fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-26 14:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'master' into lpc11c24

Browse Source
This commit is contained in:
Pavel Kirienko
2015-08-24 14:21:08 +03:00
parent 16800376af be7f68763e
commit b334dbbfe5
10 changed files with 224 additions and 133 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan_drivers/posix/include/uavcan_posix/basic_file_server_backend.hpp
+32 -21
View File
@@ -75,7 +75,7 @@ protected:
friend FDCache;
FDCacheItem* next_;
time_t last_access_;
std::time_t last_access_;
const int fd_;
const int oflags_;
const char* const path_;
@@ -101,6 +101,7 @@ protected:
~FDCacheItem()
{
using namespace std;
if (valid())
{
::free(const_cast<char*>(path_));
@@ -117,13 +118,14 @@ protected:
return fd_;
}
time_t getAccess() const
std::time_t getAccess() const
{
return last_access_;
}
time_t acessed()
std::time_t acessed()
{
using namespace std;
last_access_ = time(NULL);
return getAccess();
}
@@ -135,11 +137,13 @@ protected:
bool expired() const
{
using namespace std;
return 0 == last_access_ || (time(NULL) - last_access_) > MaxAgeSeconds;
}
bool equals(const char* path, int oflags) const
{
using namespace std;
return oflags_ == oflags && 0 == ::strcmp(path, path_);
}
@@ -275,7 +279,6 @@ protected:
if (pi && !pi->valid())
{
/* Allocation worked but clone or path failed */
delete pi;
pi = NULL;
}
@@ -286,7 +289,6 @@ protected:
* If allocation fails no harm just can not cache it
* return open fd
*/
return fd;
}
/* add new */
@@ -334,7 +336,7 @@ protected:
* Implementation of this method is required.
* On success the method must return zero.
*/
virtual int16_t getInfo(const Path& path, uint64_t& out_size, EntryType& out_type)
virtual uavcan::int16_t getInfo(const Path& path, uavcan::uint64_t& out_size, EntryType& out_type)
{
int rv = uavcan::protocol::file::Error::INVALID_VALUE;
@@ -376,12 +378,15 @@ protected:
* if the end of file is reached.
* On success the method must return zero.
*/
virtual int16_t read(const Path& path, const uint64_t offset, uint8_t* out_buffer, uint16_t& inout_size)
virtual uavcan::int16_t read(const Path& path, const uavcan::uint64_t offset, uavcan::uint8_t* out_buffer,
uavcan::uint16_t& inout_size)
{
int rv = uavcan::protocol::file::Error::INVALID_VALUE;
if (path.size() > 0)
if (path.size() > 0 && inout_size != 0)
{
using namespace std;
FDCacheBase& cache = getFDCache();
int fd = cache.open(path.c_str(), O_RDONLY);
@@ -391,9 +396,9 @@ protected:
}
else
{
rv = ::lseek(fd, offset, SEEK_SET);
ssize_t total_read = 0;
ssize_t len = 0;
rv = ::lseek(fd, offset, SEEK_SET);
if (rv < 0)
{
@@ -401,21 +406,27 @@ protected:
}
else
{
// TODO use a read at offset to fill on EAGAIN
len = ::read(fd, out_buffer, inout_size);
if (len < 0)
rv = 0;
ssize_t remaining = inout_size;
ssize_t nread = 0;
do
{
rv = errno;
}
else
{
rv = 0;
nread = ::read(fd, &out_buffer[total_read], remaining);
if (nread < 0)
{
rv = errno;
}
else
{
remaining -= nread,
total_read += nread;
}
}
while (nread > 0 && remaining > 0);
}
(void)cache.close(fd, rv != 0 || len != inout_size);
inout_size = len;
(void)cache.close(fd, rv != 0 || total_read != inout_size);
inout_size = total_read;
}
}
return rv;
libuavcan_drivers/posix/include/uavcan_posix/dynamic_node_id_server/file_event_tracer.hpp
+16 -5
View File
@@ -51,10 +51,22 @@ protected:
{
const int FormatBufferLength = 63;
char buffer[FormatBufferLength + 1];
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));
(void)write(fd, buffer, n); // TODO FIXME Write loop
ssize_t remaining = 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));
ssize_t total_written = 0;
ssize_t written = 0;
do
{
written = write(fd, &buffer[total_written], remaining);
if (written > 0)
{
total_written += written;
remaining -= written;
}
}
while (written > 0 && remaining > 0);
(void)close(fd);
}
}
@@ -82,7 +94,6 @@ public:
return rv;
}
};
}
}
libuavcan_drivers/posix/include/uavcan_posix/dynamic_node_id_server/file_storage_backend.hpp
+32 -8
View File
@@ -55,13 +55,25 @@ protected:
{
char buffer[MaxStringLength + 1];
(void)memset(buffer, 0, sizeof(buffer));
int len = read(fd, buffer, MaxStringLength);
(void)close(fd);
if (len > 0)
ssize_t remaining = MaxStringLength;
ssize_t total_read = 0;
ssize_t nread = 0;
do
{
for (int i = 0; i < len; i++)
nread = ::read(fd, &buffer[total_read], remaining);
if (nread > 0)
{
if (buffer[i] == ' ' || buffer[i] == '\n' || buffer[i] == '\r' )
remaining -= nread,
total_read += nread;
}
}
while (nread > 0 && remaining > 0);
(void)close(fd);
if (total_read > 0)
{
for (int i = 0; i < total_read; i++)
{
if (buffer[i] == ' ' || buffer[i] == '\n' || buffer[i] == '\r')
{
buffer[i] = '\0';
break;
@@ -81,7 +93,20 @@ protected:
int fd = open(path.c_str(), O_WRONLY | O_CREAT | O_TRUNC, FilePermissions);
if (fd >= 0)
{
(void)write(fd, value.c_str(), value.size()); // TODO FIXME Write loop
ssize_t remaining = value.size();
ssize_t total_written = 0;
ssize_t written = 0;
do
{
written = write(fd, &value.c_str()[total_written], remaining);
if (written > 0)
{
total_written += written;
remaining -= written;
}
}
while (written > 0 && remaining > 0);
(void)fsync(fd);
(void)close(fd);
}
@@ -117,7 +142,7 @@ public:
// coverity[toctou]
rv = mkdir(base_path.c_str(), S_IRWXU | S_IRWXG | S_IRWXO);
}
if (rv >= 0 )
if (rv >= 0)
{
base_path.push_back('/');
if ((base_path.size() + MaxStringLength) > MaxPathLength)
@@ -129,7 +154,6 @@ public:
return rv;
}
};
}
}
libuavcan_drivers/posix/include/uavcan_posix/firmware_version_checker.hpp
+28 -12
View File
@@ -86,6 +86,8 @@ class FirmwareVersionChecker : public uavcan::IFirmwareVersionChecker
int copyIfNot(const char* srcpath, const char* destpath)
{
using namespace std;
// Does the file exist
int rv = 0;
int dfd = open(destpath, O_RDONLY, 0);
@@ -113,7 +115,7 @@ class FirmwareVersionChecker : public uavcan::IFirmwareVersionChecker
}
else
{
ssize_t size;
ssize_t size = 0;
do
{
size = ::read(sfd, buffer, sizeof(buffer));
@@ -125,14 +127,28 @@ class FirmwareVersionChecker : public uavcan::IFirmwareVersionChecker
}
else
{
if (size != write(dfd, buffer, size))
rv = 0;
ssize_t remaining = size;
ssize_t total_written = 0;
ssize_t written = 0;
do
{
rv = -errno;
written = write(dfd, &buffer[total_written], remaining);
if (written < 0)
{
rv = -errno;
}
else
{
total_written += written;
remaining -= written;
}
}
while (written > 0 && remaining > 0);
}
}
}
while (rv == 0 && size);
while (rv == 0 && size != 0);
(void)close(sfd);
}
@@ -144,13 +160,13 @@ class FirmwareVersionChecker : public uavcan::IFirmwareVersionChecker
struct AppDescriptor
{
uint8_t signature[sizeof(uavcan::uint64_t)];
uint64_t image_crc;
uint32_t image_size;
uint32_t vcs_commit;
uint8_t major_version;
uint8_t minor_version;
uint8_t reserved[6];
uavcan::uint8_t signature[sizeof(uavcan::uint64_t)];
uavcan::uint64_t image_crc;
uavcan::uint32_t image_size;
uavcan::uint32_t vcs_commit;
uavcan::uint8_t major_version;
uavcan::uint8_t minor_version;
uavcan::uint8_t reserved[6];
};
static int getFileInfo(const char* path, AppDescriptor& descriptor)
@@ -251,7 +267,7 @@ protected:
node_info.hardware_version.major,
node_info.hardware_version.minor);
if (n > 0 && n < (int) sizeof(fname_root) - 2)
if (n > 0 && n < (int)sizeof(fname_root) - 2)
{
DIR* const fwdir = opendir(fname_root);
libuavcan_drivers/stm32/test_stm32f107/src/main.cpp
+15 -15
View File
@@ -32,22 +32,26 @@ void ledSet(bool state)
palWritePad(GPIO_PORT_LED, GPIO_PIN_LED, state);
}
int init()
void init()
{
int res = 0;
halInit();
chibios_rt::System::init();
sdStart(&STDOUT_SD, NULL);
res = can.init(1000000);
if (res < 0)
int res = 0;
do
{
goto leave;
}
::sleep(1);
::lowsyslog("CAN auto bit rate detection...\n");
leave:
return res;
std::uint32_t bitrate = 0;
res = can.init([]() { ::usleep(can.getRecommendedListeningDelay().toUSec()); }, bitrate);
if (res >= 0)
{
::lowsyslog("CAN inited at %u bps\n", unsigned(bitrate));
}
}
while (res < 0);
}
#if __GNUC__
@@ -55,7 +59,7 @@ __attribute__((noreturn))
#endif
void die(int status)
{
lowsyslog("Now I am dead x_x %i\n", status);
lowsyslog("Initialization failure %i\n", status);
while (1)
{
ledSet(false);
@@ -166,11 +170,7 @@ public:
int main()
{
const int init_res = app::init();
if (init_res != 0)
{
app::die(init_res);
}
app::init();
lowsyslog("Starting the UAVCAN thread\n");
app::uavcan_node_thread.start(LOWPRIO);