Andrew Tridgell
5 years ago
9 changed files with 631 additions and 37 deletions
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/*
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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|
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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|
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/ |
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/*
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ArduPilot filesystem interface for ROMFS |
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*/ |
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#include "AP_Filesystem.h" |
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#include "AP_Filesystem_ROMFS.h" |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_Math/AP_Math.h> |
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#include <AP_ROMFS/AP_ROMFS.h> |
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#if defined(HAL_HAVE_AP_ROMFS_EMBEDDED_H) && HAVE_FILESYSTEM_SUPPORT |
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int AP_Filesystem_ROMFS::open(const char *fname, int flags) |
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{ |
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uint8_t idx; |
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for (idx=0; idx<max_open_file; idx++) { |
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if (file[idx].data == nullptr) { |
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break; |
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} |
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} |
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if (idx == max_open_file) { |
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errno = ENFILE; |
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return -1; |
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} |
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if (file[idx].data != nullptr) { |
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errno = EBUSY; |
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return -1; |
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} |
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file[idx].data = AP_ROMFS::find_decompress(fname, file[idx].size); |
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if (file[idx].data == nullptr) { |
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errno = ENOENT; |
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return -1; |
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} |
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file[idx].ofs = 0; |
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return idx; |
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} |
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int AP_Filesystem_ROMFS::close(int fd) |
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{ |
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if (fd < 0 || fd >= max_open_file || file[fd].data == nullptr) { |
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errno = EBADF; |
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return -1; |
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} |
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AP_ROMFS::free(file[fd].data); |
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file[fd].data = nullptr; |
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return 0; |
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} |
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ssize_t AP_Filesystem_ROMFS::read(int fd, void *buf, size_t count) |
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{ |
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if (fd < 0 || fd >= max_open_file || file[fd].data == nullptr) { |
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errno = EBADF; |
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return -1; |
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} |
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count = MIN(file[fd].size - file[fd].ofs, count); |
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if (count == 0) { |
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return 0; |
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} |
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memcpy(buf, &file[fd].data[file[fd].ofs], count); |
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file[fd].ofs += count; |
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return count; |
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} |
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ssize_t AP_Filesystem_ROMFS::write(int fd, const void *buf, size_t count) |
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{ |
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errno = EROFS; |
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return -1; |
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} |
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int AP_Filesystem_ROMFS::fsync(int fd) |
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{ |
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return 0; |
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} |
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off_t AP_Filesystem_ROMFS::lseek(int fd, off_t offset, int seek_from) |
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{ |
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if (fd < 0 || fd >= max_open_file || file[fd].data == nullptr) { |
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errno = EBADF; |
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return -1; |
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} |
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switch (seek_from) { |
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case SEEK_SET: |
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file[fd].ofs = MIN(file[fd].size, offset); |
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break; |
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case SEEK_CUR: |
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file[fd].ofs = MIN(file[fd].size, offset+file[fd].ofs); |
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break; |
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case SEEK_END: |
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file[fd].ofs = file[fd].size; |
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break; |
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} |
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return file[fd].ofs; |
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} |
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int AP_Filesystem_ROMFS::stat(const char *name, struct stat *stbuf) |
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{ |
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uint32_t size; |
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const uint8_t *data = AP_ROMFS::find_decompress(name, size); |
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if (data == nullptr) { |
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errno = ENOENT; |
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return -1; |
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} |
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AP_ROMFS::free(data); |
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memset(stbuf, 0, sizeof(*stbuf)); |
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stbuf->st_size = size; |
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return 0; |
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} |
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int AP_Filesystem_ROMFS::unlink(const char *pathname) |
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{ |
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errno = EROFS; |
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return -1; |
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} |
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int AP_Filesystem_ROMFS::mkdir(const char *pathname) |
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{ |
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errno = EROFS; |
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return -1; |
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} |
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void *AP_Filesystem_ROMFS::opendir(const char *pathname) |
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{ |
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uint8_t idx; |
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for (idx=0; idx<max_open_dir; idx++) { |
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if (dir[idx].path == nullptr) { |
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break; |
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} |
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} |
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if (idx == max_open_dir) { |
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errno = ENFILE; |
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return nullptr; |
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} |
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dir[idx].ofs = 0; |
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dir[idx].path = strdup(pathname); |
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if (!dir[idx].path) { |
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return nullptr; |
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} |
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return (void*)&dir[idx]; |
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} |
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struct dirent *AP_Filesystem_ROMFS::readdir(void *dirp) |
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{ |
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uint32_t idx = ((rdir*)dirp) - &dir[0]; |
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if (idx >= max_open_dir) { |
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errno = EBADF; |
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return nullptr; |
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} |
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const char *name = AP_ROMFS::dir_list(dir[idx].path, dir[idx].ofs); |
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if (!name) { |
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return nullptr; |
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} |
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const uint32_t plen = strlen(dir[idx].path); |
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if (strncmp(name, dir[idx].path, plen) != 0 || name[plen] != '/') { |
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return nullptr; |
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} |
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name += plen + 1; |
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dir[idx].de.d_type = DT_REG; |
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strncpy(dir[idx].de.d_name, name, sizeof(dir[idx].de.d_name)); |
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return &dir[idx].de; |
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} |
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int AP_Filesystem_ROMFS::closedir(void *dirp) |
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{ |
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uint32_t idx = ((rdir *)dirp) - &dir[0]; |
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if (idx >= max_open_dir) { |
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errno = EBADF; |
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return -1; |
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} |
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free(dir[idx].path); |
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dir[idx].path = nullptr; |
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return 0; |
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} |
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// return free disk space in bytes
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int64_t AP_Filesystem_ROMFS::disk_free(const char *path) |
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{ |
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return 0; |
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} |
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// return total disk space in bytes
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int64_t AP_Filesystem_ROMFS::disk_space(const char *path) |
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{ |
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return 0; |
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} |
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/*
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set mtime on a file |
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*/ |
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bool AP_Filesystem_ROMFS::set_mtime(const char *filename, const time_t mtime_sec) |
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{ |
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return false; |
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} |
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#endif // HAL_HAVE_AP_ROMFS_EMBEDDED_H
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@ -0,0 +1,66 @@
@@ -0,0 +1,66 @@
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/*
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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|
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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|
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/ |
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#pragma once |
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#include "AP_Filesystem_backend.h" |
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#if HAVE_FILESYSTEM_SUPPORT |
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class AP_Filesystem_ROMFS : public AP_Filesystem_Backend |
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{ |
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public: |
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// functions that closely match the equivalent posix calls
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int open(const char *fname, int flags) override; |
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int close(int fd) override; |
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ssize_t read(int fd, void *buf, size_t count) override; |
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ssize_t write(int fd, const void *buf, size_t count) override; |
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int fsync(int fd) override; |
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off_t lseek(int fd, off_t offset, int whence) override; |
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int stat(const char *pathname, struct stat *stbuf) override; |
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int unlink(const char *pathname) override; |
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int mkdir(const char *pathname) override; |
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void *opendir(const char *pathname) override; |
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struct dirent *readdir(void *dirp) override; |
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int closedir(void *dirp) override; |
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// return free disk space in bytes, -1 on error
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int64_t disk_free(const char *path) override; |
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// return total disk space in bytes, -1 on error
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int64_t disk_space(const char *path) override; |
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// set modification time on a file
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bool set_mtime(const char *filename, const time_t mtime_sec) override; |
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private: |
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// only allow up to 4 files at a time
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static constexpr uint8_t max_open_file = 4; |
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static constexpr uint8_t max_open_dir = 4; |
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struct rfile { |
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const uint8_t *data; |
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uint32_t size; |
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uint32_t ofs; |
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} file[max_open_file]; |
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// allow up to 4 directory opens
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struct rdir { |
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char *path; |
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uint16_t ofs; |
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struct dirent de; |
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} dir[max_open_dir]; |
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}; |
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#endif // HAVE_FILESYSTEM_SUPPORT
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@ -0,0 +1,53 @@
@@ -0,0 +1,53 @@
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/*
|
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This program is free software: you can redistribute it and/or modify |
||||
it under the terms of the GNU General Public License as published by |
||||
the Free Software Foundation, either version 3 of the License, or |
||||
(at your option) any later version. |
||||
|
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This program is distributed in the hope that it will be useful, |
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of |
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||||
GNU General Public License for more details. |
||||
|
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You should have received a copy of the GNU General Public License |
||||
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
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*/ |
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/*
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ArduPilot filesystem backend interface. |
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*/ |
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#pragma once |
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#include <stdint.h> |
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#include <AP_HAL/AP_HAL_Boards.h> |
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#include "AP_Filesystem_Available.h" |
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#if HAVE_FILESYSTEM_SUPPORT |
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class AP_Filesystem_Backend { |
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public: |
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// functions that closely match the equivalent posix calls
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virtual int open(const char *fname, int flags) = 0; |
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virtual int close(int fd) = 0; |
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virtual ssize_t read(int fd, void *buf, size_t count) = 0; |
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virtual ssize_t write(int fd, const void *buf, size_t count) = 0; |
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virtual int fsync(int fd) = 0; |
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virtual off_t lseek(int fd, off_t offset, int whence) = 0; |
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virtual int stat(const char *pathname, struct stat *stbuf) = 0; |
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virtual int unlink(const char *pathname) = 0; |
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virtual int mkdir(const char *pathname) = 0; |
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virtual void *opendir(const char *pathname) = 0; |
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virtual struct dirent *readdir(void *dirp) = 0; |
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virtual int closedir(void *dirp) = 0; |
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// return free disk space in bytes, -1 on error
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virtual int64_t disk_free(const char *path) = 0; |
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// return total disk space in bytes, -1 on error
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virtual int64_t disk_space(const char *path) = 0; |
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// set modification time on a file
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virtual bool set_mtime(const char *filename, const time_t mtime_sec) = 0; |
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}; |
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#endif // HAVE_FILESYSTEM_SUPPORT
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