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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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138 lines
3.3 KiB
C++
138 lines
3.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2015 PX4 Development Team. All rights reserved.
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* Author: Pavel Kirienko <pavel.kirienko@gmail.com>
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* David Sidrane <david_s5@usa.net>
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*
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****************************************************************************/
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#pragma once
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#include <sys/stat.h>
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#include <stdio.h>
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#include <cstddef>
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#include <cstdlib>
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#include <cfcntl>
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#include <cstring>
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#include <cerrno>
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#include <uavcan/protocol/dynamic_node_id_server/storage_backend.hpp>
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namespace uavcan_posix
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{
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namespace dynamic_node_id_server
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{
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/**
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* This interface implements a POSIX compliant IStorageBackend interface
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*/
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class FileStorageBackend : public uavcan::dynamic_node_id_server::IStorageBackend
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{
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/**
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* Maximum length of full path including / and key max
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*/
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enum { MaxPathLength = 128 };
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/**
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* This type is used for the path
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*/
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typedef uavcan::Array<uavcan::IntegerSpec<8, uavcan::SignednessUnsigned, uavcan::CastModeTruncate>,
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uavcan::ArrayModeDynamic, MaxPathLength> PathString;
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PathString base_path;
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public:
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FileStorageBackend() { }
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virtual String get(const String& key) const
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{
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using namespace std;
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PathString path = base_path.c_str();
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path += key;
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String value;
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int fd = open(path.c_str(), O_RDONLY);
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if (fd >= 0)
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{
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char buffer[MaxStringLength + 1];
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memset(buffer, 0, sizeof(buffer));
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int len = read(fd, buffer, MaxStringLength);
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close(fd);
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if (len > 0)
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{
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for (int i = 0; i < len; i++)
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{
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if (buffer[i] == ' ' || buffer[i] == '\n' || buffer[i] == '\r' )
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{
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buffer[i] = '\0';
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break;
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}
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}
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}
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}
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return value;
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}
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virtual void set(const String& key, const String& value)
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{
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using namespace std;
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PathString path = base_path.c_str();
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path += key;
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int fd = open(path.c_str(), O_WRONLY | O_CREAT | O_TRUNC);
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if (fd >= 0)
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{
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write(fd, value.c_str(), value.size());
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close(fd);
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}
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}
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/**
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* Initializes the File based back end storage by passing to a path to
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* the directory where the key named files will be stored.
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* This the return result should be 0 on success.
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* If it is -EFBIG then the the path name is too long to
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* Accommodate the trailing slash and max key length;
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*
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*/
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int init(const String & path)
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{
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using namespace std;
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int rv = -EINVAL;
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if (path.size() > 0)
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{
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base_path = path.c_str();
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if (base_path.back() == '/')
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{
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base_path.pop_back();
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}
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struct stat sb;
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if (stat(base_path.c_str(), &sb) != 0 || !S_ISDIR(sb.st_mode))
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{
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rv = mkdir(base_path.c_str(), S_IRWXU | S_IRWXG | S_IRWXO);
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}
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base_path.push_back('/');
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if ((base_path.size() + MaxStringLength) > MaxPathLength)
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{
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rv = -EFBIG;
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}
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}
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return rv;
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}
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};
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}
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}
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