Refactored POSIX tools

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

@@ -0,0 +1,85 @@
+/****************************************************************************
+*
+*   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+*      Author: Pavel Kirienko <pavel.kirienko@gmail.com>
+*              David Sidrane <david_s5@usa.net>
+*
+****************************************************************************/
+
+#ifndef UAVCAN_POSIX_DYNAMIC_NODE_ID_SERVER_FILE_EVENT_TRACER_HPP_INCLUDED
+#define UAVCAN_POSIX_DYNAMIC_NODE_ID_SERVER_FILE_EVENT_TRACER_HPP_INCLUDED
+
+#include <uavcan/protocol/dynamic_node_id_server/event.hpp>
+#include <time.h>
+#include <fcntl.h>
+
+namespace uavcan_posix
+{
+namespace dynamic_node_id_server
+{
+/**
+ * This interface implements a POSIX compliant file based IEventTracer interface
+ */
+class FileEventTracer : public uavcan::dynamic_node_id_server::IEventTracer
+{
+    /**
+     * Maximum length of full path to log file
+     */
+    enum { MaxPathLength = 128 };
+
+    /**
+     * This type is used for the path
+     */
+    typedef uavcan::Array<uavcan::IntegerSpec<8, uavcan::SignednessUnsigned, uavcan::CastModeTruncate>,
+                          uavcan::ArrayModeDynamic, MaxPathLength> PathString;
+
+    PathString path_;
+
+    virtual void onEvent(uavcan::dynamic_node_id_server::TraceCode code, uavcan::int64_t argument)
+    {
+        using namespace std;
+
+        struct timespec ts;
+        clock_gettime(CLOCK_REALTIME, &ts);
+
+        int fd = open(path_.c_str(), O_WRONLY | O_CREAT | O_APPEND);
+        if (fd >= 0 )
+        {
+            const int FormatBufferLength = 64;
+            char buffer[FormatBufferLength + 1];
+            int n = snprintf(buffer, FormatBufferLength, "%d.%ld,%d,%lld\n", ts.tv_sec, ts.tv_nsec, code, argument);
+            write(fd, buffer, n);
+            close(fd);
+        }
+    }
+
+public:
+    FileEventTracer() { }
+
+    /**
+     * Initializes the file based event tracer.
+     */
+    int init(const PathString & path)
+    {
+        using namespace std;
+
+        int rv = -uavcan::ErrInvalidParam;
+
+        if (path.size() > 0)
+        {
+            rv = 0;
+            path_ = path.c_str();
+            int fd = open(path_.c_str(), O_RDWR | O_CREAT | O_TRUNC);
+            if ( fd >= 0)
+            {
+                close(fd);
+            }
+        }
+        return rv;
+    }
+};
+
+}
+}
+
+#endif // Include guard

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

@@ -0,0 +1,133 @@
+/****************************************************************************
+*
+*   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+*      Author: Pavel Kirienko <pavel.kirienko@gmail.com>
+*              David Sidrane <david_s5@usa.net>
+*
+****************************************************************************/
+
+#ifndef UAVCAN_POSIX_DYNAMIC_NODE_ID_SERVER_FILE_STORAGE_BACKEND_HPP_INCLUDED
+#define UAVCAN_POSIX_DYNAMIC_NODE_ID_SERVER_FILE_STORAGE_BACKEND_HPP_INCLUDED
+
+#include <sys/stat.h>
+#include <cstdio>
+#include <cstddef>
+#include <cstdlib>
+#include <cstring>
+#include <cerrno>
+#include <fcntl.h>
+
+#include <uavcan/protocol/dynamic_node_id_server/storage_backend.hpp>
+
+namespace uavcan_posix
+{
+namespace dynamic_node_id_server
+{
+/**
+ * This interface implements a POSIX compliant IStorageBackend interface
+ */
+class FileStorageBackend : public uavcan::dynamic_node_id_server::IStorageBackend
+{
+    /**
+     * Maximum length of full path including / and key max
+     */
+    enum { MaxPathLength = 128 };
+
+    /**
+     * This type is used for the path
+     */
+    typedef uavcan::Array<uavcan::IntegerSpec<8, uavcan::SignednessUnsigned, uavcan::CastModeTruncate>,
+                          uavcan::ArrayModeDynamic, MaxPathLength> PathString;
+
+    PathString base_path;
+
+    virtual String get(const String& key) const
+    {
+        using namespace std;
+        PathString path = base_path.c_str();
+        path += key;
+        String value;
+        int fd = open(path.c_str(), O_RDONLY);
+        if (fd >= 0)
+        {
+            char buffer[MaxStringLength + 1];
+            memset(buffer, 0, sizeof(buffer));
+            int len = read(fd, buffer, MaxStringLength);
+            close(fd);
+            if (len > 0)
+            {
+                for (int i = 0; i < len; i++)
+                {
+                    if (buffer[i] == ' ' || buffer[i] == '\n' || buffer[i] == '\r' )
+                    {
+                        buffer[i] = '\0';
+                        break;
+                    }
+                }
+                value = buffer;
+            }
+        }
+        return value;
+    }
+
+    virtual void set(const String& key, const String& value)
+    {
+        using namespace std;
+        PathString path = base_path.c_str();
+        path += key;
+        int fd = open(path.c_str(), O_WRONLY | O_CREAT | O_TRUNC);
+        if (fd >= 0)
+        {
+            write(fd, value.c_str(), value.size());
+            close(fd);
+        }
+    }
+
+public:
+    FileStorageBackend() { }
+
+    /**
+     * Initializes the file based backend storage by passing a path to
+     * the directory where the key named files will be stored.
+     * The return value should be 0 on success.
+     * If it is -ErrInvalidConfiguration then the the path name is too long to
+     * accommodate the trailing slash and max key length.
+     */
+    int init(const PathString& path)
+    {
+        using namespace std;
+
+        int rv = -uavcan::ErrInvalidParam;
+
+        if (path.size() > 0)
+        {
+            base_path = path.c_str();
+
+            if (base_path.back() == '/')
+            {
+                base_path.pop_back();
+            }
+
+            rv = 0;
+            struct stat sb;
+            if (stat(base_path.c_str(), &sb) != 0 || !S_ISDIR(sb.st_mode))
+            {
+                rv = mkdir(base_path.c_str(), S_IRWXU | S_IRWXG | S_IRWXO);
+            }
+            if (rv >= 0 )
+            {
+                base_path.push_back('/');
+                if ((base_path.size() + MaxStringLength) > MaxPathLength)
+                {
+                    rv = -uavcan::ErrInvalidConfiguration;
+                }
+            }
+        }
+        return rv;
+    }
+};
+
+}
+}
+
+#endif // Include guard