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dataman: fix code style

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This commit is contained in:
Lorenz Meier 2015-09-05 22:16:38 +02:00
parent 437c494548
commit d18d43b0da
2 changed files with 190 additions and 125 deletions
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165
src/modules/dataman/dataman.c
View File

@ -63,7 +63,8 @@
__EXPORT int dataman_main(int argc, char *argv[]);
__EXPORT ssize_t dm_read(dm_item_t item, unsigned char index, void *buffer, size_t buflen);
__EXPORT ssize_t dm_write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const void *buffer, size_t buflen);
__EXPORT ssize_t dm_write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const void *buffer,
size_t buflen);
__EXPORT int dm_clear(dm_item_t item);
__EXPORT void dm_lock(dm_item_t item);
__EXPORT void dm_unlock(dm_item_t item);
@ -188,32 +189,40 @@ create_work_item(void)
/* Try to reuse item from free item queue */
lock_queue(&g_free_q);
if ((item = (work_q_item_t *)sq_remfirst(&(g_free_q.q))))
if ((item = (work_q_item_t *)sq_remfirst(&(g_free_q.q)))) {
g_free_q.size--;
}
unlock_queue(&g_free_q);
/* If we there weren't any free items then obtain memory for a new ones */
if (item == NULL) {
item = (work_q_item_t *)malloc(k_work_item_allocation_chunk_size * sizeof(work_q_item_t));
if (item) {
item->first = 1;
lock_queue(&g_free_q);
for (size_t i = 1; i < k_work_item_allocation_chunk_size; i++) {
(item + i)->first = 0;
sq_addfirst(&(item + i)->link, &(g_free_q.q));
}
/* Update the queue size and potentially the maximum queue size */
g_free_q.size += k_work_item_allocation_chunk_size - 1;
if (g_free_q.size > g_free_q.max_size)
if (g_free_q.size > g_free_q.max_size) {
g_free_q.max_size = g_free_q.size;
}
unlock_queue(&g_free_q);
}
}
/* If we got one then lock the item*/
if (item)
sem_init(&item->wait_sem, 1, 0); /* Caller will wait on this... initially locked */
if (item) {
sem_init(&item->wait_sem, 1, 0); /* Caller will wait on this... initially locked */
}
/* return the item pointer, or NULL if all failed */
return item;
@ -230,8 +239,9 @@ destroy_work_item(work_q_item_t *item)
sq_addfirst(&item->link, &(g_free_q.q));
/* Update the queue size and potentially the maximum queue size */
if (++g_free_q.size > g_free_q.max_size)
if (++g_free_q.size > g_free_q.max_size) {
g_free_q.max_size = g_free_q.size;
}
unlock_queue(&g_free_q);
}
@ -244,8 +254,9 @@ dequeue_work_item(void)
/* retrieve the 1st item on the work queue */
lock_queue(&g_work_q);
if ((work = (work_q_item_t *)sq_remfirst(&g_work_q.q)))
if ((work = (work_q_item_t *)sq_remfirst(&g_work_q.q))) {
g_work_q.size--;
}
unlock_queue(&g_work_q);
return work;
@ -259,8 +270,9 @@ enqueue_work_item_and_wait_for_result(work_q_item_t *item)
sq_addlast(&item->link, &(g_work_q.q));
/* Adjust the queue size and potentially the maximum queue size */
if (++g_work_q.size > g_work_q.max_size)
if (++g_work_q.size > g_work_q.max_size) {
g_work_q.max_size = g_work_q.size;
}
unlock_queue(&g_work_q);
@ -283,12 +295,14 @@ calculate_offset(dm_item_t item, unsigned char index)
{
/* Make sure the item type is valid */
if (item >= DM_KEY_NUM_KEYS)
if (item >= DM_KEY_NUM_KEYS) {
return -1;
}
/* Make sure the index for this item type is valid */
if (index >= g_per_item_max_index[item])
if (index >= g_per_item_max_index[item]) {
return -1;
}
/* Calculate and return the item index based on type and index */
return g_key_offsets[item] + (index * k_sector_size);
@ -317,33 +331,39 @@ _write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const v
offset = calculate_offset(item, index);
/* If item type or index out of range, return error */
if (offset < 0)
if (offset < 0) {
return -1;
}
/* Make sure caller has not given us more data than we can handle */
if (count > DM_MAX_DATA_SIZE)
if (count > DM_MAX_DATA_SIZE) {
return -1;
}
/* Write out the data, prefixed with length and persistence level */
buffer[0] = count;
buffer[1] = persistence;
buffer[2] = 0;
buffer[3] = 0;
if (count > 0) {
memcpy(buffer + DM_SECTOR_HDR_SIZE, buf, count);
}
count += DM_SECTOR_HDR_SIZE;
len = -1;
/* Seek to the right spot in the data manager file and write the data item */
if (lseek(g_task_fd, offset, SEEK_SET) == offset)
if ((len = write(g_task_fd, buffer, count)) == count)
fsync(g_task_fd); /* Make sure data is written to physical media */
if ((len = write(g_task_fd, buffer, count)) == count) {
fsync(g_task_fd); /* Make sure data is written to physical media */
}
/* Make sure the write succeeded */
if (len != count)
if (len != count) {
return -1;
}
/* All is well... return the number of user data written */
return count - DM_SECTOR_HDR_SIZE;
@ -360,32 +380,38 @@ _read(dm_item_t item, unsigned char index, void *buf, size_t count)
offset = calculate_offset(item, index);
/* If item type or index out of range, return error */
if (offset < 0)
if (offset < 0) {
return -1;
}
/* Make sure the caller hasn't asked for more data than we can handle */
if (count > DM_MAX_DATA_SIZE)
if (count > DM_MAX_DATA_SIZE) {
return -1;
}
/* Read the prefix and data */
len = -1;
if (lseek(g_task_fd, offset, SEEK_SET) == offset)
if (lseek(g_task_fd, offset, SEEK_SET) == offset) {
len = read(g_task_fd, buffer, count + DM_SECTOR_HDR_SIZE);
}
/* Check for read error */
if (len < 0)
if (len < 0) {
return -1;
}
/* A zero length entry is a empty entry */
if (len == 0)
if (len == 0) {
buffer[0] = 0;
}
/* See if we got data */
if (buffer[0] > 0) {
/* We got more than requested!!! */
if (buffer[0] > count)
if (buffer[0] > count) {
return -1;
}
/* Looks good, copy it to the caller's buffer */
memcpy(buf, buffer + DM_SECTOR_HDR_SIZE, buffer[0]);
@ -404,8 +430,9 @@ _clear(dm_item_t item)
int offset = calculate_offset(item, 0);
/* Check for item type out of range */
if (offset < 0)
if (offset < 0) {
return -1;
}
/* Clear all items of this type */
for (i = 0; (unsigned)i < g_per_item_max_index[item]; i++) {
@ -417,8 +444,9 @@ _clear(dm_item_t item)
}
/* Avoid SD flash wear by only doing writes where necessary */
if (read(g_task_fd, buf, 1) < 1)
if (read(g_task_fd, buf, 1) < 1) {
break;
}
/* If item has length greater than 0 it needs to be overwritten */
if (buf[0]) {
@ -519,12 +547,14 @@ dm_write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const
work_q_item_t *work;
/* Make sure data manager has been started and is not shutting down */
if ((g_fd < 0) || g_task_should_exit)
if ((g_fd < 0) || g_task_should_exit) {
return -1;
}
/* get a work item and queue up a write request */
if ((work = create_work_item()) == NULL)
if ((work = create_work_item()) == NULL) {
return -1;
}
work->func = dm_write_func;
work->write_params.item = item;
@ -544,12 +574,14 @@ dm_read(dm_item_t item, unsigned char index, void *buf, size_t count)
work_q_item_t *work;
/* Make sure data manager has been started and is not shutting down */
if ((g_fd < 0) || g_task_should_exit)
if ((g_fd < 0) || g_task_should_exit) {
return -1;
}
/* get a work item and queue up a read request */
if ((work = create_work_item()) == NULL)
if ((work = create_work_item()) == NULL) {
return -1;
}
work->func = dm_read_func;
work->read_params.item = item;
@ -567,12 +599,14 @@ dm_clear(dm_item_t item)
work_q_item_t *work;
/* Make sure data manager has been started and is not shutting down */
if ((g_fd < 0) || g_task_should_exit)
if ((g_fd < 0) || g_task_should_exit) {
return -1;
}
/* get a work item and queue up a clear request */
if ((work = create_work_item()) == NULL)
if ((work = create_work_item()) == NULL) {
return -1;
}
work->func = dm_clear_func;
work->clear_params.item = item;
@ -585,10 +619,14 @@ __EXPORT void
dm_lock(dm_item_t item)
{
/* Make sure data manager has been started and is not shutting down */
if ((g_fd < 0) || g_task_should_exit)
if ((g_fd < 0) || g_task_should_exit) {
return;
if (item >= DM_KEY_NUM_KEYS)
}
if (item >= DM_KEY_NUM_KEYS) {
return;
}
if (g_item_locks[item]) {
sem_wait(g_item_locks[item]);
}
@ -598,10 +636,14 @@ __EXPORT void
dm_unlock(dm_item_t item)
{
/* Make sure data manager has been started and is not shutting down */
if ((g_fd < 0) || g_task_should_exit)
if ((g_fd < 0) || g_task_should_exit) {
return;
if (item >= DM_KEY_NUM_KEYS)
}
if (item >= DM_KEY_NUM_KEYS) {
return;
}
if (g_item_locks[item]) {
sem_post(g_item_locks[item]);
}
@ -614,12 +656,14 @@ dm_restart(dm_reset_reason reason)
work_q_item_t *work;
/* Make sure data manager has been started and is not shutting down */
if ((g_fd < 0) || g_task_should_exit)
if ((g_fd < 0) || g_task_should_exit) {
return -1;
}
/* get a work item and queue up a restart request */
if ((work = create_work_item()) == NULL)
if ((work = create_work_item()) == NULL) {
return -1;
}
work->func = dm_restart_func;
work->restart_params.reason = reason;
@ -636,18 +680,23 @@ task_main(int argc, char *argv[])
/* Initialize global variables */
g_key_offsets[0] = 0;
for (unsigned i = 0; i < (DM_KEY_NUM_KEYS - 1); i++)
for (unsigned i = 0; i < (DM_KEY_NUM_KEYS - 1); i++) {
g_key_offsets[i + 1] = g_key_offsets[i] + (g_per_item_max_index[i] * k_sector_size);
}
unsigned max_offset = g_key_offsets[DM_KEY_NUM_KEYS - 1] + (g_per_item_max_index[DM_KEY_NUM_KEYS - 1] * k_sector_size);
for (unsigned i = 0; i < dm_number_of_funcs; i++)
for (unsigned i = 0; i < dm_number_of_funcs; i++) {
g_func_counts[i] = 0;
}
/* Initialize the item type locks, for now only DM_KEY_MISSION_STATE supports locking */
sem_init(&g_sys_state_mutex, 1, 1); /* Initially unlocked */
for (unsigned i = 0; i < DM_KEY_NUM_KEYS; i++)
for (unsigned i = 0; i < DM_KEY_NUM_KEYS; i++) {
g_item_locks[i] = NULL;
}
g_item_locks[DM_KEY_MISSION_STATE] = &g_sys_state_mutex;
g_task_should_exit = false;
@ -659,14 +708,17 @@ task_main(int argc, char *argv[])
/* See if the data manage file exists and is a multiple of the sector size */
g_task_fd = open(k_data_manager_device_path, O_RDONLY | O_BINARY);
if (g_task_fd >= 0) {
/* File exists, check its size */
int file_size = lseek(g_task_fd, 0, SEEK_END);
if ((file_size % k_sector_size) != 0) {
warnx("Incompatible data manager file %s, resetting it", k_data_manager_device_path);
warnx("Size: %u, sector size: %d", file_size, k_sector_size);
close(g_task_fd);
unlink(k_data_manager_device_path);
} else {
close(g_task_fd);
}
@ -693,16 +745,20 @@ task_main(int argc, char *argv[])
printf("dataman: ");
/* see if we need to erase any items based on restart type */
int sys_restart_val;
if (param_get(param_find("SYS_RESTART_TYPE"), &sys_restart_val) == OK) {
if (sys_restart_val == DM_INIT_REASON_POWER_ON) {
printf("Power on restart");
_restart(DM_INIT_REASON_POWER_ON);
} else if (sys_restart_val == DM_INIT_REASON_IN_FLIGHT) {
printf("In flight restart");
_restart(DM_INIT_REASON_IN_FLIGHT);
} else {
printf("Unknown restart");
}
} else {
printf("Unknown restart");
}
@ -739,7 +795,8 @@ task_main(int argc, char *argv[])
case dm_write_func:
g_func_counts[dm_write_func]++;
work->result =
_write(work->write_params.item, work->write_params.index, work->write_params.persistence, work->write_params.buf, work->write_params.count);
_write(work->write_params.item, work->write_params.index, work->write_params.persistence, work->write_params.buf,
work->write_params.count);
break;
case dm_read_func:
@ -768,8 +825,9 @@ task_main(int argc, char *argv[])
}
/* time to go???? */
if ((g_task_should_exit) && (g_fd < 0))
if ((g_task_should_exit) && (g_fd < 0)) {
break;
}
}
close(g_task_fd);
@ -777,10 +835,13 @@ task_main(int argc, char *argv[])
/* The work queue is now empty, empty the free queue */
for (;;) {
if ((work = (work_q_item_t *)sq_remfirst(&(g_free_q.q))) == NULL)
if ((work = (work_q_item_t *)sq_remfirst(&(g_free_q.q))) == NULL) {
break;
if (work->first)
}
if (work->first) {
free(work);
}
}
destroy_q(&g_work_q);
@ -850,11 +911,12 @@ dataman_main(int argc, char *argv[])
warnx("dataman already running");
return -1;
}
if (argc == 4 && strcmp(argv[2],"-f") == 0) {
if (argc == 4 && strcmp(argv[2], "-f") == 0) {
k_data_manager_device_path = strdup(argv[3]);
warnx("dataman file set to: %s\n", k_data_manager_device_path);
}
else {
} else {
k_data_manager_device_path = strdup(default_device_path);
}
@ -881,14 +943,17 @@ dataman_main(int argc, char *argv[])
stop();
free(k_data_manager_device_path);
k_data_manager_device_path = NULL;
}
else if (!strcmp(argv[1], "status"))
} else if (!strcmp(argv[1], "status")) {
status();
else if (!strcmp(argv[1], "poweronrestart"))
} else if (!strcmp(argv[1], "poweronrestart")) {
dm_restart(DM_INIT_REASON_POWER_ON);
else if (!strcmp(argv[1], "inflightrestart"))
} else if (!strcmp(argv[1], "inflightrestart")) {
dm_restart(DM_INIT_REASON_IN_FLIGHT);
else {
} else {
usage();
return -1;
}

150
src/modules/dataman/dataman.h
View File

@ -47,92 +47,92 @@
extern "C" {
#endif
/** Types of items that the data manager can store */
typedef enum {
DM_KEY_SAFE_POINTS = 0, /* Safe points coordinates, safe point 0 is home point */
DM_KEY_FENCE_POINTS, /* Fence vertex coordinates */
DM_KEY_WAYPOINTS_OFFBOARD_0, /* Mission way point coordinates sent over mavlink */
DM_KEY_WAYPOINTS_OFFBOARD_1, /* (alernate between 0 and 1) */
DM_KEY_WAYPOINTS_ONBOARD, /* Mission way point coordinates generated onboard */
DM_KEY_MISSION_STATE, /* Persistent mission state */
DM_KEY_NUM_KEYS /* Total number of item types defined */
} dm_item_t;
/** Types of items that the data manager can store */
typedef enum {
DM_KEY_SAFE_POINTS = 0, /* Safe points coordinates, safe point 0 is home point */
DM_KEY_FENCE_POINTS, /* Fence vertex coordinates */
DM_KEY_WAYPOINTS_OFFBOARD_0, /* Mission way point coordinates sent over mavlink */
DM_KEY_WAYPOINTS_OFFBOARD_1, /* (alernate between 0 and 1) */
DM_KEY_WAYPOINTS_ONBOARD, /* Mission way point coordinates generated onboard */
DM_KEY_MISSION_STATE, /* Persistent mission state */
DM_KEY_NUM_KEYS /* Total number of item types defined */
} dm_item_t;
#define DM_KEY_WAYPOINTS_OFFBOARD(_id) (_id == 0 ? DM_KEY_WAYPOINTS_OFFBOARD_0 : DM_KEY_WAYPOINTS_OFFBOARD_1)
#define DM_KEY_WAYPOINTS_OFFBOARD(_id) (_id == 0 ? DM_KEY_WAYPOINTS_OFFBOARD_0 : DM_KEY_WAYPOINTS_OFFBOARD_1)
/** The maximum number of instances for each item type */
enum {
DM_KEY_SAFE_POINTS_MAX = 8,
#ifdef __cplusplus
DM_KEY_FENCE_POINTS_MAX = fence_s::GEOFENCE_MAX_VERTICES,
#else
DM_KEY_FENCE_POINTS_MAX = GEOFENCE_MAX_VERTICES,
#endif
DM_KEY_WAYPOINTS_OFFBOARD_0_MAX = NUM_MISSIONS_SUPPORTED,
DM_KEY_WAYPOINTS_OFFBOARD_1_MAX = NUM_MISSIONS_SUPPORTED,
DM_KEY_WAYPOINTS_ONBOARD_MAX = NUM_MISSIONS_SUPPORTED,
DM_KEY_MISSION_STATE_MAX = 1
};
/** The maximum number of instances for each item type */
enum {
DM_KEY_SAFE_POINTS_MAX = 8,
#ifdef __cplusplus
DM_KEY_FENCE_POINTS_MAX = fence_s::GEOFENCE_MAX_VERTICES,
#else
DM_KEY_FENCE_POINTS_MAX = GEOFENCE_MAX_VERTICES,
#endif
DM_KEY_WAYPOINTS_OFFBOARD_0_MAX = NUM_MISSIONS_SUPPORTED,
DM_KEY_WAYPOINTS_OFFBOARD_1_MAX = NUM_MISSIONS_SUPPORTED,
DM_KEY_WAYPOINTS_ONBOARD_MAX = NUM_MISSIONS_SUPPORTED,
DM_KEY_MISSION_STATE_MAX = 1
};
/** Data persistence levels */
typedef enum {
DM_PERSIST_POWER_ON_RESET = 0, /* Data survives all resets */
DM_PERSIST_IN_FLIGHT_RESET, /* Data survives in-flight resets only */
DM_PERSIST_VOLATILE /* Data does not survive resets */
} dm_persitence_t;
/** Data persistence levels */
typedef enum {
DM_PERSIST_POWER_ON_RESET = 0, /* Data survives all resets */
DM_PERSIST_IN_FLIGHT_RESET, /* Data survives in-flight resets only */
DM_PERSIST_VOLATILE /* Data does not survive resets */
} dm_persitence_t;
/** The reason for the last reset */
typedef enum {
DM_INIT_REASON_POWER_ON = 0, /* Data survives resets */
DM_INIT_REASON_IN_FLIGHT, /* Data survives in-flight resets only */
DM_INIT_REASON_VOLATILE /* Data does not survive reset */
} dm_reset_reason;
/** The reason for the last reset */
typedef enum {
DM_INIT_REASON_POWER_ON = 0, /* Data survives resets */
DM_INIT_REASON_IN_FLIGHT, /* Data survives in-flight resets only */
DM_INIT_REASON_VOLATILE /* Data does not survive reset */
} dm_reset_reason;
/** Maximum size in bytes of a single item instance */
#define DM_MAX_DATA_SIZE 124
/** Maximum size in bytes of a single item instance */
#define DM_MAX_DATA_SIZE 124
/** Retrieve from the data manager store */
__EXPORT ssize_t
dm_read(
dm_item_t item, /* The item type to retrieve */
unsigned char index, /* The index of the item */
void *buffer, /* Pointer to caller data buffer */
size_t buflen /* Length in bytes of data to retrieve */
);
/** Retrieve from the data manager store */
__EXPORT ssize_t
dm_read(
dm_item_t item, /* The item type to retrieve */
unsigned char index, /* The index of the item */
void *buffer, /* Pointer to caller data buffer */
size_t buflen /* Length in bytes of data to retrieve */
);
/** write to the data manager store */
__EXPORT ssize_t
dm_write(
dm_item_t item, /* The item type to store */
unsigned char index, /* The index of the item */
dm_persitence_t persistence, /* The persistence level of this item */
const void *buffer, /* Pointer to caller data buffer */
size_t buflen /* Length in bytes of data to retrieve */
);
/** write to the data manager store */
__EXPORT ssize_t
dm_write(
dm_item_t item, /* The item type to store */
unsigned char index, /* The index of the item */
dm_persitence_t persistence, /* The persistence level of this item */
const void *buffer, /* Pointer to caller data buffer */
size_t buflen /* Length in bytes of data to retrieve */
);
/** Lock all items of this type */
__EXPORT void
dm_lock(
dm_item_t item /* The item type to clear */
);
/** Lock all items of this type */
__EXPORT void
dm_lock(
dm_item_t item /* The item type to clear */
);
/** Unlock all items of this type */
__EXPORT void
dm_unlock(
dm_item_t item /* The item type to clear */
);
/** Unlock all items of this type */
__EXPORT void
dm_unlock(
dm_item_t item /* The item type to clear */
);
/** Erase all items of this type */
__EXPORT int
dm_clear(
dm_item_t item /* The item type to clear */
);
/** Erase all items of this type */
__EXPORT int
dm_clear(
dm_item_t item /* The item type to clear */
);
/** Tell the data manager about the type of the last reset */
__EXPORT int
dm_restart(
dm_reset_reason restart_type /* The last reset type */
);
/** Tell the data manager about the type of the last reset */
__EXPORT int
dm_restart(
dm_reset_reason restart_type /* The last reset type */
);
#ifdef __cplusplus
}