fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-06 06:30:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

dataman: remove obsolete persistence and reset reason

Browse Source
This commit is contained in:
Daniel Agar
2021-12-12 12:06:35 -05:00
committed by GitHub
parent ad1bfb5410
commit 986cf288da
10 changed files with 61 additions and 287 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/dataman/dataman.cpp
+13 -183
View File
@@ -60,28 +60,23 @@ __END_DECLS
static constexpr int TASK_STACK_SIZE = 1220;
/* Private File based Operations */
static ssize_t _file_write(dm_item_t item, unsigned index, dm_persitence_t persistence, const void *buf,
size_t count);
static ssize_t _file_write(dm_item_t item, unsigned index, const void *buf, size_t count);
static ssize_t _file_read(dm_item_t item, unsigned index, void *buf, size_t count);
static int _file_clear(dm_item_t item);
static int _file_restart(dm_reset_reason reason);
static int _file_initialize(unsigned max_offset);
static void _file_shutdown();
/* Private Ram based Operations */
static ssize_t _ram_write(dm_item_t item, unsigned index, dm_persitence_t persistence, const void *buf,
size_t count);
static ssize_t _ram_write(dm_item_t item, unsigned index, const void *buf, size_t count);
static ssize_t _ram_read(dm_item_t item, unsigned index, void *buf, size_t count);
static int _ram_clear(dm_item_t item);
static int _ram_restart(dm_reset_reason reason);
static int _ram_initialize(unsigned max_offset);
static void _ram_shutdown();
typedef struct dm_operations_t {
ssize_t (*write)(dm_item_t item, unsigned index, dm_persitence_t persistence, const void *buf, size_t count);
ssize_t (*write)(dm_item_t item, unsigned index, const void *buf, size_t count);
ssize_t (*read)(dm_item_t item, unsigned index, void *buf, size_t count);
int (*clear)(dm_item_t item);
int (*restart)(dm_reset_reason reason);
int (*initialize)(unsigned max_offset);
void (*shutdown)();
int (*wait)(px4_sem_t *sem);
@@ -91,7 +86,6 @@ static constexpr dm_operations_t dm_file_operations = {
.write = _file_write,
.read = _file_read,
.clear = _file_clear,
.restart = _file_restart,
.initialize = _file_initialize,
.shutdown = _file_shutdown,
.wait = px4_sem_wait,
@@ -101,7 +95,6 @@ static constexpr dm_operations_t dm_ram_operations = {
.write = _ram_write,
.read = _ram_read,
.clear = _ram_clear,
.restart = _ram_restart,
.initialize = _ram_initialize,
.shutdown = _ram_shutdown,
.wait = px4_sem_wait,
@@ -127,7 +120,6 @@ typedef enum {
dm_write_func = 0,
dm_read_func,
dm_clear_func,
dm_restart_func,
dm_number_of_funcs
} dm_function_t;
@@ -142,7 +134,6 @@ typedef struct {
struct {
dm_item_t item;
unsigned index;
dm_persitence_t persistence;
const void *buf;
size_t count;
} write_params;
@@ -155,9 +146,6 @@ typedef struct {
struct {
dm_item_t item;
} clear_params;
struct {
dm_reset_reason reason;
} restart_params;
};
} work_q_item_t;
@@ -172,7 +160,6 @@ static const unsigned g_per_item_max_index[DM_KEY_NUM_KEYS] = {
DM_KEY_FENCE_POINTS_MAX,
DM_KEY_WAYPOINTS_OFFBOARD_0_MAX,
DM_KEY_WAYPOINTS_OFFBOARD_1_MAX,
DM_KEY_WAYPOINTS_ONBOARD_MAX,
DM_KEY_MISSION_STATE_MAX,
DM_KEY_COMPAT_MAX
};
@@ -185,7 +172,6 @@ static constexpr size_t g_per_item_size[DM_KEY_NUM_KEYS] = {
sizeof(struct mission_fence_point_s) + DM_SECTOR_HDR_SIZE,
sizeof(struct mission_item_s) + DM_SECTOR_HDR_SIZE,
sizeof(struct mission_item_s) + DM_SECTOR_HDR_SIZE,
sizeof(struct mission_item_s) + DM_SECTOR_HDR_SIZE,
sizeof(struct mission_s) + DM_SECTOR_HDR_SIZE,
sizeof(struct dataman_compat_s) + DM_SECTOR_HDR_SIZE
};
@@ -393,7 +379,7 @@ calculate_offset(dm_item_t item, unsigned index)
/* Each data item is stored as follows
*
* byte 0: Length of user data item
* byte 1: Persistence of this data item
* byte 1: Unused (previously persistence of this data item)
* byte 2: Unused (for future use)
* byte 3: Unused (for future use)
* byte DM_SECTOR_HDR_SIZE... : data item value
@@ -402,10 +388,8 @@ calculate_offset(dm_item_t item, unsigned index)
*/
/* write to the data manager RAM buffer */
static ssize_t _ram_write(dm_item_t item, unsigned index, dm_persitence_t persistence, const void *buf,
size_t count)
static ssize_t _ram_write(dm_item_t item, unsigned index, const void *buf, size_t count)
{
/* Get the offset for this item */
int offset = calculate_offset(item, index);
@@ -425,9 +409,9 @@ static ssize_t _ram_write(dm_item_t item, unsigned index, dm_persitence_t persis
return -1;
}
/* Write out the data, prefixed with length and persistence level */
/* Write out the data, prefixed with length */
buffer[0] = count;
buffer[1] = persistence;
buffer[1] = 0;
buffer[2] = 0;
buffer[3] = 0;
@@ -441,7 +425,7 @@ static ssize_t _ram_write(dm_item_t item, unsigned index, dm_persitence_t persis
/* write to the data manager file */
static ssize_t
_file_write(dm_item_t item, unsigned index, dm_persitence_t persistence, const void *buf, size_t count)
_file_write(dm_item_t item, unsigned index, const void *buf, size_t count)
{
unsigned char buffer[g_per_item_size[item]];
@@ -458,9 +442,9 @@ _file_write(dm_item_t item, unsigned index, dm_persitence_t persistence, const v
return -E2BIG;
}
/* Write out the data, prefixed with length and persistence level */
/* Write out the data, prefixed with length */
buffer[0] = count;
buffer[1] = persistence;
buffer[1] = 0;
buffer[2] = 0;
buffer[3] = 0;
@@ -707,118 +691,6 @@ _file_clear(dm_item_t item)
return result;
}
/* Tell the data manager about the type of the last reset */
static int _ram_restart(dm_reset_reason reason)
{
uint8_t *buffer = dm_operations_data.ram.data;
/* We need to scan the entire file and invalidate and data that should not persist after the last reset */
/* Loop through all of the data segments and delete those that are not persistent */
for (int item = (int)DM_KEY_SAFE_POINTS; item < (int)DM_KEY_NUM_KEYS; item++) {
for (unsigned i = 0; i < g_per_item_max_index[item]; i++) {
/* check if segment contains data */
if (buffer[0]) {
bool clear_entry = false;
/* Whether data gets deleted depends on reset type and data segment's persistence setting */
if (reason == DM_INIT_REASON_POWER_ON) {
if (buffer[1] > DM_PERSIST_POWER_ON_RESET) {
clear_entry = true;
}
} else {
if (buffer[1] > DM_PERSIST_IN_FLIGHT_RESET) {
clear_entry = true;
}
}
/* Set segment to unused if data does not persist */
if (clear_entry) {
buffer[0] = 0;
}
}
buffer += g_per_item_size[item];
}
}
return 0;
}
static int
_file_restart(dm_reset_reason reason)
{
int offset = 0;
int result = 0;
/* We need to scan the entire file and invalidate and data that should not persist after the last reset */
/* Loop through all of the data segments and delete those that are not persistent */
for (int item = (int)DM_KEY_SAFE_POINTS; item < (int)DM_KEY_NUM_KEYS; item++) {
for (unsigned i = 0; i < g_per_item_max_index[item]; i++) {
/* Get data segment at current offset */
if (lseek(dm_operations_data.file.fd, offset, SEEK_SET) != offset) {
result = -1;
item = DM_KEY_NUM_KEYS;
break;
}
uint8_t buffer[2];
ssize_t len = read(dm_operations_data.file.fd, buffer, sizeof(buffer));
if (len != sizeof(buffer)) {
result = -1;
item = DM_KEY_NUM_KEYS;
break;
}
/* check if segment contains data */
if (buffer[0]) {
bool clear_entry = false;
/* Whether data gets deleted depends on reset type and data segment's persistence setting */
if (reason == DM_INIT_REASON_POWER_ON) {
if (buffer[1] > DM_PERSIST_POWER_ON_RESET) {
clear_entry = true;
}
} else {
if (buffer[1] > DM_PERSIST_IN_FLIGHT_RESET) {
clear_entry = true;
}
}
/* Set segment to unused if data does not persist */
if (clear_entry) {
if (lseek(dm_operations_data.file.fd, offset, SEEK_SET) != offset) {
result = -1;
item = DM_KEY_NUM_KEYS;
break;
}
buffer[0] = 0;
len = write(dm_operations_data.file.fd, buffer, 1);
if (len != 1) {
result = -1;
item = DM_KEY_NUM_KEYS;
break;
}
}
}
offset += g_per_item_size[item];
}
}
fsync(dm_operations_data.file.fd);
/* tell the caller how it went */
return result;
}
static int
_file_initialize(unsigned max_offset)
{
@@ -864,7 +736,7 @@ _file_initialize(unsigned max_offset)
/* Write current compat info */
struct dataman_compat_s compat_state;
compat_state.key = DM_COMPAT_KEY;
int ret = g_dm_ops->write(DM_KEY_COMPAT, 0, DM_PERSIST_POWER_ON_RESET, &compat_state, sizeof(compat_state));
int ret = g_dm_ops->write(DM_KEY_COMPAT, 0, &compat_state, sizeof(compat_state));
if (ret != sizeof(compat_state)) {
PX4_ERR("Failed writing compat: %d", ret);
@@ -911,7 +783,7 @@ _ram_shutdown()
/** Write to the data manager file */
__EXPORT ssize_t
dm_write(dm_item_t item, unsigned index, dm_persitence_t persistence, const void *buf, size_t count)
dm_write(dm_item_t item, unsigned index, const void *buf, size_t count)
{
work_q_item_t *work;
@@ -932,7 +804,6 @@ dm_write(dm_item_t item, unsigned index, dm_persitence_t persistence, const void
work->func = dm_write_func;
work->write_params.item = item;
work->write_params.index = index;
work->write_params.persistence = persistence;
work->write_params.buf = buf;
work->write_params.count = count;
@@ -1060,30 +931,6 @@ dm_unlock(dm_item_t item)
}
}
/** Tell the data manager about the type of the last reset */
__EXPORT int
dm_restart(dm_reset_reason reason)
{
work_q_item_t *work;
/* Make sure data manager has been started and is not shutting down */
if (!is_running() || g_task_should_exit) {
return -1;
}
/* get a work item and queue up a restart request */
if ((work = create_work_item()) == nullptr) {
PX4_ERR("dm_restart create_work_item failed");
return -1;
}
work->func = dm_restart_func;
work->restart_params.reason = reason;
/* Enqueue the item on the work queue and wait for the worker thread to complete processing it */
return enqueue_work_item_and_wait_for_result(work);
}
static int
task_main(int argc, char *argv[])
{
@@ -1184,9 +1031,7 @@ task_main(int argc, char *argv[])
case dm_write_func:
g_func_counts[dm_write_func]++;
work->result =
g_dm_ops->write(work->write_params.item, work->write_params.index, work->write_params.persistence,
work->write_params.buf,
work->write_params.count);
g_dm_ops->write(work->write_params.item, work->write_params.index, work->write_params.buf, work->write_params.count);
break;
case dm_read_func:
@@ -1200,11 +1045,6 @@ task_main(int argc, char *argv[])
work->result = g_dm_ops->clear(work->clear_params.item);
break;
case dm_restart_func:
g_func_counts[dm_restart_func]++;
work->result = g_dm_ops->restart(work->restart_params.reason);
break;
default: /* should never happen */
work->result = -1;
break;
@@ -1284,7 +1124,6 @@ status()
PX4_INFO("Writes %u", g_func_counts[dm_write_func]);
PX4_INFO("Reads %u", g_func_counts[dm_read_func]);
PX4_INFO("Clears %u", g_func_counts[dm_clear_func]);
PX4_INFO("Restarts %u", g_func_counts[dm_restart_func]);
PX4_INFO("Max Q lengths work %u, free %u", g_work_q.max_size, g_free_q.max_size);
perf_print_counter(_dm_read_perf);
perf_print_counter(_dm_write_perf);
@@ -1328,9 +1167,6 @@ check for geofence violations.
PRINT_MODULE_USAGE_PARAM_STRING('f', nullptr, "<file>", "Storage file", true);
PRINT_MODULE_USAGE_PARAM_FLAG('r', "Use RAM backend (NOT persistent)", true);
PRINT_MODULE_USAGE_PARAM_COMMENT("The options -f and -r are mutually exclusive. If nothing is specified, a file 'dataman' is used");
PRINT_MODULE_USAGE_COMMAND_DESCR("poweronrestart", "Restart dataman (on power on)");
PRINT_MODULE_USAGE_COMMAND_DESCR("inflightrestart", "Restart dataman (in flight)");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
@@ -1425,12 +1261,6 @@ dataman_main(int argc, char *argv[])
} else if (!strcmp(argv[1], "status")) {
status();
} else if (!strcmp(argv[1], "poweronrestart")) {
dm_restart(DM_INIT_REASON_POWER_ON);
} else if (!strcmp(argv[1], "inflightrestart")) {
dm_restart(DM_INIT_REASON_IN_FLIGHT);
} else {
usage();
return -1;