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Merge pull request #27 from UAVCAN/posix_tools_refactor

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Posix tools refactor
This commit is contained in:
David Sidrane
2015-05-18 06:32:58 -10:00
parent e4886606f0 875c74d88e
commit 65c5d6efa8
7 changed files with 138 additions and 45 deletions
Download Patch File Download Diff File Expand all files Collapse all files
CMakeLists.txt
+1
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@@ -33,5 +33,6 @@ add_subdirectory(libuavcan)
#
if (${CMAKE_SYSTEM_NAME} MATCHES "Linux")
message(STATUS "Adding Linux support library")
add_subdirectory(libuavcan_drivers/posix)
add_subdirectory(libuavcan_drivers/linux)
endif ()
libuavcan_drivers/linux/CMakeLists.txt
+5
View File
@@ -25,6 +25,8 @@ if (TARGET uavcan)
set(UAVCAN_LIB uavcan)
include_directories(${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
+73
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@@ -0,0 +1,73 @@
/*
* 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()));
}
/*
* Storage backend test
*/
{
using namespace uavcan::dynamic_node_id_server;
uavcan_posix::dynamic_node_id_server::FileStorageBackend backend;
ENFORCE(0 <= backend.init("/tmp/uavcan_posix/dynamic_node_id_server/storage"));
auto print_key = [&](const char* key) {
std::cout << static_cast<IStorageBackend&>(backend).get(key).c_str() << std::endl;
};
print_key("foobar");
static_cast<IStorageBackend&>(backend).set("foobar", "0123456789abcdef0123456789abcdef");
static_cast<IStorageBackend&>(backend).set("the_answer", "42");
print_key("foobar");
print_key("the_answer");
print_key("nonexistent");
}
return 0;
}
catch (const std::exception& ex)
{
std::cerr << "Exception: " << ex.what() << std::endl;
return 1;
}
}
libuavcan_drivers/posix/CMakeLists.txt
+12
View File
@@ -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_tools/include.mk → libuavcan_drivers/posix/include.mk
View File
libuavcan_drivers/posix_tools/include/posix_tools/file_event_tracer.hpp → libuavcan_drivers/posix/include/uavcan_posix/dynamic_node_id_server/file_event_tracer.hpp
+33 -24
View File
@@ -1,11 +1,19 @@
/*
* Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
*/
/****************************************************************************
*
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
* Author: Pavel Kirienko <pavel.kirienko@gmail.com>
* David Sidrane <david_s5@usa.net>
*
****************************************************************************/
#pragma once
#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 <cstdio>
#include <time.h>
#include <fcntl.h>
#include <unistd.h>
namespace uavcan_posix
{
@@ -19,9 +27,9 @@ class FileEventTracer : public uavcan::dynamic_node_id_server::IEventTracer
/**
* Maximum length of full path to log file
*/
enum { MaxPathLength = 128 };
enum { MaxPathLength = 128, FormatBufferLength = 64 };
enum { FilePermissions = 438 }; ///< 0o666
/**
* This type is used for the path
@@ -29,32 +37,32 @@ class FileEventTracer : public uavcan::dynamic_node_id_server::IEventTracer
typedef uavcan::Array<uavcan::IntegerSpec<8, uavcan::SignednessUnsigned, uavcan::CastModeTruncate>,
uavcan::ArrayModeDynamic, MaxPathLength> PathString;
PathString path_;
public:
FileEventTracer() { }
virtual void onEvent(uavcan::dynamic_node_id_server::TraceCode code, uavcan::int64_t argument)
{
struct timespec ts;
clock_gettime(CLOCK_REALTIME, &ts);
int fd = open(path_.c_str(), O_WRONLY | O_CREAT | O_APPEND);
if (fd >= 0 )
using namespace std;
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, FilePermissions);
if (fd >= 0)
{
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);
}
}
/**
* Initializes the File based event trace
*
*/
public:
/**
* Initializes the file based event tracer.
*/
int init(const PathString & path)
{
using namespace std;
@@ -65,16 +73,17 @@ 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);
}
}
return rv;
}
};
}
}
#endif // Include guard
libuavcan_drivers/posix_tools/include/posix_tools/file_storage_backend.hpp → libuavcan_drivers/posix/include/uavcan_posix/dynamic_node_id_server/file_storage_backend.hpp
+14 -21
View File
@@ -6,15 +6,17 @@
*
****************************************************************************/
#pragma once
#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 <stdio.h>
#include <cstdio>
#include <cstddef>
#include <cstdlib>
#include <cfcntl>
#include <cstring>
#include <cerrno>
#include <unistd.h>
#include <fcntl.h>
#include <uavcan/protocol/dynamic_node_id_server/storage_backend.hpp>
@@ -30,9 +32,9 @@ class FileStorageBackend : public uavcan::dynamic_node_id_server::IStorageBacken
/**
* Maximum length of full path including / and key max
*/
enum { MaxPathLength = 128 };
enum { FilePermissions = 438 }; ///< 0o666
/**
* This type is used for the path
@@ -40,14 +42,8 @@ class FileStorageBackend : public uavcan::dynamic_node_id_server::IStorageBacken
typedef uavcan::Array<uavcan::IntegerSpec<8, uavcan::SignednessUnsigned, uavcan::CastModeTruncate>,
uavcan::ArrayModeDynamic, MaxPathLength> PathString;
PathString base_path;
public:
FileStorageBackend() { }
virtual String get(const String& key) const
{
using namespace std;
@@ -75,7 +71,6 @@ public:
}
}
return value;
}
virtual void set(const String& key, const String& value)
@@ -83,7 +78,7 @@ public:
using namespace std;
PathString path = base_path.c_str();
path += key;
int fd = open(path.c_str(), O_WRONLY | O_CREAT | O_TRUNC);
int fd = open(path.c_str(), O_WRONLY | O_CREAT | O_TRUNC, FilePermissions);
if (fd >= 0)
{
write(fd, value.c_str(), value.size());
@@ -91,16 +86,15 @@ public:
}
}
public:
/**
* Initializes the File based back end storage by passing to a path to
* Initializes the file based backend storage by passing a path to
* the directory where the key named files will be stored.
* This the return result should be 0 on success.
* 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;
*
* accommodate the trailing slash and max key length.
*/
int init(const PathString & path)
int init(const PathString& path)
{
using namespace std;
@@ -108,7 +102,6 @@ public:
if (path.size() > 0)
{
base_path = path.c_str();
if (base_path.back() == '/')
@@ -132,10 +125,10 @@ public:
}
}
return rv;
}
};
}
}
#endif // Include guard