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parameters move bson buffered file support into tinybson

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This commit is contained in:
Daniel Agar
2018-01-30 09:17:56 -05:00
parent 59fd22be1b
commit 4c5b42f256
4 changed files with 89 additions and 36 deletions
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src/modules/systemlib/param/CMakeLists.txt
+7 -1
View File
@@ -78,7 +78,13 @@ add_custom_command(OUTPUT ${parameters_xml}
--inject-xml ${CMAKE_CURRENT_SOURCE_DIR}/parameters_injected.xml
--overrides ${PARAM_DEFAULT_OVERRIDES}
#--verbose
DEPENDS ${param_src_files} px_process_params.py px4params/srcparser.py px4params/srcscanner.py px4params/xmlout.py parameters_injected.xml
DEPENDS
${param_src_files}
parameters_injected.xml
px4params/srcparser.py
px4params/srcscanner.py
px4params/xmlout.py
px_process_params.py
COMMENT "Generating parameters.xml"
)
add_custom_target(parameters_xml DEPENDS ${parameters_xml})
src/modules/systemlib/param/param.c
+16 -34
View File
@@ -76,7 +76,7 @@ static const char *param_default_file = PX4_ROOTFSDIR"/eeprom/parameters";
static char *param_user_file = NULL;
#if 0
# define debug(fmt, args...) do { warnx(fmt, ##args); } while(0)
# define debug(fmt, args...) do { PX4_INFO(fmt, ##args); } while(0)
#else
# define debug(fmt, args...) do { } while(0)
#endif
@@ -950,28 +950,27 @@ param_get_default_file(void)
int
param_save_default(void)
{
int res;
int res = PX4_ERROR;
#if !defined(FLASH_BASED_PARAMS)
int fd;
const char *filename = param_get_default_file();
/* write parameters to temp file */
fd = PARAM_OPEN(filename, O_WRONLY | O_CREAT, PX4_O_MODE_666);
int fd = PARAM_OPEN(filename, O_WRONLY | O_CREAT, PX4_O_MODE_666);
if (fd < 0) {
PX4_ERR("failed to open param file: %s", filename);
return ERROR;
}
res = 1;
int attempts = 5;
while (res != OK && attempts > 0) {
res = param_export(fd, false);
attempts--;
if (res != OK) {
if (res != PX4_OK) {
PX4_ERR("param_export failed, retrying %d", attempts);
lseek(fd, 0, SEEK_SET); // jump back to the beginning of the file
}
}
@@ -1047,7 +1046,7 @@ param_export(int fd, bool only_unsaved)
param_lock_reader();
uint8_t bson_buffer[256];
bson_encoder_init_buf(&encoder, &bson_buffer, sizeof(bson_buffer));
bson_encoder_init_buf_file(&encoder, fd, &bson_buffer, sizeof(bson_buffer));
/* no modified parameters -> we are done */
if (param_values == NULL) {
@@ -1069,31 +1068,14 @@ param_export(int fd, bool only_unsaved)
const char *name = param_name(s->param);
const size_t size = param_size(s->param);
// check remaining buffer size and commit to disk
// total size = strlen(name) + 1 (null char) + param size + 1 (bson header) + 1 (bson end)
// size is doubled (floats saved as doubles)
const size_t total_size = strlen(name) + 2 * size + 3;
if (encoder.bufpos > encoder.bufsize - total_size) {
// write buffer to disk and continue
int ret = write(fd, encoder.buf, encoder.bufpos);
if (ret == encoder.bufpos) {
// reset buffer to beginning and continue
encoder.bufpos = 0;
} else {
PX4_ERR("param write error %d %d", ret, encoder.bufpos);
goto out;
}
}
/* append the appropriate BSON type object */
switch (param_type(s->param)) {
case PARAM_TYPE_INT32: {
const int32_t i = s->val.i;
debug("exporting: %s (%d) size: %d val: %d", name, s->param, size, i);
if (bson_encoder_append_int(&encoder, name, i)) {
PX4_ERR("BSON append failed for '%s'", name);
goto out;
@@ -1104,6 +1086,8 @@ param_export(int fd, bool only_unsaved)
case PARAM_TYPE_FLOAT: {
const float f = s->val.f;
debug("exporting: %s (%d) size: %d val: %.3f", name, s->param, size, (double)f);
if (bson_encoder_append_double(&encoder, name, f)) {
PX4_ERR("BSON append failed for '%s'", name);
goto out;
@@ -1138,14 +1122,8 @@ param_export(int fd, bool only_unsaved)
out:
if (result == 0) {
result = bson_encoder_fini(&encoder);
// write and finish
if ((result != 0) || write(fd, encoder.buf, encoder.bufpos) != encoder.bufpos) {
PX4_ERR("param write error");
} else {
fsync(fd);
if (bson_encoder_fini(&encoder) != PX4_OK) {
PX4_ERR("bson encoder finish failed");
}
}
@@ -1209,6 +1187,8 @@ param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
i = node->i;
v = &i;
debug("importing: %s (%d) = %d", node->name, param, i);
break;
case BSON_DOUBLE:
@@ -1220,6 +1200,8 @@ param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
f = node->d;
v = &f;
debug("importing: %s (%d) = %.3f", node->name, param, (double)f);
break;
case BSON_BINDATA: