forked from Archive/PX4-Autopilot
modules: dataman: Move backend specific out of main routines
This commit is contained in:
José Roberto de Souza
Lorenz Meier
parent
66d9d56525
commit
a2670bdbc8
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@ -81,6 +81,8 @@ static ssize_t _file_write(dm_item_t item, unsigned index, dm_persitence_t persi
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static ssize_t _file_read(dm_item_t item, unsigned index, void *buf, size_t count);
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static int _file_clear(dm_item_t item);
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static int _file_restart(dm_reset_reason reason);
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static int _file_initialize(unsigned max_offset);
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static void _file_shutdown(void);
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/* Private Ram based Operations */
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static ssize_t _ram_write(dm_item_t item, unsigned index, dm_persitence_t persistence, const void *buf,
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@ -88,12 +90,16 @@ static ssize_t _ram_write(dm_item_t item, unsigned index, dm_persitence_t persis
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static ssize_t _ram_read(dm_item_t item, unsigned index, void *buf, size_t count);
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static int _ram_clear(dm_item_t item);
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static int _ram_restart(dm_reset_reason reason);
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static int _ram_initialize(unsigned max_offset);
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static void _ram_shutdown(void);
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typedef struct dm_operations_t {
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ssize_t (*write)(dm_item_t item, unsigned index, dm_persitence_t persistence, const void *buf, size_t count);
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ssize_t (*read)(dm_item_t item, unsigned index, void *buf, size_t count);
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int (*clear)(dm_item_t item);
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int (*restart)(dm_reset_reason reason);
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int (*initialize)(unsigned max_offset);
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void (*shutdown)(void);
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} dm_operations_t;
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static dm_operations_t dm_file_operations = {
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@ -101,6 +107,8 @@ static dm_operations_t dm_file_operations = {
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.read = _file_read,
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.clear = _file_clear,
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.restart = _file_restart,
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.initialize = _file_initialize,
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.shutdown = _file_shutdown,
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};
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static dm_operations_t dm_ram_operations = {
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@ -108,9 +116,11 @@ static dm_operations_t dm_ram_operations = {
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.read = _ram_read,
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.clear = _ram_clear,
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.restart = _ram_restart,
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.initialize = _ram_initialize,
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.shutdown = _ram_shutdown,
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};
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static dm_operations_t *g_dm_ops = &dm_file_operations;
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static dm_operations_t *g_dm_ops;
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static struct {
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union {
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@ -195,6 +205,13 @@ static const char *default_device_path = PX4_ROOTFSDIR"/fs/microsd/dataman";
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#endif
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static char *k_data_manager_device_path = NULL;
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static enum {
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BACKEND_NONE = 0,
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BACKEND_FILE,
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BACKEND_RAM,
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BACKEND_LAST
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} backend = BACKEND_NONE;
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/* The data manager work queues */
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typedef struct {
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@ -762,6 +779,96 @@ _file_restart(dm_reset_reason reason)
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return result;
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}
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static int
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_file_initialize(unsigned max_offset)
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{
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/* See if the data manage file exists and is a multiple of the sector size */
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dm_operations_data.file.fd = open(k_data_manager_device_path, O_RDONLY | O_BINARY);
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if (dm_operations_data.file.fd >= 0) {
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// Read the mission state and check the hash
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struct dataman_compat_s compat_state;
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int ret = g_dm_ops->read(DM_KEY_COMPAT, 0, &compat_state, sizeof(compat_state));
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bool incompat = true;
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if (ret == sizeof(compat_state)) {
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if (compat_state.key == DM_COMPAT_KEY) {
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incompat = false;
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}
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}
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close(dm_operations_data.file.fd);
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if (incompat) {
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unlink(k_data_manager_device_path);
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}
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}
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/* Open or create the data manager file */
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dm_operations_data.file.fd = open(k_data_manager_device_path, O_RDWR | O_CREAT | O_BINARY, PX4_O_MODE_666);
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if (dm_operations_data.file.fd < 0) {
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PX4_WARN("Could not open data manager file %s", k_data_manager_device_path);
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px4_sem_post(&g_init_sema); /* Don't want to hang startup */
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return -1;
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}
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if ((unsigned)lseek(dm_operations_data.file.fd, max_offset, SEEK_SET) != max_offset) {
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close(dm_operations_data.file.fd);
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PX4_WARN("Could not seek data manager file %s", k_data_manager_device_path);
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px4_sem_post(&g_init_sema); /* Don't want to hang startup */
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return -1;
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}
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/* Write current compat info */
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struct dataman_compat_s compat_state;
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compat_state.key = DM_COMPAT_KEY;
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int ret = g_dm_ops->write(DM_KEY_COMPAT, 0, DM_PERSIST_POWER_ON_RESET, &compat_state, sizeof(compat_state));
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if (ret != sizeof(compat_state)) {
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PX4_ERR("Failed writing compat: %d", ret);
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}
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fsync(dm_operations_data.file.fd);
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dm_operations_data.running = true;
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return 0;
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}
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static int
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_ram_initialize(unsigned max_offset)
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{
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/* In memory */
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dm_operations_data.ram.data = malloc(max_offset);
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if (dm_operations_data.ram.data == NULL) {
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PX4_WARN("Could not allocate %d bytes of memory", max_offset);
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px4_sem_post(&g_init_sema); /* Don't want to hang startup */
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return -1;
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}
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memset(dm_operations_data.ram.data, 0, max_offset);
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dm_operations_data.ram.data_end = &dm_operations_data.ram.data[max_offset - 1];
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dm_operations_data.running = true;
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return 0;
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}
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static void
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_file_shutdown(void)
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{
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close(dm_operations_data.file.fd);
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dm_operations_data.running = false;
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}
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static void
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_ram_shutdown(void)
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{
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free(dm_operations_data.ram.data);
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dm_operations_data.running = false;
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}
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/** Write to the data manager file */
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__EXPORT ssize_t
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dm_write(dm_item_t item, unsigned index, dm_persitence_t persistence, const void *buf, size_t count)
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@ -901,8 +1008,19 @@ static int
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task_main(int argc, char *argv[])
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{
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/* Dataman can use disk or RAM */
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switch (backend) {
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case BACKEND_FILE:
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g_dm_ops = &dm_file_operations;
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break;
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const bool on_disk = k_data_manager_device_path != NULL;
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case BACKEND_RAM:
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g_dm_ops = &dm_ram_operations;
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break;
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default:
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PX4_WARN("No valid backend set.");
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return -1;
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}
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work_q_item_t *work;
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@ -939,75 +1057,13 @@ task_main(int argc, char *argv[])
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px4_sem_setprotocol(&g_work_queued_sema, SEM_PRIO_NONE);
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if (!on_disk) {
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int ret = g_dm_ops->initialize(max_offset);
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/* In memory */
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dm_operations_data.ram.data = malloc(max_offset);
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if (dm_operations_data.ram.data == NULL) {
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PX4_WARN("Could not allocate %d bytes of memory", max_offset);
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px4_sem_post(&g_init_sema); /* Don't want to hang startup */
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return -1;
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if (ret) {
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g_task_should_exit = true;
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goto end;
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}
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memset(dm_operations_data.ram.data, 0, max_offset);
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dm_operations_data.ram.data_end = &dm_operations_data.ram.data[max_offset - 1];
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} else {
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/* See if the data manage file exists and is a multiple of the sector size */
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dm_operations_data.file.fd = open(k_data_manager_device_path, O_RDONLY | O_BINARY);
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if (dm_operations_data.file.fd >= 0) {
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// Read the mission state and check the hash
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struct dataman_compat_s compat_state;
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int ret = g_dm_ops->read(DM_KEY_COMPAT, 0, &compat_state, sizeof(compat_state));
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bool incompat = true;
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if (ret == sizeof(compat_state)) {
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if (compat_state.key == DM_COMPAT_KEY) {
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incompat = false;
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}
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}
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close(dm_operations_data.file.fd);
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if (incompat) {
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unlink(k_data_manager_device_path);
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}
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}
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/* Open or create the data manager file */
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dm_operations_data.file.fd = open(k_data_manager_device_path, O_RDWR | O_CREAT | O_BINARY, PX4_O_MODE_666);
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if (dm_operations_data.file.fd < 0) {
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PX4_WARN("Could not open data manager file %s", k_data_manager_device_path);
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px4_sem_post(&g_init_sema); /* Don't want to hang startup */
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return -1;
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}
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if ((unsigned)lseek(dm_operations_data.file.fd, max_offset, SEEK_SET) != max_offset) {
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close(dm_operations_data.file.fd);
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PX4_WARN("Could not seek data manager file %s", k_data_manager_device_path);
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px4_sem_post(&g_init_sema); /* Don't want to hang startup */
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return -1;
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}
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/* Write current compat info */
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struct dataman_compat_s compat_state;
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compat_state.key = DM_COMPAT_KEY;
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int ret = g_dm_ops->write(DM_KEY_COMPAT, 0, DM_PERSIST_POWER_ON_RESET, &compat_state, sizeof(compat_state));
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if (ret != sizeof(compat_state)) {
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PX4_ERR("Failed writing compat: %d", ret);
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}
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fsync(dm_operations_data.file.fd);
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}
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g_dm_ops = on_disk ? &dm_file_operations : &dm_ram_operations;
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dm_operations_data.running = true;
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/* see if we need to erase any items based on restart type */
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int sys_restart_val;
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@ -1024,11 +1080,11 @@ task_main(int argc, char *argv[])
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}
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}
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if (on_disk && sys_restart_val != DM_INIT_REASON_POWER_ON) {
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if (backend == BACKEND_FILE && sys_restart_val != DM_INIT_REASON_POWER_ON) {
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PX4_INFO("%s, data manager file '%s' size is %d bytes",
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restart_type_str, k_data_manager_device_path, max_offset);
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} else if (!on_disk) {
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} else if (backend == BACKEND_RAM) {
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PX4_INFO("%s, data manager RAM size is %d bytes",
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restart_type_str, max_offset);
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}
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@ -1089,14 +1145,7 @@ task_main(int argc, char *argv[])
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}
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}
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dm_operations_data.running = false;
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if (on_disk) {
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close(dm_operations_data.file.fd);
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} else {
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free(dm_operations_data.ram.data);
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}
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g_dm_ops->shutdown();
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/* The work queue is now empty, empty the free queue */
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for (;;) {
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@ -1109,6 +1158,8 @@ task_main(int argc, char *argv[])
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}
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}
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end:
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backend = BACKEND_NONE;
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destroy_q(&g_work_q);
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destroy_q(&g_free_q);
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px4_sem_destroy(&g_work_queued_sema);
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@ -1169,8 +1220,6 @@ usage(void)
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int
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dataman_main(int argc, char *argv[])
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{
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bool in_ram = false;
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if (argc < 2) {
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usage();
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return -1;
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@ -1192,12 +1241,25 @@ dataman_main(int argc, char *argv[])
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while ((ch = px4_getopt(argc, argv, "f:r", &dmoptind, &dmoptarg)) != EOF) {
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switch (ch) {
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case 'f':
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if (backend != BACKEND_NONE) {
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PX4_WARN("-f and -r are mutually exclusive");
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usage();
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return -1;
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}
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backend = BACKEND_FILE;
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k_data_manager_device_path = strdup(dmoptarg);
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PX4_INFO("dataman file set to: %s", k_data_manager_device_path);
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break;
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case 'r':
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in_ram = true;
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if (backend != BACKEND_NONE) {
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PX4_WARN("-f and -r are mutually exclusive");
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usage();
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return -1;
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}
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backend = BACKEND_RAM;
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break;
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@ -1208,13 +1270,8 @@ dataman_main(int argc, char *argv[])
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}
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}
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if (k_data_manager_device_path != NULL && in_ram) {
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PX4_WARN("-f and -r are mutually exclusive");
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usage();
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return -1;
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}
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if (k_data_manager_device_path == NULL && !in_ram) {
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if (backend == BACKEND_NONE) {
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backend = BACKEND_FILE;
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k_data_manager_device_path = strdup(default_device_path);
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}
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