encoder->bufpos, p, s);
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encoder->bufpos += s;
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debug("appended %d bytes", s);
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debug("appended %zu bytes", s);
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return 0;
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}
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