fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 17:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Persistent storage implementation and tests

Browse Source
This commit is contained in:
Pavel Kirienko
2015-05-04 16:44:04 +03:00
parent 6a8135fedf
commit 1994260a2c
3 changed files with 266 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan/src/protocol/uc_dynamic_node_id_allocation_server.cpp
+76 -12
View File
@@ -269,6 +269,7 @@ int Log::init()
else
{
// There's some data in the storage, but it cannot be parsed - reporting an error
UAVCAN_TRACE("dynamic_node_id_server_impl::Log", "Failed to read last index");
return -ErrFailure;
}
}
@@ -285,6 +286,8 @@ int Log::init()
const int result = readEntryFromStorage(index, entries_[index]);
if (result < 0)
{
UAVCAN_TRACE("dynamic_node_id_server_impl::Log", "Failed to read entry at index %u: %d",
unsigned(index), result);
return result;
}
}
@@ -378,10 +381,13 @@ bool Log::isOtherLogUpToDate(Log::Index other_last_index, Term other_last_term)
*/
int PersistentState::init()
{
// Reading log
/*
* Reading log
*/
int res = log_.init();
if (res < 0)
{
UAVCAN_TRACE("dynamic_node_id_server_impl::PersistentState", "Log init failed: %d", res);
return res;
}
@@ -392,13 +398,37 @@ int PersistentState::init()
return -ErrLogic;
}
const bool log_is_empty = (log_.getLastIndex() == 0) && (last_entry->term == 0);
MarshallingStorageDecorator io(storage_);
// Reading current term
res = io.get(getCurrentTermKey(), current_term_);
if (res < 0)
/*
* Reading currentTerm
*/
if (storage_.get(getCurrentTermKey()).empty() && log_is_empty)
{
return res;
// First initialization
current_term_ = 0;
res = io.setAndGetBack(getCurrentTermKey(), current_term_);
if (res < 0)
{
UAVCAN_TRACE("dynamic_node_id_server_impl::PersistentState", "Failed to init current term: %d", res);
return res;
}
if (current_term_ != 0)
{
return -ErrFailure;
}
}
else
{
// Restoring
res = io.get(getCurrentTermKey(), current_term_);
if (res < 0)
{
UAVCAN_TRACE("dynamic_node_id_server_impl::PersistentState", "Failed to read current term: %d", res);
return res;
}
}
if (current_term_ < last_entry->term)
@@ -409,15 +439,39 @@ int PersistentState::init()
return -ErrLogic;
}
// Reading voted for
uint32_t stored_voted_for = 0;
res = io.get(getVotedForKey(), stored_voted_for);
if ((res < 0) || (stored_voted_for > NodeID::Max))
/*
* Reading votedFor
*/
if (storage_.get(getVotedForKey()).empty() && log_is_empty && (current_term_ == 0))
{
return -ErrFailure;
// First initialization
voted_for_ = NodeID(0);
uint32_t stored_voted_for = 0;
res = io.setAndGetBack(getVotedForKey(), stored_voted_for);
if (res < 0)
{
UAVCAN_TRACE("dynamic_node_id_server_impl::PersistentState", "Failed to init votedFor: %d", res);
return res;
}
if (stored_voted_for != 0)
{
return -ErrFailure;
}
}
else
{
// Restoring
uint32_t stored_voted_for = 0;
res = io.get(getVotedForKey(), stored_voted_for);
if (res < 0)
{
UAVCAN_TRACE("dynamic_node_id_server_impl::PersistentState", "Failed to read votedFor: %d", res);
return res;
}
if (stored_voted_for > NodeID::Max)
{
return -ErrFailure;
}
voted_for_ = NodeID(uint8_t(stored_voted_for));
}
@@ -426,7 +480,12 @@ int PersistentState::init()
int PersistentState::setCurrentTerm(const Term term)
{
UAVCAN_ASSERT(current_term_ <= term);
if (term < current_term_)
{
UAVCAN_ASSERT(0);
return -ErrInvalidParam;
}
MarshallingStorageDecorator io(storage_);
Term tmp = term;
@@ -447,7 +506,12 @@ int PersistentState::setCurrentTerm(const Term term)
int PersistentState::setVotedFor(const NodeID node_id)
{
voted_for_ = node_id;
if (!node_id.isValid())
{
UAVCAN_ASSERT(0);
return -ErrInvalidParam;
}
MarshallingStorageDecorator io(storage_);
uint32_t tmp = node_id.get();