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px4_manifest:Add Queries

This commit is contained in:
David Sidrane 2020-11-20 11:25:51 -08:00 committed by Daniel Agar
parent 68ab736b16
commit e83a00c604
7 changed files with 324 additions and 0 deletions
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25
platforms/common/include/px4_platform_common/mtd_manifest.h
View File

@ -41,6 +41,8 @@ typedef enum {
MTD_ID = 5,
MTD_NET = 6,
} px4_mtd_types_t;
#define PX4_MFT_MTD_TYPES {MTD_PARAMETERS, MTD_WAYPOINTS, MTD_CALDATA, MTD_MFT, MTD_ID, MTD_NET}
#define PX4_MFT_MTD_STR_TYPES {"MTD_PARAMETERS", "MTD_WAYPOINTS", "MTD_CALDATA", "MTD_MFT", "MTD_ID", "MTD_NET"}
typedef struct {
const px4_mtd_types_t type;
@ -77,4 +79,27 @@ __BEGIN_DECLS
__EXPORT int px4_mtd_config(const px4_mtd_manifest_t *mft_mtd);
/************************************************************************************
* Name: px4_mtd_query
*
* Description:
* A Query interface that will lookup a type and either a) verify it exists by
* value.
*
* or it will return the path for a type.
*
*
* Input Parameters:
* type - a string-ized version of px4_mtd_types_t
* value - string to verity is that type.
* get - a pointer to a string to optionally return the path for the type.
*
* Returned Value:
* non zero if error
* 0 (get == null) item by type and value was found.
* 0 (get !=null) item by type's value is returned at get;
*
************************************************************************************/
__EXPORT int px4_mtd_query(const char *type, const char *val, const char **get = nullptr);
__END_DECLS

22
platforms/common/include/px4_platform_common/px4_manifest.h
View File

@ -36,8 +36,12 @@
typedef enum {
MFT = 0,
MTD = 1,
LAST_MFT_TYPE
} px4_manifest_types_e;
/* must match px4_manifest_types_e */
#define PX4_MFT_TYPES {MFT, MTD}
#define PX4_MFT_STR_TYPES {"MFT", "MTD"}
typedef struct {
@ -99,4 +103,22 @@ __EXPORT const px4_mft_s *board_get_manifest(void);
************************************************************************************/
__EXPORT int px4_mft_configure(const px4_mft_s *mft);
/************************************************************************************
* Name: px4_mft_configure
*
* Description:
* The Px4 layer will provide this interface to start/configure the
* hardware.
*
* Input Parameters:
* mft - a pointer to the manifest
*
* Returned Value:
* non zero if error
*
************************************************************************************/
__EXPORT int px4_mft_query(const px4_mft_s *mft, px4_manifest_types_e type,
const char *sub, const char *val);
__END_DECLS

1
platforms/common/include/px4_platform_common/px4_mtd.h
View File

@ -40,6 +40,7 @@ __BEGIN_DECLS
typedef struct {
struct mtd_dev_s *mtd_dev;
int *partition_block_counts;
int *partition_types;
const char **partition_names;
struct mtd_dev_s **part_dev;
uint32_t devid;

24
platforms/nuttx/src/px4/common/px4_manifest.cpp
View File

@ -87,3 +87,27 @@ __EXPORT int px4_mft_configure(const px4_mft_s *mft)
return 0;
}
__EXPORT int px4_mft_query(const px4_mft_s *mft, px4_manifest_types_e type,
const char *sub, const char *val)
{
int rv = -EINVAL;
if (mft != nullptr) {
for (uint32_t m = 0; m < mft->nmft; m++) {
if (mft->mfts[m].type == type)
switch (type) {
case MTD:
return px4_mtd_query(sub, val);
break;
case MFT:
default:
rv = -ENODATA;
break;
}
}
}
return rv;
}

51
platforms/nuttx/src/px4/common/px4_mtd.cpp
View File

@ -51,6 +51,7 @@
#include <errno.h>
#include <stdbool.h>
#include "systemlib/px4_macros.h"
#include <nuttx/drivers/drivers.h>
#include <nuttx/spi/spi.h>
@ -312,6 +313,12 @@ memoryout:
goto memoryout;
}
instances[i].partition_types = new int[nparts];
if (instances[i].partition_types == nullptr) {
goto memoryout;
}
instances[i].partition_names = new const char *[nparts];
if (instances[i].partition_names == nullptr) {
@ -321,6 +328,7 @@ memoryout:
for (uint32_t p = 0; p < nparts; p++) {
instances[i].partition_block_counts[p] = mtd_list->entries[i]->partd[p].nblocks;
instances[i].partition_names[p] = mtd_list->entries[i]->partd[p].path;
instances[i].partition_types[p] = mtd_list->entries[i]->partd[p].type;
}
if (mtd_list->entries[i]->device->bus_type == px4_mft_device_t::I2C) {
@ -406,3 +414,46 @@ errout:
return rv;
}
__EXPORT int px4_mtd_query(const char *sub, const char *val, const char **get)
{
int rv = -ENODEV;
if (instances != nullptr) {
static const char *keys[] = PX4_MFT_MTD_STR_TYPES;
static const px4_mtd_types_t types[] = PX4_MFT_MTD_TYPES;
int key = 0;
for (unsigned int k = 0; k < arraySize(keys); k++) {
if (!strcmp(keys[k], sub)) {
key = types[k];
break;
}
}
rv = -EINVAL;
if (key != 0) {
rv = -ENOENT;
for (int i = 0; i < num_instances; i++) {
for (unsigned n = 0; n < instances[i].n_partitions_current; n++) {
if (instances[i].partition_types[n] == key) {
if (get != nullptr && val == nullptr) {
*get = instances[i].partition_names[n];
return 0;
}
if (val != nullptr && strcmp(instances[i].partition_names[n], val) == 0) {
return 0;
}
}
}
}
}
}
return rv;
}

40
src/systemcmds/mft/CMakeLists.txt Normal file
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@ -0,0 +1,40 @@
############################################################################
#
# Copyright (c) 2020 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE systemcmds__mft
MAIN mft
COMPILE_FLAGS
SRCS
mft.cpp
DEPENDS
)

161
src/systemcmds/mft/mft.cpp Normal file
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@ -0,0 +1,161 @@
/****************************************************************************
*
* Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mtd.c
*
* mtd service and utility app.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/spi.h>
#include <px4_platform_common/px4_manifest.h>
#include <px4_platform_common/getopt.h>
#include <stdio.h>
#include <errno.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <math.h>
#include <fcntl.h>
#include <sys/mount.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <nuttx/spi/spi.h>
#include <nuttx/mtd/mtd.h>
#include <nuttx/fs/nxffs.h>
#include <nuttx/fs/ioctl.h>
#include <nuttx/drivers/drivers.h>
#include <arch/board/board.h>
#include "systemlib/px4_macros.h"
#include <parameters/param.h>
#include <board_config.h>
extern "C" __EXPORT int mft_main(int argc, char *argv[]);
static int mft_status(void)
{
return 0;
}
static void print_usage(void)
{
PRINT_MODULE_DESCRIPTION("Utility interact with the manifest");
PRINT_MODULE_USAGE_NAME("mfd", "command");
PRINT_MODULE_USAGE_COMMAND_DESCR("query", "Returns true if not existed");
}
int mft_main(int argc, char *argv[])
{
static const char *keys[] = PX4_MFT_STR_TYPES;
static const px4_manifest_types_e types[] = PX4_MFT_TYPES;
int myoptind = 1;
const char *myoptarg = nullptr;
int ch;
int silent = 0;
px4_manifest_types_e key = MFT;
const char *value = nullptr;
const char *subject = nullptr;
while ((ch = px4_getopt(argc, argv, "qk:v:s:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'q':
silent = 1;
break;
case 'k':
for (unsigned int k = 0; k < arraySize(keys); k++) {
if (!strcmp(keys[k], myoptarg)) {
key = types[k];
break;
}
}
break;
case 'v':
value = myoptarg;
break;
case 's':
subject = myoptarg;
break;
default:
print_usage();
return -1;
break;
}
}
if (myoptind < argc) {
int rv = 0;
if (!strcmp(argv[myoptind], "status")) {
return mft_status();
}
if (!strcmp(argv[myoptind], "query")) {
if (value && subject) {
rv = px4_mft_query(board_get_manifest(), key, subject, value);
if (!silent) {
printf("%s\n", value);
}
return rv;
}
return -EINVAL;
}
}
print_usage();
return 1;
}