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Improvements to SITL to make paths more flexible. (#5181)

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This commit is contained in:
James Goppert
2016-08-05 06:23:59 -04:00
committed by GitHub
parent bc7178c538
commit 699b6a2cb3
72 changed files with 642 additions and 671 deletions
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src/platforms/posix/main.cpp
+200 -27
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@@ -50,6 +50,7 @@
#include "px4_middleware.h"
#include "DriverFramework.hpp"
#include <termios.h>
#include <sys/stat.h>
namespace px4
{
@@ -62,6 +63,12 @@ typedef int (*px4_main_t)(int argc, char *argv[]);
#define CMD_BUFF_SIZE 100
#ifdef PATH_MAX
const unsigned path_max_len = PATH_MAX;
#else
const unsigned path_max_len = 1024;
#endif
static bool _ExitFlag = false;
static struct termios orig_term;
@@ -85,6 +92,96 @@ extern "C" {
}
}
static inline bool fileExists(const string &name)
{
struct stat buffer;
return (stat(name.c_str(), &buffer) == 0);
}
static inline bool dirExists(const string &path)
{
struct stat info;
if (stat(path.c_str(), &info) != 0) {
return false;
} else if (info.st_mode & S_IFDIR) {
return true;
} else {
return false;
}
}
static inline void touch(const string &name)
{
fstream fs;
fs.open(name, ios::out);
fs.close();
}
static int mkpath(const char *path, mode_t mode);
static int do_mkdir(const char *path, mode_t mode)
{
struct stat st;
int status = 0;
if (stat(path, &st) != 0) {
/* Directory does not exist. EEXIST for race condition */
if (mkdir(path, mode) != 0 && errno != EEXIST) {
status = -1;
}
} else if (!S_ISDIR(st.st_mode)) {
errno = ENOTDIR;
status = -1;
}
return (status);
}
/**
** mkpath - ensure all directories in path exist
** Algorithm takes the pessimistic view and works top-down to ensure
** each directory in path exists, rather than optimistically creating
** the last element and working backwards.
*/
static int mkpath(const char *path, mode_t mode)
{
char *pp;
char *sp;
int status;
char *copypath = strdup(path);
status = 0;
pp = copypath;
while (status == 0 && (sp = strchr(pp, '/')) != 0) {
if (sp != pp) {
/* Neither root nor double slash in path */
*sp = '\0';
status = do_mkdir(copypath, mode);
*sp = '/';
}
pp = sp + 1;
}
if (status == 0) {
status = do_mkdir(path, mode);
}
free(copypath);
return (status);
}
static string pwd()
{
char temp[path_max_len];
return (getcwd(temp, path_max_len) ? string(temp) : string(""));
}
static void print_prompt()
{
cout.flush();
@@ -134,12 +231,13 @@ static void run_cmd(const vector<string> &appargs, bool exit_on_fail, bool silen
static void usage()
{
cout << "./px4 [-d] [startup_config] -h" << std::endl;
cout << "./px4 [-d] data_directory startup_config [-h]" << endl;
cout << " -d - Optional flag to run the app in daemon mode and does not listen for user input." <<
std::endl;
cout << " This is needed if px4 is intended to be run as a upstart job on linux" << std::endl;
cout << "<startup_config> - config file for starting/stopping px4 modules" << std::endl;
cout << " -h - help/usage information" << std::endl;
endl;
cout << " This is needed if px4 is intended to be run as a upstart job on linux" << endl;
cout << "<data_directory> - directory where romfs and posix-configs are located" << endl;
cout << "<startup_config> - config file for starting/stopping px4 modules" << endl;
cout << " -h - help/usage information" << endl;
}
static void process_line(string &line, bool exit_on_fail)
@@ -202,52 +300,131 @@ int main(int argc, char **argv)
set_cpu_scaling();
int index = 1;
char *commands_file = nullptr;
string commands_file = "";
int positional_arg_count = 0;
string data_path = "";
string node_name = "";
// parse arguments
while (index < argc) {
//cout << "arg: " << index << " : " << argv[index] << endl;
if (argv[index][0] == '-') {
// the arg starts with -
if (strcmp(argv[index], "-d") == 0) {
if (strncmp(argv[index], "-d", 2) == 0) {
daemon_mode = true;
} else if (strcmp(argv[index], "-h") == 0) {
} else if (strncmp(argv[index], "-h", 2) == 0) {
usage();
return 0;
} else if (strcmp(argv[index], "-c") == 0) {
} else if (strncmp(argv[index], "-c", 2) == 0) {
chroot_on = true;
} else {
PX4_WARN("Unknown/unhandled parameter: %s", argv[index]);
PX4_ERR("Unknown/unhandled parameter: %s", argv[index]);
return 1;
}
} else if (!strncmp(argv[index], "__", 2)) {
//cout << "ros argument" << endl;
// ros arguments
if (!strncmp(argv[index], "__name:=", 8)) {
string name_arg = argv[index];
node_name = name_arg.substr(8);
cout << "node name: " << node_name << endl;
}
} else {
// this is an argument that does not have '-' prefix; treat it like a file name
ifstream infile(argv[index]);
//cout << "positional argument" << endl;
if (infile.good()) {
infile.close();
positional_arg_count += 1;
if (positional_arg_count == 1) {
data_path = argv[index];
cout << "data path: " << data_path << endl;
} else if (positional_arg_count == 2) {
commands_file = argv[index];
} else {
PX4_WARN("Error opening file: %s", argv[index]);
return -1;
cout << "commands file: " << commands_file << endl;
}
}
++index;
}
if (positional_arg_count != 2) {
PX4_ERR("Error expected 2 position arguments, got %d", positional_arg_count);
usage();
return -1;
}
if (commands_file.size() < 1) {
PX4_ERR("Error commands file not specified");
return -1;
}
if (!fileExists(commands_file)) {
PX4_ERR("Error opening commands file, does not exist: %s", commands_file.c_str());
return -1;
}
// create sym-links
vector<string> path_sym_links;
path_sym_links.push_back("ROMFS");
path_sym_links.push_back("posix-configs");
path_sym_links.push_back("src");
for (int i = 0; i < path_sym_links.size(); i++) {
string path_sym_link = path_sym_links[i];
//cout << "path sym link: " << path_sym_link << endl;
string src_path = data_path + "/" + path_sym_link;
string dest_path = pwd() + "/" + path_sym_link;
PX4_DEBUG("Creating symlink %s -> %s", src_path.c_str(), dest_path.c_str());
if (dirExists(path_sym_link)) { continue; }
// create sym-links
int ret = symlink(src_path.c_str(), dest_path.c_str());
if (ret != 0) {
PX4_ERR("Error creating symlink %s -> %s",
src_path.c_str(), dest_path.c_str());
return ret;
} else {
PX4_DEBUG("Successfully created symlink %s -> %s",
src_path.c_str(), dest_path.c_str());
}
}
// setup rootfs
const string eeprom_path = "./rootfs/eeprom/";
const string microsd_path = "./rootfs/fs/microsd/";
if (!fileExists(eeprom_path + "parameters")) {
cout << "creating new parameters file" << endl;
mkpath(eeprom_path.c_str(), S_IRUSR | S_IWUSR | S_IXUSR);
touch(eeprom_path + "parameters");
}
if (!fileExists(microsd_path + "dataman")) {
cout << "creating new dataman file" << endl;
mkpath(microsd_path.c_str(), S_IRUSR | S_IWUSR | S_IXUSR);
touch(microsd_path + "dataman");
}
// initialize
DriverFramework::Framework::initialize();
px4::init_once();
px4::init(argc, argv, "px4");
// if commandfile is present, process the commands from the file
if (commands_file != nullptr) {
ifstream infile(commands_file);
if (commands_file.size() != 0) {
ifstream infile(commands_file.c_str());
if (infile.is_open()) {
for (string line; getline(infile, line, '\n');) {
@@ -261,7 +438,7 @@ int main(int argc, char **argv)
}
} else {
PX4_WARN("Error opening file: %s", commands_file);
PX4_ERR("Error opening commands file: %s", commands_file.c_str());
}
}
@@ -270,12 +447,6 @@ int main(int argc, char **argv)
// this is not an attempt to secure the environment,
// rather, to replicate a deployed file system.
#ifdef PATH_MAX
const unsigned path_max_len = PATH_MAX;
#else
const unsigned path_max_len = 1024;
#endif
char pwd_path[path_max_len];
const char *folderpath = "/rootfs/";
@@ -419,3 +590,5 @@ int main(int argc, char **argv)
return OK;
}
/* vim: set noet fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */