PX4-Autopilot/src/lib/cdev/posix/cdev_platform.cpp

/****************************************************************************
 *
 * Copyright (c) 2015 Mark Charlebois. All rights reserved.
 * Copyright (c) 2018 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

#include "cdev_platform.hpp"

#include <string>
#include <map>

#include "vfile.h"
#include "../CDev.hpp"

#include <px4_log.h>
#include <px4_posix.h>
#include <px4_time.h>

#include "DevMgr.hpp"

using namespace std;
using namespace DriverFramework;

const cdev::px4_file_operations_t cdev::CDev::fops = {};

pthread_mutex_t devmutex = PTHREAD_MUTEX_INITIALIZER;
pthread_mutex_t filemutex = PTHREAD_MUTEX_INITIALIZER;

px4_sem_t lockstep_sem;
bool sim_lockstep = false;
volatile bool sim_delay = false;

#define PX4_MAX_FD 350
static map<string, void *> devmap;
static cdev::file_t filemap[PX4_MAX_FD] = {};

extern "C" {

	int px4_errno;

	static cdev::CDev *getDev(const char *path)
	{
		PX4_DEBUG("CDev::getDev");

		pthread_mutex_lock(&devmutex);

		auto item = devmap.find(path);

		if (item != devmap.end()) {
			pthread_mutex_unlock(&devmutex);
			return (cdev::CDev *)item->second;
		}

		pthread_mutex_unlock(&devmutex);

		return nullptr;
	}

	static cdev::CDev *get_vdev(int fd)
	{
		pthread_mutex_lock(&filemutex);
		bool valid = (fd < PX4_MAX_FD && fd >= 0 && filemap[fd].vdev);
		cdev::CDev *dev;

		if (valid) {
			dev = (cdev::CDev *)(filemap[fd].vdev);

		} else {
			dev = nullptr;
		}

		pthread_mutex_unlock(&filemutex);
		return dev;
	}

	int register_driver(const char *name, const cdev::px4_file_operations_t *fops, cdev::mode_t mode, void *data)
	{
		PX4_DEBUG("CDev::register_driver %s", name);
		int ret = 0;

		if (name == nullptr || data == nullptr) {
			return -EINVAL;
		}

		pthread_mutex_lock(&devmutex);

		// Make sure the device does not already exist
		auto item = devmap.find(name);

		if (item != devmap.end()) {
			pthread_mutex_unlock(&devmutex);
			return -EEXIST;
		}

		devmap[name] = (void *)data;
		PX4_DEBUG("Registered DEV %s", name);

		pthread_mutex_unlock(&devmutex);

		return ret;
	}

	int unregister_driver(const char *name)
	{
		PX4_DEBUG("CDev::unregister_driver %s", name);
		int ret = -EINVAL;

		if (name == nullptr) {
			return -EINVAL;
		}

		pthread_mutex_lock(&devmutex);

		if (devmap.erase(name) > 0) {
			PX4_DEBUG("Unregistered DEV %s", name);
			ret = 0;
		}

		pthread_mutex_unlock(&devmutex);

		return ret;
	}

	int px4_open(const char *path, int flags, ...)
	{
		PX4_DEBUG("px4_open");
		cdev::CDev *dev = getDev(path);
		int ret = 0;
		int i;
		mode_t mode;

		if (!dev && (flags & PX4_F_WRONLY) != 0 &&
		    strncmp(path, "/obj/", 5) != 0 &&
		    strncmp(path, "/dev/", 5) != 0) {
			va_list p;
			va_start(p, flags);
			mode = va_arg(p, int);
			va_end(p);

			// Create the file
			PX4_DEBUG("Creating virtual file %s", path);
			dev = cdev::VFile::createFile(path, mode);
		}

		if (dev) {

			pthread_mutex_lock(&filemutex);

			for (i = 0; i < PX4_MAX_FD; ++i) {
				if (filemap[i].vdev == nullptr) {
					filemap[i] = cdev::file_t(flags, dev);
					break;
				}
			}

			pthread_mutex_unlock(&filemutex);

			if (i < PX4_MAX_FD) {
				ret = dev->open(&filemap[i]);

			} else {

				const unsigned NAMELEN = 32;
				char thread_name[NAMELEN] = {};

				PX4_WARN("%s: exceeded maximum number of file descriptors, accessing %s",
					 thread_name, path);
#ifndef __PX4_QURT
				int nret = pthread_getname_np(pthread_self(), thread_name, NAMELEN);

				if (nret || thread_name[0] == 0) {
					PX4_WARN("failed getting thread name");
				}

				PX4_BACKTRACE();
#endif

				ret = -ENOENT;
			}

		} else {
			ret = -EINVAL;
		}

		if (ret < 0) {
			return -1;
		}

		PX4_DEBUG("px4_open fd = %d", i);
		return i;
	}

	int px4_close(int fd)
	{
		int ret;

		cdev::CDev *dev = get_vdev(fd);

		if (dev) {
			pthread_mutex_lock(&filemutex);
			ret = dev->close(&filemap[fd]);

			filemap[fd].vdev = nullptr;

			pthread_mutex_unlock(&filemutex);
			PX4_DEBUG("px4_close fd = %d", fd);

		} else {
			ret = -EINVAL;
		}

		if (ret < 0) {
			px4_errno = -ret;
			ret = PX4_ERROR;
		}

		return ret;
	}

	ssize_t px4_read(int fd, void *buffer, size_t buflen)
	{
		int ret;

		cdev::CDev *dev = get_vdev(fd);

		if (dev) {
			PX4_DEBUG("px4_read fd = %d", fd);
			ret = dev->read(&filemap[fd], (char *)buffer, buflen);

		} else {
			ret = -EINVAL;
		}

		if (ret < 0) {
			px4_errno = -ret;
			ret = PX4_ERROR;
		}

		return ret;
	}

	ssize_t px4_write(int fd, const void *buffer, size_t buflen)
	{
		int ret;

		cdev::CDev *dev = get_vdev(fd);

		if (dev) {
			PX4_DEBUG("px4_write fd = %d", fd);
			ret = dev->write(&filemap[fd], (const char *)buffer, buflen);

		} else {
			ret = -EINVAL;
		}

		if (ret < 0) {
			px4_errno = -ret;
			ret = PX4_ERROR;
		}

		return ret;
	}

	int px4_ioctl(int fd, int cmd, unsigned long arg)
	{
		PX4_DEBUG("px4_ioctl fd = %d", fd);
		int ret = 0;

		cdev::CDev *dev = get_vdev(fd);

		if (dev) {
			ret = dev->ioctl(&filemap[fd], cmd, arg);

		} else {
			ret = -EINVAL;
		}

		if (ret < 0) {
			px4_errno = -ret;
		}

		return ret;
	}

	int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
	{
		if (nfds == 0) {
			PX4_WARN("px4_poll with no fds");
			return -1;
		}

		px4_sem_t sem;
		int count = 0;
		int ret = -1;
		unsigned int i;

		const unsigned NAMELEN = 32;
		char thread_name[NAMELEN] = {};

#ifndef __PX4_QURT
		int nret = pthread_getname_np(pthread_self(), thread_name, NAMELEN);

		if (nret || thread_name[0] == 0) {
			PX4_WARN("failed getting thread name");
		}

#endif

		while (sim_delay) {
			px4_usleep(100);
		}

		PX4_DEBUG("Called px4_poll timeout = %d", timeout);

		px4_sem_init(&sem, 0, 0);

		// sem use case is a signal
		px4_sem_setprotocol(&sem, SEM_PRIO_NONE);

		// Go through all fds and check them for a pollable state
		bool fd_pollable = false;

		for (i = 0; i < nfds; ++i) {
			fds[i].sem     = &sem;
			fds[i].revents = 0;
			fds[i].priv    = nullptr;

			cdev::CDev *dev = get_vdev(fds[i].fd);

			// If fd is valid
			if (dev) {
				PX4_DEBUG("%s: px4_poll: CDev->poll(setup) %d", thread_name, fds[i].fd);
				ret = dev->poll(&filemap[fds[i].fd], &fds[i], true);

				if (ret < 0) {
					PX4_WARN("%s: px4_poll() error: %s",
						 thread_name, strerror(errno));
					break;
				}

				if (ret >= 0) {
					fd_pollable = true;
				}
			}
		}

		// If any FD can be polled, lock the semaphore and
		// check for new data
		if (fd_pollable) {
			if (timeout > 0) {

				// Get the current time
				struct timespec ts;
				// px4_sem_timedwait is implemented using CLOCK_MONOTONIC,
				// at least for lockstep, on Qurt and on Linux.
				px4_clock_gettime(CLOCK_MONOTONIC, &ts);

				// Calculate an absolute time in the future
				const unsigned billion = (1000 * 1000 * 1000);
				uint64_t nsecs = ts.tv_nsec + (timeout * 1000 * 1000);
				ts.tv_sec += nsecs / billion;
				nsecs -= (nsecs / billion) * billion;
				ts.tv_nsec = nsecs;

				ret = px4_sem_timedwait(&sem, &ts);

				if (ret && errno != ETIMEDOUT) {
					PX4_WARN("%s: px4_poll() sem error: %s", thread_name, strerror(errno));
				}

			} else if (timeout < 0) {
				px4_sem_wait(&sem);
			}

			// We have waited now (or not, depending on timeout),
			// go through all fds and count how many have data
			for (i = 0; i < nfds; ++i) {

				cdev::CDev *dev = get_vdev(fds[i].fd);

				// If fd is valid
				if (dev) {
					PX4_DEBUG("%s: px4_poll: CDev->poll(teardown) %d", thread_name, fds[i].fd);
					ret = dev->poll(&filemap[fds[i].fd], &fds[i], false);

					if (ret < 0) {
						PX4_WARN("%s: px4_poll() 2nd poll fail", thread_name);
						break;
					}

					if (fds[i].revents) {
						count += 1;
					}
				}
			}
		}

		px4_sem_destroy(&sem);

		// Return the positive count if present,
		// return the negative error number if failed
		return (count) ? count : ret;
	}

	int px4_fsync(int fd)
	{
		return 0;
	}

	int px4_access(const char *pathname, int mode)
	{
		if (mode != F_OK) {
			errno = EINVAL;
			return -1;
		}

		cdev::CDev *dev = getDev(pathname);
		return (dev != nullptr) ? 0 : -1;
	}

	void px4_show_devices()
	{
		int i = 0;
		PX4_INFO("PX4 Devices:");

		pthread_mutex_lock(&devmutex);

		for (const auto &dev : devmap) {
			if (strncmp(dev.first.c_str(), "/dev/", 5) == 0) {
				PX4_INFO("   %s", dev.first.c_str());
			}
		}

		pthread_mutex_unlock(&devmutex);

		PX4_INFO("DF Devices:");
		const char *dev_path;
		unsigned int index = 0;
		i = 0;

		do {
			// Each look increments index and returns -1 if end reached
			i = DevMgr::getNextDeviceName(index, &dev_path);

			if (i == 0) {
				PX4_INFO("   %s", dev_path);
			}
		} while (i == 0);
	}

	void px4_show_topics()
	{
		PX4_INFO("Devices:");

		pthread_mutex_lock(&devmutex);

		for (const auto &dev : devmap) {
			if (strncmp(dev.first.c_str(), "/obj/", 5) == 0) {
				PX4_INFO("   %s", dev.first.c_str());
			}
		}

		pthread_mutex_unlock(&devmutex);
	}

	void px4_show_files()
	{
		PX4_INFO("Files:");

		pthread_mutex_lock(&devmutex);

		for (const auto &dev : devmap) {
			if (strncmp(dev.first.c_str(), "/obj/", 5) != 0 &&
			    strncmp(dev.first.c_str(), "/dev/", 5) != 0) {
				PX4_INFO("   %s", dev.first.c_str());
			}
		}

		pthread_mutex_unlock(&devmutex);
	}

} // extern "C"