Fixed and improved file event tracer + POSIX test

libuavcan_drivers/linux/CMakeLists.txt

@@ -25,6 +25,8 @@ if (TARGET uavcan)
     set(UAVCAN_LIB uavcan)
     include_directories(${libuavcan_SOURCE_DIR}/include
                         ${libuavcan_SOURCE_DIR}/include/dsdlc_generated)
+    message(STATUS "POSIX source dir: ${libuavcan_posix_SOURCE_DIR}")
+    include_directories(${libuavcan_posix_SOURCE_DIR}/include)
 else ()
     message(STATUS "Using installed uavcan library")
     find_library(UAVCAN_LIB uavcan REQUIRED)
@@ -55,6 +57,9 @@ target_link_libraries(test_time_sync ${UAVCAN_LIB} rt ${CMAKE_THREAD_LIBS_INIT})
 add_executable(test_system_utils apps/test_system_utils.cpp)
 target_link_libraries(test_system_utils ${UAVCAN_LIB} rt ${CMAKE_THREAD_LIBS_INIT})
 
+add_executable(test_posix apps/test_posix.cpp)
+target_link_libraries(test_posix ${UAVCAN_LIB} rt ${CMAKE_THREAD_LIBS_INIT})
+
 #
 # Tools
 #

libuavcan_drivers/linux/apps/test_posix.cpp

@@ -0,0 +1,50 @@
+/*
+ * Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <uavcan_posix/dynamic_node_id_server/file_event_tracer.hpp>
+#include <uavcan_posix/dynamic_node_id_server/file_storage_backend.hpp>
+#include <uavcan_linux/uavcan_linux.hpp>
+#include <iostream>
+#include <iomanip>
+#include "debug.hpp"
+
+int main(int argc, const char** argv)
+{
+    (void)argc;
+    (void)argv;
+    try
+    {
+        ENFORCE(0 == std::system("mkdir -p /tmp/uavcan_posix/dynamic_node_id_server"));
+
+        /*
+         * Event tracer test
+         */
+        {
+            using namespace uavcan::dynamic_node_id_server;
+
+            const std::string event_log_file("/tmp/uavcan_posix/dynamic_node_id_server/event.log");
+
+            uavcan_posix::dynamic_node_id_server::FileEventTracer tracer;
+            ENFORCE(0 <= tracer.init(event_log_file.c_str()));
+
+            // Adding a line
+            static_cast<IEventTracer&>(tracer).onEvent(TraceError, 123456);
+            ENFORCE(0 == std::system(("cat " + event_log_file).c_str()));
+
+            // Removing the log file
+            ENFORCE(0 == std::system(("rm -f " + event_log_file).c_str()));
+
+            // Adding another line
+            static_cast<IEventTracer&>(tracer).onEvent(TraceError, 789123);
+            ENFORCE(0 == std::system(("cat " + event_log_file).c_str()));
+        }
+
+        return 0;
+    }
+    catch (const std::exception& ex)
+    {
+        std::cerr << "Exception: " << ex.what() << std::endl;
+        return 1;
+    }
+}

libuavcan_drivers/posix/CMakeLists.txt

@@ -0,0 +1,12 @@
+#
+# Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
+#
+
+cmake_minimum_required(VERSION 2.8)
+
+project(libuavcan_posix)
+
+#
+# Library (header only)
+#
+install(DIRECTORY include/uavcan_posix DESTINATION include)

libuavcan_drivers/posix/include/uavcan_posix/dynamic_node_id_server/file_event_tracer.hpp

@@ -10,8 +10,10 @@
 #define UAVCAN_POSIX_DYNAMIC_NODE_ID_SERVER_FILE_EVENT_TRACER_HPP_INCLUDED
 
 #include <uavcan/protocol/dynamic_node_id_server/event.hpp>
+#include <cstdio>
 #include <time.h>
 #include <fcntl.h>
+#include <unistd.h>
 
 namespace uavcan_posix
 {
@@ -27,6 +29,8 @@ class FileEventTracer : public uavcan::dynamic_node_id_server::IEventTracer
      */
     enum { MaxPathLength = 128 };
 
+    enum { FilePermissions = 438 };     ///< 0o666
+
     /**
      * This type is used for the path
      */
@@ -39,15 +43,17 @@ class FileEventTracer : public uavcan::dynamic_node_id_server::IEventTracer
     {
         using namespace std;
 
-        struct timespec ts;
-        clock_gettime(CLOCK_REALTIME, &ts);
+        timespec ts = timespec();               // If clock_gettime() fails, zero time will be used
+        (void)clock_gettime(CLOCK_REALTIME, &ts);
 
-        int fd = open(path_.c_str(), O_WRONLY | O_CREAT | O_APPEND);
-        if (fd >= 0 )
+        int fd = open(path_.c_str(), O_WRONLY | O_CREAT | O_APPEND, FilePermissions);
+        if (fd >= 0)
         {
-            const int FormatBufferLength = 64;
+            const int FormatBufferLength = 63;
             char buffer[FormatBufferLength + 1];
-            int n = snprintf(buffer, FormatBufferLength, "%d.%ld,%d,%lld\n", ts.tv_sec, ts.tv_nsec, code, argument);
+            int n = snprintf(buffer, FormatBufferLength, "%ld.%06ld\t%d\t%lld\n",
+                             static_cast<long>(ts.tv_sec), static_cast<long>(ts.tv_nsec / 1000L),
+                             static_cast<int>(code), static_cast<long long>(argument));
             write(fd, buffer, n);
             close(fd);
         }
@@ -69,8 +75,8 @@ public:
         {
             rv = 0;
             path_ = path.c_str();
-            int fd = open(path_.c_str(), O_RDWR | O_CREAT | O_TRUNC);
-            if ( fd >= 0)
+            int fd = open(path_.c_str(), O_RDWR | O_CREAT | O_TRUNC, FilePermissions);
+            if (fd >= 0)
             {
                 close(fd);
             }

libuavcan_drivers/posix/include/uavcan_posix/dynamic_node_id_server/file_storage_backend.hpp

@@ -15,6 +15,7 @@
 #include <cstdlib>
 #include <cstring>
 #include <cerrno>
+#include <unistd.h>
 #include <fcntl.h>
 
 #include <uavcan/protocol/dynamic_node_id_server/storage_backend.hpp>