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dataman: refactoring _file_initialize

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clear dataman file and init initial value on creation
This commit is contained in:
Igor Mišić
2023-05-11 19:47:59 +02:00
committed by Beat Küng
parent 7563ddd91f
commit c67af1479f
1 changed files with 33 additions and 31 deletions
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src/modules/dataman/dataman.cpp
+33 -31
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@@ -698,31 +698,6 @@ _file_clear(dm_item_t item)
static int
_file_initialize(unsigned max_offset)
{
/* See if the data manage file exists and is a multiple of the sector size */
dm_operations_data.file.fd = open(k_data_manager_device_path, O_RDONLY | O_BINARY);
if (dm_operations_data.file.fd >= 0) {
// Read the mission state and check the hash
struct dataman_compat_s compat_state;
dm_operations_data.silence = true;
int ret = g_dm_ops->read(DM_KEY_COMPAT, 0, &compat_state, sizeof(compat_state));
dm_operations_data.silence = false;
bool incompat = true;
if (ret == sizeof(compat_state)) {
if (compat_state.key == DM_COMPAT_KEY) {
incompat = false;
}
}
close(dm_operations_data.file.fd);
if (incompat) {
unlink(k_data_manager_device_path);
}
}
/* Open or create the data manager file */
dm_operations_data.file.fd = open(k_data_manager_device_path, O_RDWR | O_CREAT | O_BINARY, PX4_O_MODE_666);
@@ -739,16 +714,43 @@ _file_initialize(unsigned max_offset)
return -1;
}
/* 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, &compat_state, sizeof(compat_state));
if (ret != sizeof(compat_state)) {
PX4_ERR("Failed writing compat: %d", ret);
dm_operations_data.silence = true;
g_dm_ops->read(DM_KEY_COMPAT, 0, &compat_state, sizeof(compat_state));
dm_operations_data.silence = false;
if (compat_state.key != DM_COMPAT_KEY) {
/* Write current compat info */
compat_state.key = DM_COMPAT_KEY;
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);
}
for (uint32_t item = DM_KEY_SAFE_POINTS; item <= DM_KEY_MISSION_STATE; ++item) {
g_dm_ops->clear((dm_item_t)item);
}
mission_s mission{};
mission.timestamp = hrt_absolute_time();
mission.dataman_id = DM_KEY_WAYPOINTS_OFFBOARD_0;
mission.count = 0;
mission.current_seq = 0;
mission_stats_entry_s stats;
stats.num_items = 0;
stats.update_counter = 1;
g_dm_ops->write(DM_KEY_MISSION_STATE, 0, reinterpret_cast<uint8_t *>(&mission), sizeof(mission_s));
g_dm_ops->write(DM_KEY_FENCE_POINTS, 0, reinterpret_cast<uint8_t *>(&stats), sizeof(mission_stats_entry_s));
g_dm_ops->write(DM_KEY_SAFE_POINTS, 0, reinterpret_cast<uint8_t *>(&stats), sizeof(mission_stats_entry_s));
}
fsync(dm_operations_data.file.fd);
dm_operations_data.running = true;
return 0;