file paths: add PX4_STORAGEDIR & use it where appropriate

src/modules/dataman/dataman.cpp

@@ -246,11 +246,7 @@ static px4_sem_t g_sys_state_mutex_mission;
 static px4_sem_t g_sys_state_mutex_fence;
 
 /* The data manager store file handle and file name */
-#ifdef __PX4_POSIX
+static const char *default_device_path = PX4_STORAGEDIR "/dataman";
-static const char *default_device_path = PX4_ROOTFSDIR"/dataman";
-#else
-static const char *default_device_path = PX4_ROOTFSDIR"/fs/microsd/dataman";
-#endif
 static char *k_data_manager_device_path = nullptr;
 
 #if defined(FLASH_BASED_DATAMAN)

src/modules/logger/logger.cpp

@@ -830,11 +830,7 @@ void Logger::run()
 	orb_set_interval(log_message_sub, 20);
 
 
-#if __PX4_POSIX
+	int ntopics = add_topics_from_file(PX4_STORAGEDIR "/etc/logging/logger_topics.txt");
-	int ntopics = add_topics_from_file(PX4_ROOTFSDIR "/etc/logging/logger_topics.txt");
-#else
-	int ntopics = add_topics_from_file(PX4_ROOTFSDIR "/fs/microsd/etc/logging/logger_topics.txt");
-#endif
 
 	if (ntopics > 0) {
 		PX4_INFO("logging %d topics from logger_topics.txt", ntopics);

src/modules/logger/logger.h

@@ -313,11 +313,7 @@ private:
 
 	static constexpr size_t 	MAX_TOPICS_NUM = 64; /**< Maximum number of logged topics */
 	static constexpr unsigned	MAX_NO_LOGFILE = 999;	/**< Maximum number of log files */
-#ifdef __PX4_POSIX
+	static constexpr const char	*LOG_ROOT = PX4_STORAGEDIR "/log";
-	static constexpr const char	*LOG_ROOT = PX4_ROOTFSDIR"/log";
-#else
-	static constexpr const char 	*LOG_ROOT = PX4_ROOTFSDIR"/fs/microsd/log";
-#endif
 
 	uint8_t						*_msg_buffer{nullptr};
 	int						_msg_buffer_len{0};

src/modules/mavlink/mavlink_ftp.cpp

@@ -663,7 +663,7 @@ MavlinkFTP::_workTruncateFile(PayloadHeader *payload)
 
 	// emulate truncate(_work_buffer1, payload->offset) by
 	// copying to temp and overwrite with O_TRUNC flag (NuttX does not support truncate()).
-	const char temp_file[] = PX4_ROOTFSDIR"/fs/microsd/.trunc.tmp";
+	const char temp_file[] = PX4_STORAGEDIR"/.trunc.tmp";
 
 	struct stat st;
 

src/modules/mavlink/mavlink_log_handler.cpp

@@ -39,7 +39,7 @@
 #include <sys/stat.h>
 #include <time.h>
 
-#define MOUNTPOINT PX4_ROOTFSDIR "/fs/microsd"
+#define MOUNTPOINT PX4_STORAGEDIR
 
 static const char *kLogRoot    = MOUNTPOINT "/log";
 static const char *kLogData    = MOUNTPOINT "/logdata.txt";

src/modules/mavlink/mavlink_receiver.cpp

@@ -443,7 +443,7 @@ void
 MavlinkReceiver::send_storage_information(int storage_id)
 {
 	mavlink_storage_information_t storage_info{};
-	const char *microsd_dir = PX4_ROOTFSDIR"/fs/microsd";
+	const char *microsd_dir = PX4_STORAGEDIR;
 
 	if (storage_id == 0 || storage_id == 1) { // request is for all or the first storage
 		storage_info.storage_id = 1;

src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp

@@ -55,8 +55,8 @@ const MavlinkFtpTest::DownloadTestCase MavlinkFtpTest::_rgDownloadTestCases[] =
 	{ PX4_MAVLINK_TEST_DATA_DIR  "/unit_test_data/mavlink_tests/test_240.data",	MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(MavlinkFTP::PayloadHeader) + 1,	false, false },	// Read take two packets
 };
 
-const char MavlinkFtpTest::_unittest_microsd_dir[] = PX4_ROOTFSDIR "/fs/microsd/ftp_unit_test_dir";
+const char MavlinkFtpTest::_unittest_microsd_dir[] = PX4_STORAGEDIR "/ftp_unit_test_dir";
-const char MavlinkFtpTest::_unittest_microsd_file[] = PX4_ROOTFSDIR "/fs/microsd/ftp_unit_test_dir/file";
+const char MavlinkFtpTest::_unittest_microsd_file[] = PX4_STORAGEDIR "/ftp_unit_test_dir/file";
 
 MavlinkFtpTest::MavlinkFtpTest() :
 	_ftp_server(nullptr),

src/modules/navigator/geofence.h

@@ -52,7 +52,7 @@
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/vehicle_air_data.h>
 
-#define GEOFENCE_FILENAME PX4_ROOTFSDIR"/fs/microsd/etc/geofence.txt"
+#define GEOFENCE_FILENAME PX4_STORAGEDIR"/etc/geofence.txt"
 
 class Navigator;
 

src/modules/position_estimator_inav/position_estimator_inav_main.cpp

@@ -191,11 +191,7 @@ static void write_debug_log(const char *msg, float dt, float x_est[2], float y_e
 			    float acc[3], float corr_gps[3][2], float w_xy_gps_p, float w_xy_gps_v, float corr_mocap[3][1], float w_mocap_p,
 			    float corr_vision[3][2], float w_xy_vision_p, float w_z_vision_p, float w_xy_vision_v)
 {
-#ifdef __PX4_POSIX
+	FILE *f = fopen(PX4_STORAGEDIR"/inav.log", "a");
-	FILE *f = fopen(PX4_ROOTFSDIR"/inav.log", "a");
-#else
-	FILE *f = fopen(PX4_ROOTFSDIR"/fs/microsd/inav.log", "a");
-#endif
 
 	if (f) {
 		char *s = malloc(256);

src/modules/uORB/uORBManager.cpp

@@ -65,7 +65,7 @@ bool uORB::Manager::initialize()
 uORB::Manager::Manager()
 {
 #ifdef ORB_USE_PUBLISHER_RULES
-	const char *file_name = "./rootfs/orb_publisher.rules";
+	const char *file_name = PX4_STORAGEDIR"/orb_publisher.rules";
 	int ret = readPublisherRulesFromFile(file_name, _publisher_rule);
 
 	if (ret == PX4_OK) {

src/modules/uORB/uORB_tests/uORBTest_UnitTest.cpp

@@ -139,7 +139,7 @@ int uORBTest::UnitTest::pubsublatency_main()
 
 	if (pubsubtest_print) {
 		char fname[32];
-		sprintf(fname, PX4_ROOTFSDIR"/fs/microsd/timings%u.txt", timingsgroup);
+		sprintf(fname, PX4_STORAGEDIR"/uorb_timings%u.txt", timingsgroup);
 		FILE *f = fopen(fname, "w");
 
 		if (f == nullptr) {

src/platforms/px4_defines.h

@@ -110,7 +110,8 @@ typedef param_t px4_param_t;
  * NuttX specific defines.
  ****************************************************************************/
 
-#define PX4_ROOTFSDIR "."
+#define PX4_ROOTFSDIR ""
+#define PX4_STORAGEDIR PX4_ROOTFSDIR "/fs/microsd"
 #define _PX4_IOC(x,y) _IOC(x,y)
 
 // mode for open with O_CREAT
@@ -200,6 +201,8 @@ __END_DECLS
 #  endif
 
 #endif // __PX4_QURT
+
+#define PX4_STORAGEDIR PX4_ROOTFSDIR
 #endif // __PX4_POSIX
 
 #if defined(__PX4_ROS) || defined(__PX4_POSIX)

src/systemcmds/sd_bench/sd_bench.c

@@ -64,7 +64,7 @@ static inline unsigned int time_fsync(int fd);
 
 __EXPORT int	sd_bench_main(int argc, char *argv[]);
 
-static const char *BENCHMARK_FILE = PX4_ROOTFSDIR"/fs/microsd/benchmark.tmp";
+static const char *BENCHMARK_FILE = PX4_STORAGEDIR"/benchmark.tmp";
 
 static int num_runs; ///< number of runs
 static int run_duration; ///< duration of a single run [ms]

src/systemcmds/tests/test_file.c

@@ -98,7 +98,7 @@ test_file(int argc, char *argv[])
 	/* check if microSD card is mounted */
 	struct stat buffer;
 
-	if (stat(PX4_ROOTFSDIR "/fs/microsd/", &buffer)) {
+	if (stat(PX4_STORAGEDIR "/", &buffer)) {
 		warnx("no microSD card mounted, aborting file test");
 		return 1;
 	}
@@ -126,7 +126,7 @@ test_file(int argc, char *argv[])
 			uint8_t read_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64)));
 			hrt_abstime start, end;
 
-			int fd = px4_open(PX4_ROOTFSDIR "/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
+			int fd = px4_open(PX4_STORAGEDIR "/testfile", O_TRUNC | O_WRONLY | O_CREAT);
 
 			warnx("testing unaligned writes - please wait..");
 
@@ -158,7 +158,7 @@ test_file(int argc, char *argv[])
 			warnx("write took %" PRIu64 " us", (end - start));
 
 			px4_close(fd);
-			fd = open(PX4_ROOTFSDIR "/fs/microsd/testfile", O_RDONLY);
+			fd = open(PX4_STORAGEDIR "/testfile", O_RDONLY);
 
 			/* read back data for validation */
 			for (unsigned i = 0; i < iterations; i++) {
@@ -196,8 +196,8 @@ test_file(int argc, char *argv[])
 			 */
 
 			close(fd);
-			int ret = unlink(PX4_ROOTFSDIR "/fs/microsd/testfile");
+			int ret = unlink(PX4_STORAGEDIR "/testfile");
-			fd = px4_open(PX4_ROOTFSDIR "/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
+			fd = px4_open(PX4_STORAGEDIR "/testfile", O_TRUNC | O_WRONLY | O_CREAT);
 
 			warnx("testing aligned writes - please wait.. (CTRL^C to abort)");
 
@@ -220,7 +220,7 @@ test_file(int argc, char *argv[])
 			warnx("reading data aligned..");
 
 			px4_close(fd);
-			fd = open(PX4_ROOTFSDIR "/fs/microsd/testfile", O_RDONLY);
+			fd = open(PX4_STORAGEDIR "/testfile", O_RDONLY);
 
 			bool align_read_ok = true;
 
@@ -257,7 +257,7 @@ test_file(int argc, char *argv[])
 			warnx("reading data unaligned..");
 
 			close(fd);
-			fd = open(PX4_ROOTFSDIR "/fs/microsd/testfile", O_RDONLY);
+			fd = open(PX4_STORAGEDIR "/testfile", O_RDONLY);
 
 			bool unalign_read_ok = true;
 			int unalign_read_err_count = 0;
@@ -298,7 +298,7 @@ test_file(int argc, char *argv[])
 
 			}
 
-			ret = unlink(PX4_ROOTFSDIR "/fs/microsd/testfile");
+			ret = unlink(PX4_STORAGEDIR "/testfile");
 			close(fd);
 
 			if (ret) {
@@ -311,7 +311,7 @@ test_file(int argc, char *argv[])
 	/* list directory */
 	DIR		*d;
 	struct dirent	*dir;
-	d = opendir(PX4_ROOTFSDIR "/fs/microsd");
+	d = opendir(PX4_STORAGEDIR);
 
 	if (d) {
 

src/systemcmds/tests/test_file2.c

@@ -54,11 +54,7 @@
 #define FLAG_FSYNC 1
 #define FLAG_LSEEK 2
 
-#ifdef __PX4_POSIX
+#define LOG_PATH PX4_STORAGEDIR
-#define LOG_PATH PX4_ROOTFSDIR "/log/"
-#else
-#define LOG_PATH PX4_ROOTFSDIR "/fs/microsd/"
-#endif
 
 /*
   return a predictable value for any file offset to allow detection of corruption

src/systemcmds/tests/test_mount.c

@@ -70,7 +70,7 @@ test_mount(int argc, char *argv[])
 	/* check if microSD card is mounted */
 	struct stat buffer;
 
-	if (stat(PX4_ROOTFSDIR "/fs/microsd/", &buffer)) {
+	if (stat(PX4_STORAGEDIR "/", &buffer)) {
 		PX4_ERR("no microSD card mounted, aborting file test");
 		return 1;
 	}
@@ -78,7 +78,7 @@ test_mount(int argc, char *argv[])
 	/* list directory */
 	DIR		*d;
 	struct dirent	*dir;
-	d = opendir(PX4_ROOTFSDIR "/fs/microsd");
+	d = opendir(PX4_STORAGEDIR);
 
 	if (d) {
 
@@ -202,7 +202,7 @@ test_mount(int argc, char *argv[])
 
 			uint8_t read_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64)));
 
-			int fd = px4_open(PX4_ROOTFSDIR "/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
+			int fd = px4_open(PX4_STORAGEDIR "/testfile", O_TRUNC | O_WRONLY | O_CREAT);
 
 			for (unsigned i = 0; i < iterations; i++) {
 
@@ -239,7 +239,7 @@ test_mount(int argc, char *argv[])
 			usleep(200000);
 
 			px4_close(fd);
-			fd = px4_open(PX4_ROOTFSDIR "/fs/microsd/testfile", O_RDONLY);
+			fd = px4_open(PX4_STORAGEDIR "/testfile", O_RDONLY);
 
 			/* read back data for validation */
 			for (unsigned i = 0; i < iterations; i++) {
@@ -268,7 +268,7 @@ test_mount(int argc, char *argv[])
 
 			}
 
-			int ret = unlink(PX4_ROOTFSDIR "/fs/microsd/testfile");
+			int ret = unlink(PX4_STORAGEDIR "/testfile");
 			px4_close(fd);
 
 			if (ret) {

src/systemcmds/tests/test_parameters.cpp

@@ -312,7 +312,7 @@ bool ParameterTest::exportImportAll()
 	static constexpr float MAGIC_FLOAT_VAL = 0.217828f;
 
 	// backup current parameters
-	const char *param_file_name = PX4_ROOTFSDIR "/fs/microsd/param_backup";
+	const char *param_file_name = PX4_STORAGEDIR "/param_backup";
 	int fd = open(param_file_name, O_WRONLY | O_CREAT, PX4_O_MODE_666);
 
 	if (fd < 0) {