POSIX: Added PX4_ROOTFSDIR to file paths

Set a default path relative to current dir for the posix target.

Running make posixrun will create the required directoroes and then run
mainapp from its build location.

PX4_ROOTFSDIR is set to nothing for nuttx.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

src/modules/dataman/dataman.c

@@ -132,7 +132,7 @@ static sem_t g_sys_state_mutex;
 
 /* The data manager store file handle and file name */
 static int g_fd = -1, g_task_fd = -1;
-static const char *default_device_path = "/fs/microsd/dataman";
+static const char *default_device_path = PX4_ROOTFSDIR"/fs/microsd/dataman";
 static char *k_data_manager_device_path = NULL;
 
 /* The data manager work queues */

src/modules/mavlink/mavlink_ftp.cpp

@@ -571,7 +571,7 @@ MavlinkFTP::ErrorCode
 MavlinkFTP::_workTruncateFile(PayloadHeader* payload)
 {
 	char file[kMaxDataLength];
-	const char temp_file[] = "/fs/microsd/.trunc.tmp";
+	const char temp_file[] = PX4_ROOTFSDIR"/fs/microsd/.trunc.tmp";
 	strncpy(file, _data_as_cstring(payload), kMaxDataLength);
 	payload->size = 0;
 

src/modules/mavlink/mavlink_messages.cpp

@@ -389,7 +389,7 @@ protected:
 					} else if (write_err_count < write_err_threshold) {
 						/* string to hold the path to the log */
 						char log_file_name[32] = "";
-						char log_file_path[64] = "";
+						char log_file_path[70] = "";
 
 						timespec ts;
 						px4_clock_gettime(CLOCK_REALTIME, &ts);
@@ -400,7 +400,7 @@ protected:
 
 						// XXX we do not want to interfere here with the SD log app
 						strftime(log_file_name, sizeof(log_file_name), "msgs_%Y_%m_%d_%H_%M_%S.txt", &tt);
-						snprintf(log_file_path, sizeof(log_file_path), "/fs/microsd/%s", log_file_name);
+						snprintf(log_file_path, sizeof(log_file_path), PX4_ROOTFSDIR"/fs/microsd/%s", log_file_name);
 						fp = fopen(log_file_path, "ab");
 
 						/* write first message */

src/modules/navigator/geofence.h

@@ -49,8 +49,9 @@
 #include <controllib/blocks.hpp>
 #include <controllib/block/BlockParam.hpp>
 #include <drivers/drv_hrt.h>
+#include <px4_defines.h>
 
-#define GEOFENCE_FILENAME "/fs/microsd/etc/geofence.txt"
+#define GEOFENCE_FILENAME PX4_ROOTFSDIR"/fs/microsd/etc/geofence.txt"
 
 class Geofence : public control::SuperBlock
 {

src/modules/position_estimator_inav/position_estimator_inav_main.c

@@ -189,7 +189,7 @@ int position_estimator_inav_main(int argc, char *argv[])
 
 static void write_debug_log(const char *msg, float dt, float x_est[2], float y_est[2], float z_est[2], float x_est_prev[2], float y_est_prev[2], float z_est_prev[2], float acc[3], float corr_gps[3][2], float w_xy_gps_p, float w_xy_gps_v)
 {
-	FILE *f = fopen("/fs/microsd/inav.log", "a");
+	FILE *f = fopen(PX4_ROOTFSDIR"/fs/microsd/inav.log", "a");
 
 	if (f) {
 		char *s = malloc(256);

src/modules/sdlog2/sdlog2.c

@@ -179,7 +179,7 @@ static const int MIN_BYTES_TO_WRITE = 512;
 static bool _extended_logging = false;
 static bool _gpstime_only = false;
 
-#define MOUNTPOINT "/fs/microsd"
+#define MOUNTPOINT PX4_ROOTFSDIR"/fs/microsd"
 static const char *mountpoint = MOUNTPOINT;
 static const char *log_root = MOUNTPOINT "/log";
 static int mavlink_fd = -1;

src/modules/systemlib/param/param.c

@@ -695,7 +695,7 @@ param_reset_excludes(const char *excludes[], int num_excludes)
 	param_notify_changes();
 }
 
-static const char *param_default_file = "/eeprom/parameters";
+static const char *param_default_file = PX4_ROOTFSDIR"/eeprom/parameters";
 static char *param_user_file = NULL;
 
 int

src/modules/uORB/uORBTest_UnitTest.cpp

@@ -104,8 +104,7 @@ int uORBTest::UnitTest::pubsublatency_main(void)
 
   if (pubsubtest_print) {
     char fname[32];
-    //sprintf(fname, "/fs/microsd/timings%u.txt", timingsgroup);
-    sprintf(fname, "/tmp/timings%u.txt", timingsgroup);
+    sprintf(fname, PX4_ROOTFSDIR"/fs/microsd/timings%u.txt", timingsgroup);
     FILE *f = fopen(fname, "w");
     if (f == NULL) {
       warnx("Error opening file!\n");

src/modules/uavcan/uavcan_main.hpp

@@ -65,9 +65,9 @@
 
 #define NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN	4
 #define UAVCAN_DEVICE_PATH	"/dev/uavcan/esc"
-#define UAVCAN_NODE_DB_PATH     "/fs/microsd/uavcan.db"
-#define UAVCAN_FIRMWARE_PATH    "/fs/microsd/fw"
-#define UAVCAN_LOG_FILE          UAVCAN_NODE_DB_PATH"/trace.log"
+#define UAVCAN_NODE_DB_PATH     PX4_ROOTFSDIR"/fs/microsd/uavcan.db"
+#define UAVCAN_FIRMWARE_PATH    PX4_ROOTFSDIR"/fs/microsd/fw"
+#define UAVCAN_LOG_FILE         UAVCAN_NODE_DB_PATH"/trace.log"
 
 // we add two to allow for actuator_direct and busevent
 #define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+2)

src/platforms/px4_defines.h

@@ -92,6 +92,8 @@ typedef param_t px4_param_t;
  */
 #if defined(__PX4_NUTTX)
 
+#define PX4_ROOTFSDIR 
+
 /* XXX this is a hack to resolve conflicts with NuttX headers */
 #if !defined(__PX4_TESTS)
 #define isspace(c) \
@@ -136,6 +138,12 @@ __END_DECLS
 
 #define px4_statfs_buf_f_bavail_t unsigned long
 
+#if defined(__PX4_QURT)
+#define PX4_ROOTFSDIR 
+#else
+#define PX4_ROOTFSDIR "rootfs"
+#endif
+
 #endif
 
 
@@ -198,6 +206,10 @@ __END_DECLS
 #endif
 
 #if defined(__PX4_QURT)
+
+#define PX4_ROOTFSDIR 
+#define DEFAULT_PARAM_FILE "/fs/eeprom/parameters"
+
 #define SIOCDEVPRIVATE 999999
 
 // Missing math.h defines
@@ -211,7 +223,6 @@ __END_DECLS
 #define fminf(x, y) ((x) > (y) ? y : x)
 #endif
 
-
 #endif
 
 /*