Merge branch 'dynamic_node_id_raft' of https://github.com/UAVCAN/uavcan into dynamic_node_id_raft

2026-10-11 05:43:33 +08:00 · 2015-05-13 00:00:48 +03:00
parent 08d96ef329 adeb1ef58f
commit 8f1ed202f7
1 changed files with 137 additions and 0 deletions
@@ -0,0 +1,137 @@
+/****************************************************************************
+*
+*   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+*      Author: Pavel Kirienko <pavel.kirienko@gmail.com>
+*              David Sidrane <david_s5@usa.net>
+*
+****************************************************************************/
+
+#pragma once
+
+#include <sys/stat.h>
+#include <stdio.h>
+#include <cstddef>
+#include <cstdlib>
+#include <cfcntl>
+#include <cstring>
+#include <cerrno>
+
+#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;
+
+public:
+
+    FileStorageBackend() { }
+
+
+    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;
+                    }
+                }
+            }
+        }
+        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);
+        }
+    }
+
+    /**
+     * Initializes the File based back end storage by passing to a path to
+     * the directory where the key named files will be stored.
+     * This the return result should be 0 on success.
+     * If it is -EFBIG then the the path name is too long to
+     * Accommodate the trailing slash and max key length;
+     *
+     */
+
+    int init(const String & path)
+    {
+        using namespace std;
+
+        int rv = -EINVAL;
+
+        if (path.size() > 0)
+        {
+
+            base_path = path.c_str();
+
+            if (base_path.back() == '/')
+            {
+                base_path.pop_back();
+            }
+
+            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);
+            }
+            base_path.push_back('/');
+            if ((base_path.size() + MaxStringLength) > MaxPathLength)
+            {
+                rv = -EFBIG;
+            }
+        }
+        return rv;
+
+    }
+
+};
+
+}
+}