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Experimental virtual file support

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QuRT does not have a filesystem, so creating a virtual filesystem
that could be implemented as an in-memory file or a remote file
over fastRPC.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois 2015-05-06 22:12:45 -07:00
parent 35e6822d95
commit 6db77dc8bb
11 changed files with 206 additions and 23 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
Tools/posix_apps.py
View File

@ -61,6 +61,7 @@ for app in apps:
print """
static int shutdown_main(int argc, char *argv[]);
static int list_tasks_main(int argc, char *argv[]);
static int list_files_main(int argc, char *argv[]);
static int list_devices_main(int argc, char *argv[]);
static int list_topics_main(int argc, char *argv[]);
}
@ -77,6 +78,7 @@ for app in apps:
print '\tapps["shutdown"] = shutdown_main;'
print '\tapps["list_tasks"] = list_tasks_main;'
print '\tapps["list_files"] = list_files_main;'
print '\tapps["list_devices"] = list_devices_main;'
print '\tapps["list_topics"] = list_topics_main;'
print """
@ -115,5 +117,10 @@ static int list_topics_main(int argc, char *argv[])
px4_show_topics();
return 0;
}
static int list_files_main(int argc, char *argv[])
{
px4_show_files();
return 0;
}
"""

1
src/drivers/device/module.mk
View File

@ -47,6 +47,7 @@ else
SRCS = \
device_posix.cpp \
vdev.cpp \
vfile.cpp \
vdev_posix.cpp \
i2c_posix.cpp \
sim.cpp \

18
src/drivers/device/vdev.cpp
View File

@ -64,7 +64,7 @@ private:
px4_dev_t() {}
};
#define PX4_MAX_DEV 100
#define PX4_MAX_DEV 30
static px4_dev_t *devmap[PX4_MAX_DEV];
/*
@ -448,8 +448,12 @@ VDev::remove_poll_waiter(px4_pollfd_struct_t *fds)
VDev *VDev::getDev(const char *path)
{
printf("VDev::getDev\n");
int i=0;
for (; i<PX4_MAX_DEV; ++i) {
if (devmap[i]) {
printf("%s %s\n", devmap[i]->name, path);
}
if (devmap[i] && (strcmp(devmap[i]->name, path) == 0)) {
return (VDev *)(devmap[i]->cdev);
}
@ -479,6 +483,18 @@ void VDev::showTopics()
}
}
void VDev::showFiles()
{
int i=0;
printf("Files:\n");
for (; i<PX4_MAX_DEV; ++i) {
if (devmap[i] && strncmp(devmap[i]->name, "/obj/", 5) != 0 &&
strncmp(devmap[i]->name, "/dev/", 5) != 0) {
printf(" %s\n", devmap[i]->name);
}
}
}
const char *VDev::topicList(unsigned int *next)
{
for (;*next<PX4_MAX_DEV; (*next)++)

2
src/drivers/device/vdev.h
View File

@ -60,6 +60,7 @@ namespace device __EXPORT
struct file_t {
int fd;
int flags;
mode_t mode;
void *priv;
void *vdev;
@ -330,6 +331,7 @@ public:
virtual int ioctl(file_t *filep, int cmd, unsigned long arg);
static VDev *getDev(const char *path);
static void showFiles(void);
static void showDevices(void);
static void showTopics(void);
static const char *devList(unsigned int *next);

32
src/drivers/device/vdev_posix.cpp
View File

@ -40,6 +40,7 @@
#include <px4_posix.h>
#include <px4_time.h>
#include "device.h"
#include "vfile.h"
#include <stdlib.h>
#include <stdio.h>
@ -85,16 +86,26 @@ inline bool valid_fd(int fd)
return (fd < PX4_MAX_FD && fd >= 0 && filemap[fd] != NULL);
}
int px4_open(const char *path, int flags)
int px4_open(const char *path, int flags, ...)
{
printf("px4_open\n");
VDev *dev = VDev::getDev(path);
int ret = 0;
int i;
mode_t mode;
if (!dev) {
ret = -EINVAL;
if (!dev && (flags & (PX4_F_WRONLY|PX4_F_CREAT)) != 0)
{
va_list p;
va_start(p, flags);
mode = va_arg(p, mode_t);
va_end(p);
// Create the file
warnx("Creating virtual file %s\n", path);
dev = VFile::createFile(path, mode);
}
else {
if (dev) {
for (i=0; i<PX4_MAX_FD; ++i) {
if (filemap[i] == 0) {
filemap[i] = new device::file_t(flags,dev,i);
@ -108,6 +119,9 @@ int px4_open(const char *path, int flags)
ret = -ENOENT;
}
}
else {
ret = -EINVAL;
}
if (ret < 0) {
px4_errno = -ret;
return -1;
@ -272,6 +286,11 @@ cleanup:
return count;
}
int px4_fsync(int fd)
{
return 0;
}
void px4_show_devices()
{
VDev::showDevices();
@ -282,6 +301,11 @@ void px4_show_topics()
VDev::showTopics();
}
void px4_show_files()
{
VDev::showFiles();
}
const char * px4_get_device_names(unsigned int *handle)
{
return VDev::devList(handle);

65
src/drivers/device/vfile.cpp Normal file
View File

@ -0,0 +1,65 @@
/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file vdev_file.cpp
* Virtual file
*
* @author Mark Charlebois <charlebm@gmail.com>
*/
#include "vfile.h"
#include <stdio.h>
using namespace device;
VFile::VFile(const char *fname, mode_t mode) :
VDev("vfile", fname)
{
}
VFile * VFile::createFile(const char *fname, mode_t mode)
{
VFile *me = new VFile(fname, mode);
me->register_driver(fname, me);
return me;
}
ssize_t VFile::write(device::file_t *handlep, const char *buffer, size_t buflen)
{
// ignore what was written, but let pollers know something was written
poll_notify(POLLIN);
return buflen;
}

58
src/drivers/device/vfile.h Normal file
View File

@ -0,0 +1,58 @@
/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file vfile.cpp
* Virtual file
*
* @author Mark Charlebois <charlebm@gmail.com>
*/
#include <px4_tasks.h>
#include <drivers/drv_device.h>
#include "device.h"
#include <unistd.h>
#include <stdio.h>
class VFile : public device::VDev {
public:
static VFile *createFile(const char *fname, mode_t mode);
~VFile() {}
virtual ssize_t write(device::file_t *handlep, const char *buffer, size_t buflen);
private:
VFile(const char *fname, mode_t mode);
VFile(const VFile &);
};

7
src/modules/systemlib/bson/tinybson.c
View File

@ -37,6 +37,7 @@
* A simple subset SAX-style BSON parser and generator.
*/
#include <px4_posix.h>
#include <unistd.h>
#include <string.h>
#include <stdlib.h>
@ -59,7 +60,7 @@ read_x(bson_decoder_t decoder, void *p, size_t s)
CODER_CHECK(decoder);
if (decoder->fd > -1)
return (read(decoder->fd, p, s) == (int)s) ? 0 : -1;
return (px4_read(decoder->fd, p, s) == (int)s) ? 0 : -1;
if (decoder->buf != NULL) {
/* staged operations to avoid integer overflow for corrupt data */
@ -301,7 +302,7 @@ write_x(bson_encoder_t encoder, const void *p, size_t s)
CODER_CHECK(encoder);
if (encoder->fd > -1)
return (write(encoder->fd, p, s) == (int)s) ? 0 : -1;
return (px4_write(encoder->fd, p, s) == (int)s) ? 0 : -1;
/* do we need to extend the buffer? */
while ((encoder->bufpos + s) > encoder->bufsize) {
@ -408,7 +409,7 @@ bson_encoder_fini(bson_encoder_t encoder)
}
/* sync file */
fsync(encoder->fd);
px4_fsync(encoder->fd);
return 0;
}

10
src/modules/systemlib/param/param.c
View File

@ -43,6 +43,7 @@
//#include <debug.h>
#include <px4_defines.h>
#include <px4_posix.h>
#include <string.h>
#include <stdbool.h>
#include <fcntl.h>
@ -684,7 +685,7 @@ param_save_default(void)
const char *filename = param_get_default_file();
/* write parameters to temp file */
fd = open(filename, O_WRONLY | O_CREAT, 0x777);
fd = px4_open(filename, O_WRONLY | O_CREAT, 0x777);
if (fd < 0) {
warn("failed to open param file: %s", filename);
@ -697,7 +698,7 @@ param_save_default(void)
warnx("failed to write parameters to file: %s", filename);
}
close(fd);
px4_close(fd);
return res;
}
@ -708,7 +709,8 @@ param_save_default(void)
int
param_load_default(void)
{
int fd_load = open(param_get_default_file(), O_RDONLY);
warnx("param_load_default\n");
int fd_load = px4_open(param_get_default_file(), O_RDONLY);
if (fd_load < 0) {
/* no parameter file is OK, otherwise this is an error */
@ -720,7 +722,7 @@ param_load_default(void)
}
int result = param_load(fd_load);
close(fd_load);
px4_close(fd_load);
if (result != 0) {
warn("error reading parameters from '%s'", param_get_default_file());

16
src/platforms/px4_posix.h
View File

@ -43,14 +43,16 @@
#include <stdint.h>
#include <sys/types.h>
#include <unistd.h>
#include <fcntl.h>
#include <poll.h>
#include <semaphore.h>
#define PX4_F_RDONLY 1
#define PX4_F_WRONLY 2
#ifdef __PX4_NUTTX
#define PX4_F_RDONLY 1
#define PX4_F_WRONLY 2
typedef struct pollfd px4_pollfd_struct_t;
#if defined(__cplusplus)
@ -64,11 +66,13 @@ typedef struct pollfd px4_pollfd_struct_t;
#define px4_write _GLOBAL write
#define px4_read _GLOBAL read
#define px4_poll _GLOBAL poll
#define px4_fsync _GLOBAL fsync
#elif defined(__PX4_POSIX)
#define PX4_F_RDONLY 1
#define PX4_F_WRONLY 2
#define PX4_F_RDONLY O_RDONLY
#define PX4_F_WRONLY O_WRONLY
#define PX4_F_CREAT O_CREAT
typedef short pollevent_t;
@ -85,12 +89,13 @@ typedef struct {
__BEGIN_DECLS
__EXPORT int px4_open(const char *path, int flags);
__EXPORT int px4_open(const char *path, int flags, ...);
__EXPORT int px4_close(int fd);
__EXPORT ssize_t px4_read(int fd, void *buffer, size_t buflen);
__EXPORT ssize_t px4_write(int fd, const void *buffer, size_t buflen);
__EXPORT int px4_ioctl(int fd, int cmd, unsigned long arg);
__EXPORT int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout);
__EXPORT int px4_fsync(int fd);
__END_DECLS
#else
@ -101,6 +106,7 @@ __BEGIN_DECLS
extern int px4_errno;
__EXPORT void px4_show_devices(void);
__EXPORT void px4_show_files(void);
__EXPORT const char * px4_get_device_names(unsigned int *handle);
__EXPORT void px4_show_topics(void);

13
src/systemcmds/param/param.c
View File

@ -40,6 +40,7 @@
*/
#include <px4_config.h>
#include <px4_posix.h>
#include <stdio.h>
#include <stdlib.h>
@ -182,7 +183,7 @@ static int
do_save(const char *param_file_name)
{
/* create the file */
int fd = open(param_file_name, O_WRONLY | O_CREAT, 0x777);
int fd = px4_open(param_file_name, O_WRONLY | O_CREAT, 0x777);
if (fd < 0) {
warn("opening '%s' failed", param_file_name);
@ -190,7 +191,7 @@ do_save(const char *param_file_name)
}
int result = param_export(fd, false);
close(fd);
px4_close(fd);
if (result < 0) {
(void)unlink(param_file_name);
@ -204,7 +205,7 @@ do_save(const char *param_file_name)
static int
do_load(const char *param_file_name)
{
int fd = open(param_file_name, O_RDONLY);
int fd = px4_open(param_file_name, O_RDONLY);
if (fd < 0) {
warn("open '%s'", param_file_name);
@ -212,7 +213,7 @@ do_load(const char *param_file_name)
}
int result = param_load(fd);
close(fd);
px4_close(fd);
if (result < 0) {
warnx("error importing from '%s'", param_file_name);
@ -225,7 +226,7 @@ do_load(const char *param_file_name)
static int
do_import(const char *param_file_name)
{
int fd = open(param_file_name, O_RDONLY);
int fd = px4_open(param_file_name, O_RDONLY);
if (fd < 0) {
warn("open '%s'", param_file_name);
@ -233,7 +234,7 @@ do_import(const char *param_file_name)
}
int result = param_import(fd);
close(fd);
px4_close(fd);
if (result < 0) {
warnx("error importing from '%s'", param_file_name);