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dataman.cpp
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dataman.cpp
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/****************************************************************************
*
* Copyright (c) 2013-2023 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.
*
****************************************************************************/
/**
* @file dataman.cpp
* DATAMANAGER driver.
*
* @author Jean Cyr
* @author Lorenz Meier
* @author Julian Oes
* @author Thomas Gubler
* @author David Sidrane
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/getopt.h>
#include <drivers/drv_hrt.h>
#include <lib/parameters/param.h>
#include <lib/perf/perf_counter.h>
#include <stdlib.h>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/dataman_request.h>
#include <uORB/topics/dataman_response.h>
#include "dataman.h"
__BEGIN_DECLS
__EXPORT int dataman_main(int argc, char *argv[]);
__END_DECLS
static constexpr int TASK_STACK_SIZE = 1420;
/* Private File based Operations */
static ssize_t _file_write(dm_item_t item, unsigned index, const void *buf, size_t count);
static ssize_t _file_read(dm_item_t item, unsigned index, void *buf, size_t count);
static int _file_clear(dm_item_t item);
static int _file_initialize(unsigned max_offset);
static void _file_shutdown();
/* Private Ram based Operations */
static ssize_t _ram_write(dm_item_t item, unsigned index, const void *buf, size_t count);
static ssize_t _ram_read(dm_item_t item, unsigned index, void *buf, size_t count);
static int _ram_clear(dm_item_t item);
static int _ram_initialize(unsigned max_offset);
static void _ram_shutdown();
typedef struct dm_operations_t {
ssize_t (*write)(dm_item_t item, unsigned index, const void *buf, size_t count);
ssize_t (*read)(dm_item_t item, unsigned index, void *buf, size_t count);
int (*clear)(dm_item_t item);
int (*initialize)(unsigned max_offset);
void (*shutdown)();
int (*wait)(px4_sem_t *sem);
} dm_operations_t;
static constexpr dm_operations_t dm_file_operations = {
.write = _file_write,
.read = _file_read,
.clear = _file_clear,
.initialize = _file_initialize,
.shutdown = _file_shutdown,
.wait = px4_sem_wait,
};
static constexpr dm_operations_t dm_ram_operations = {
.write = _ram_write,
.read = _ram_read,
.clear = _ram_clear,
.initialize = _ram_initialize,
.shutdown = _ram_shutdown,
.wait = px4_sem_wait,
};
static const dm_operations_t *g_dm_ops;
static struct {
union {
struct {
int fd;
} file;
struct {
uint8_t *data;
uint8_t *data_end;
} ram;
};
bool running;
bool silence = false;
} dm_operations_data;
/* Usage statistics */
static unsigned g_func_counts[DM_NUMBER_OF_FUNCS];
#define DM_SECTOR_HDR_SIZE 4 /* data manager per item header overhead */
/* Table of the len of each item type including HDR size */
static constexpr size_t g_per_item_size_with_hdr[DM_KEY_NUM_KEYS] = {
g_per_item_size[DM_KEY_SAFE_POINTS_0] + DM_SECTOR_HDR_SIZE,
g_per_item_size[DM_KEY_SAFE_POINTS_1] + DM_SECTOR_HDR_SIZE,
g_per_item_size[DM_KEY_SAFE_POINTS_STATE] + DM_SECTOR_HDR_SIZE,
g_per_item_size[DM_KEY_FENCE_POINTS_0] + DM_SECTOR_HDR_SIZE,
g_per_item_size[DM_KEY_FENCE_POINTS_1] + DM_SECTOR_HDR_SIZE,
g_per_item_size[DM_KEY_FENCE_POINTS_STATE] + DM_SECTOR_HDR_SIZE,
g_per_item_size[DM_KEY_WAYPOINTS_OFFBOARD_0] + DM_SECTOR_HDR_SIZE,
g_per_item_size[DM_KEY_WAYPOINTS_OFFBOARD_1] + DM_SECTOR_HDR_SIZE,
g_per_item_size[DM_KEY_MISSION_STATE] + DM_SECTOR_HDR_SIZE,
g_per_item_size[DM_KEY_COMPAT] + DM_SECTOR_HDR_SIZE
};
/* Table of offset for index 0 of each item type */
static unsigned int g_key_offsets[DM_KEY_NUM_KEYS];
static uint8_t dataman_clients_count = 1;
static perf_counter_t _dm_read_perf{nullptr};
static perf_counter_t _dm_write_perf{nullptr};
/* The data manager store file handle and file name */
static const char *default_device_path = PX4_STORAGEDIR "/dataman";
static char *k_data_manager_device_path = nullptr;
static enum {
BACKEND_NONE = 0,
BACKEND_FILE,
BACKEND_RAM,
BACKEND_LAST
} backend = BACKEND_NONE;
static px4_sem_t g_init_sema;
static bool g_task_should_exit; /**< if true, dataman task should exit */
/* Work queue management functions */
static bool is_running()
{
return dm_operations_data.running;
}
/* Calculate the offset in file of specific item */
static int
calculate_offset(dm_item_t item, unsigned index)
{
/* Make sure the item type is valid */
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]) {
return -1;
}
/* Calculate and return the item index based on type and index */
return g_key_offsets[item] + (index * g_per_item_size_with_hdr[item]);
}
/* Each data item is stored as follows
*
* byte 0: Length of user data item
* byte 1: Unused (previously persistence of this data item)
* byte 2: Unused (for future use)
* byte 3: Unused (for future use)
* byte DM_SECTOR_HDR_SIZE... : data item value
*
* The total size must not exceed g_per_item_max_index[item]
*/
/* write to the data manager RAM buffer */
static ssize_t _ram_write(dm_item_t item, unsigned index, const void *buf, size_t count)
{
if (item >= DM_KEY_NUM_KEYS) {
return -1;
}
/* Get the offset for this item */
int offset = calculate_offset(item, index);
/* If item type or index out of range, return error */
if (offset < 0) {
return -1;
}
/* Make sure caller has not given us more data than we can handle */
if (count > (g_per_item_size_with_hdr[item] - DM_SECTOR_HDR_SIZE)) {
return -E2BIG;
}
uint8_t *buffer = &dm_operations_data.ram.data[offset];
if (buffer > dm_operations_data.ram.data_end) {
return -1;
}
/* Write out the data, prefixed with length */
buffer[0] = count;
buffer[1] = 0;
buffer[2] = 0;
buffer[3] = 0;
if (count > 0) {
memcpy(buffer + DM_SECTOR_HDR_SIZE, buf, count);
}
/* All is well... return the number of user data written */
return count;
}
/* write to the data manager file */
static ssize_t
_file_write(dm_item_t item, unsigned index, const void *buf, size_t count)
{
if (item >= DM_KEY_NUM_KEYS) {
return -1;
}
unsigned char buffer[g_per_item_size_with_hdr[item]];
/* Get the offset for this item */
const int offset = calculate_offset(item, index);
/* If item type or index out of range, return error */
if (offset < 0) {
return -1;
}
/* Make sure caller has not given us more data than we can handle */
if (count > (g_per_item_size_with_hdr[item] - DM_SECTOR_HDR_SIZE)) {
return -E2BIG;
}
/* Write out the data, prefixed with length */
buffer[0] = count;
buffer[1] = 0;
buffer[2] = 0;
buffer[3] = 0;
if (count > 0) {
memcpy(buffer + DM_SECTOR_HDR_SIZE, buf, count);
}
count += DM_SECTOR_HDR_SIZE;
bool write_success = false;
for (int i = 0; i < 2; i++) {
int ret_seek = lseek(dm_operations_data.file.fd, offset, SEEK_SET);
if (ret_seek < 0) {
PX4_ERR("file write lseek failed %d", errno);
continue;
}
if (ret_seek != offset) {
PX4_ERR("file write lseek failed, incorrect offset %d vs %d", ret_seek, offset);
continue;
}
int ret_write = write(dm_operations_data.file.fd, buffer, count);
if (ret_write < 0) {
PX4_ERR("file write failed %d", errno);
continue;
}
if (ret_write != (ssize_t)count) {
PX4_ERR("file write failed, wrote %d bytes, expected %zu", ret_write, count);
continue;
} else {
write_success = true;
break;
}
}
if (!write_success) {
return -1;
}
/* Make sure data is written to physical media */
fsync(dm_operations_data.file.fd);
/* All is well... return the number of user data written */
return count - DM_SECTOR_HDR_SIZE;
}
/* Retrieve from the data manager RAM buffer*/
static ssize_t _ram_read(dm_item_t item, unsigned index, void *buf, size_t count)
{
if (item >= DM_KEY_NUM_KEYS) {
return -1;
}
/* Get the offset for this item */
int offset = calculate_offset(item, index);
/* If item type or index out of range, return error */
if (offset < 0) {
return -1;
}
/* Make sure the caller hasn't asked for more data than we can handle */
if (count > (g_per_item_size_with_hdr[item] - DM_SECTOR_HDR_SIZE)) {
return -E2BIG;
}
/* Read the prefix and data */
uint8_t *buffer = &dm_operations_data.ram.data[offset];
if (buffer > dm_operations_data.ram.data_end) {
return -1;
}
/* See if we got data */
if (buffer[0] > 0) {
/* We got more than requested!!! */
if (buffer[0] > count) {
return -1;
}
/* Looks good, copy it to the caller's buffer */
memcpy(buf, buffer + DM_SECTOR_HDR_SIZE, buffer[0]);
}
/* Return the number of bytes of caller data read */
return buffer[0];
}
/* Retrieve from the data manager file */
static ssize_t
_file_read(dm_item_t item, unsigned index, void *buf, size_t count)
{
if (item >= DM_KEY_NUM_KEYS) {
return -1;
}
unsigned char buffer[g_per_item_size_with_hdr[item]];
/* Get the offset for this item */
int offset = calculate_offset(item, index);
/* If item type or index out of range, return error */
if (offset < 0) {
return -1;
}
/* Make sure the caller hasn't asked for more data than we can handle */
if (count > (g_per_item_size_with_hdr[item] - DM_SECTOR_HDR_SIZE)) {
return -E2BIG;
}
int len = -1;
bool read_success = false;
for (int i = 0; i < 2; i++) {
int ret_seek = lseek(dm_operations_data.file.fd, offset, SEEK_SET);
if ((ret_seek < 0) && !dm_operations_data.silence) {
PX4_ERR("file read lseek failed %d", errno);
continue;
}
if ((ret_seek != offset) && !dm_operations_data.silence) {
PX4_ERR("file read lseek failed, incorrect offset %d vs %d", ret_seek, offset);
continue;
}
/* Read the prefix and data */
len = read(dm_operations_data.file.fd, buffer, count + DM_SECTOR_HDR_SIZE);
/* Check for read error */
if (len >= 0) {
read_success = true;
break;
} else {
if (!dm_operations_data.silence) {
PX4_ERR("file read failed %d", errno);
}
}
}
if (!read_success) {
return -1;
}
/* A zero length entry is a empty entry */
if (len == 0) {
buffer[0] = 0;
}
/* See if we got data */
if (buffer[0] > 0) {
/* We got more than requested!!! */
if (buffer[0] > count) {
return -1;
}
/* Looks good, copy it to the caller's buffer */
memcpy(buf, buffer + DM_SECTOR_HDR_SIZE, buffer[0]);
} else {
memset(buf, 0, count);
}
/* Return the number of bytes of caller data read */
return buffer[0];
}
static int _ram_clear(dm_item_t item)
{
if (item >= DM_KEY_NUM_KEYS) {
return -1;
}
/* Get the offset of 1st item of this type */
int offset = calculate_offset(item, 0);
/* Check for item type out of range */
if (offset < 0) {
return -1;
}
int result = 0;
/* Clear all items of this type */
for (int i = 0; (unsigned)i < g_per_item_max_index[item]; i++) {
uint8_t *buf = &dm_operations_data.ram.data[offset];
if (buf > dm_operations_data.ram.data_end) {
result = -1;
break;
}
buf[0] = 0;
offset += g_per_item_size_with_hdr[item];
}
return result;
}
static int
_file_clear(dm_item_t item)
{
if (item >= DM_KEY_NUM_KEYS) {
return -1;
}
/* Get the offset of 1st item of this type */
int offset = calculate_offset(item, 0);
/* Check for item type out of range */
if (offset < 0) {
return -1;
}
int result = 0;
/* Clear all items of this type */
for (int i = 0; (unsigned)i < g_per_item_max_index[item]; i++) {
char buf[1];
if (lseek(dm_operations_data.file.fd, offset, SEEK_SET) != offset) {
result = -1;
break;
}
/* Avoid SD flash wear by only doing writes where necessary */
if (read(dm_operations_data.file.fd, buf, 1) < 1) {
break;
}
/* If item has length greater than 0 it needs to be overwritten */
if (buf[0]) {
if (lseek(dm_operations_data.file.fd, offset, SEEK_SET) != offset) {
result = -1;
break;
}
buf[0] = 0;
if (write(dm_operations_data.file.fd, buf, 1) != 1) {
result = -1;
break;
}
}
offset += g_per_item_size_with_hdr[item];
}
/* Make sure data is actually written to physical media */
fsync(dm_operations_data.file.fd);
return result;
}
static int
_file_initialize(unsigned max_offset)
{
const bool file_existed = (access(k_data_manager_device_path, F_OK) == 0);
/* 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);
if (dm_operations_data.file.fd < 0) {
PX4_WARN("Could not open data manager file %s", k_data_manager_device_path);
px4_sem_post(&g_init_sema); /* Don't want to hang startup */
return -1;
}
if ((unsigned)lseek(dm_operations_data.file.fd, max_offset, SEEK_SET) != max_offset) {
close(dm_operations_data.file.fd);
PX4_WARN("Could not seek data manager file %s", k_data_manager_device_path);
px4_sem_post(&g_init_sema); /* Don't want to hang startup */
return -1;
}
dataman_compat_s compat_state{};
dm_operations_data.silence = true;
g_dm_ops->read(DM_KEY_COMPAT, 0, &compat_state, sizeof(compat_state));
dm_operations_data.silence = false;
if (!file_existed || (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_0; item <= DM_KEY_MISSION_STATE; ++item) {
g_dm_ops->clear((dm_item_t)item);
}
mission_s mission{};
mission.timestamp = hrt_absolute_time();
mission.mission_dataman_id = DM_KEY_WAYPOINTS_OFFBOARD_0;
mission.count = 0;
mission.current_seq = 0;
mission.mission_id = 0u;
mission.geofence_id = 0u;
mission.safe_points_id = 0u;
mission_stats_entry_s stats;
stats.num_items = 0;
stats.opaque_id = 0;
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_STATE, 0, reinterpret_cast<uint8_t *>(&stats), sizeof(mission_stats_entry_s));
g_dm_ops->write(DM_KEY_SAFE_POINTS_STATE, 0, reinterpret_cast<uint8_t *>(&stats), sizeof(mission_stats_entry_s));
}
dm_operations_data.running = true;
return 0;
}
static int
_ram_initialize(unsigned max_offset)
{
/* In memory */
dm_operations_data.ram.data = (uint8_t *)malloc(max_offset);
if (dm_operations_data.ram.data == nullptr) {
PX4_WARN("Could not allocate %u bytes of memory", max_offset);
px4_sem_post(&g_init_sema); /* Don't want to hang startup */
return -1;
}
memset(dm_operations_data.ram.data, 0, max_offset);
dm_operations_data.ram.data_end = &dm_operations_data.ram.data[max_offset - 1];
dm_operations_data.running = true;
return 0;
}
static void
_file_shutdown()
{
close(dm_operations_data.file.fd);
dm_operations_data.running = false;
}
static void
_ram_shutdown()
{
free(dm_operations_data.ram.data);
dm_operations_data.running = false;
}
static int
task_main(int argc, char *argv[])
{
/* Dataman can use disk or RAM */
switch (backend) {
case BACKEND_FILE:
g_dm_ops = &dm_file_operations;
break;
case BACKEND_RAM:
g_dm_ops = &dm_ram_operations;
break;
default:
PX4_WARN("No valid backend set.");
return -1;
}
/* Initialize global variables */
g_key_offsets[0] = 0;
for (int i = 0; i < ((int)DM_KEY_NUM_KEYS - 1); i++) {
g_key_offsets[i + 1] = g_key_offsets[i] + (g_per_item_max_index[i] * g_per_item_size_with_hdr[i]);
}
unsigned max_offset = g_key_offsets[DM_KEY_NUM_KEYS - 1] + (g_per_item_max_index[DM_KEY_NUM_KEYS - 1] *
g_per_item_size_with_hdr[DM_KEY_NUM_KEYS - 1]);
for (unsigned i = 0; i < DM_NUMBER_OF_FUNCS; i++) {
g_func_counts[i] = 0;
}
g_task_should_exit = false;
uORB::Publication<dataman_response_s> dataman_response_pub{ORB_ID(dataman_response)};
const int dataman_request_sub = orb_subscribe(ORB_ID(dataman_request));
if (dataman_request_sub < 0) {
PX4_ERR("Failed to subscribe (%i)", errno);
}
_dm_read_perf = perf_alloc(PC_ELAPSED, MODULE_NAME": read");
_dm_write_perf = perf_alloc(PC_ELAPSED, MODULE_NAME": write");
int ret = g_dm_ops->initialize(max_offset);
if (ret) {
g_task_should_exit = true;
goto end;
}
switch (backend) {
case BACKEND_FILE:
PX4_INFO("data manager file '%s' size is %u bytes", k_data_manager_device_path, max_offset);
break;
case BACKEND_RAM:
PX4_INFO("data manager RAM size is %u bytes", max_offset);
break;
default:
break;
}
px4_pollfd_struct_t fds;
fds.fd = dataman_request_sub;
fds.events = POLLIN;
/* Tell startup that the worker thread has completed its initialization */
px4_sem_post(&g_init_sema);
/* Start the endless loop, waiting for then processing work requests */
while (true) {
ret = px4_poll(&fds, 1, 1000);
if (ret > 0) {
bool updated = false;
orb_check(dataman_request_sub, &updated);
if (updated) {
dataman_request_s request;
orb_copy(ORB_ID(dataman_request), dataman_request_sub, &request);
dataman_response_s response{};
response.client_id = request.client_id;
response.request_type = request.request_type;
response.item = request.item;
response.index = request.index;
response.status = dataman_response_s::STATUS_FAILURE_NO_DATA;
ssize_t result;
switch (request.request_type) {
case DM_GET_ID:
if (dataman_clients_count < UINT8_MAX) {
response.client_id = dataman_clients_count++;
/* Send the timestamp of the request over the data buffer so that the "dataman client"
* can distinguish whether the request was made by it. */
memcpy(response.data, &request.timestamp, sizeof(hrt_abstime));
} else {
PX4_ERR("Max Dataman clients reached!");
}
break;
case DM_WRITE:
g_func_counts[DM_WRITE]++;
perf_begin(_dm_write_perf);
result = g_dm_ops->write(static_cast<dm_item_t>(request.item), request.index,
&(request.data), request.data_length);
perf_end(_dm_write_perf);
if (result > 0) {
response.status = dataman_response_s::STATUS_SUCCESS;
} else {
response.status = dataman_response_s::STATUS_FAILURE_WRITE_FAILED;
}
break;
case DM_READ:
g_func_counts[DM_READ]++;
perf_begin(_dm_read_perf);
result = g_dm_ops->read(static_cast<dm_item_t>(request.item), request.index,
&(response.data), request.data_length);
perf_end(_dm_read_perf);
if (result >= 0) {
response.status = dataman_response_s::STATUS_SUCCESS;
} else {
response.status = dataman_response_s::STATUS_FAILURE_READ_FAILED;
}
break;
case DM_CLEAR:
g_func_counts[DM_CLEAR]++;
result = g_dm_ops->clear(static_cast<dm_item_t>(request.item));
if (result == 0) {
response.status = dataman_response_s::STATUS_SUCCESS;
} else {
response.status = dataman_response_s::STATUS_FAILURE_CLEAR_FAILED;
}
break;
default:
break;
}
response.timestamp = hrt_absolute_time();
dataman_response_pub.publish(response);
}
}
/* time to go???? */
if (g_task_should_exit) {
break;
}
}
orb_unsubscribe(dataman_request_sub);
g_dm_ops->shutdown();
end:
backend = BACKEND_NONE;
perf_free(_dm_read_perf);
_dm_read_perf = nullptr;
perf_free(_dm_write_perf);
_dm_write_perf = nullptr;
return 0;
}
static int
start()
{
px4_sem_init(&g_init_sema, 1, 0);
/* g_init_sema use case is a signal */
px4_sem_setprotocol(&g_init_sema, SEM_PRIO_NONE);
/* start the worker thread with low priority for disk IO */
if (px4_task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT - 10,
PX4_STACK_ADJUSTED(TASK_STACK_SIZE), task_main,
nullptr) < 0) {
px4_sem_destroy(&g_init_sema);
PX4_ERR("task start failed");
return -1;
}
/* wait for the thread to actually initialize */
px4_sem_wait(&g_init_sema);
px4_sem_destroy(&g_init_sema);
return 0;
}
static void
status()
{
/* display usage statistics */
PX4_INFO("Writes %u", g_func_counts[DM_WRITE]);
PX4_INFO("Reads %u", g_func_counts[DM_READ]);
PX4_INFO("Clears %u", g_func_counts[DM_CLEAR]);
perf_print_counter(_dm_read_perf);
perf_print_counter(_dm_write_perf);
}
static void
stop()
{
/* Tell the worker task to shut down */
g_task_should_exit = true;
}
static void
usage()
{
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
Module to provide persistent storage for the rest of the system in form of a simple database through a C API.
Multiple backends are supported:
- a file (eg. on the SD card)
- RAM (this is obviously not persistent)
It is used to store structured data of different types: mission waypoints, mission state and geofence polygons.
Each type has a specific type and a fixed maximum amount of storage items, so that fast random access is possible.
### Implementation
Reading and writing a single item is always atomic.
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("dataman", "system");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAM_STRING('f', nullptr, "<file>", "Storage file", true);
PRINT_MODULE_USAGE_PARAM_FLAG('r', "Use RAM backend (NOT persistent)", true);
PRINT_MODULE_USAGE_PARAM_COMMENT("The options -f and -r are mutually exclusive. If nothing is specified, a file 'dataman' is used");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
static int backend_check()
{
if (backend != BACKEND_NONE) {
PX4_WARN("-f and -r are mutually exclusive");
usage();
return -1;
}
return 0;
}
int
dataman_main(int argc, char *argv[])
{
if (argc < 2) {
usage();
return -1;
}
if (!strcmp(argv[1], "start")) {
if (is_running()) {
PX4_WARN("dataman already running");
return -1;
}
int ch;
int dmoptind = 1;
const char *dmoptarg = nullptr;
/* jump over start and look at options first */
while ((ch = px4_getopt(argc, argv, "f:r", &dmoptind, &dmoptarg)) != EOF) {
switch (ch) {
case 'f':
if (backend_check()) {
return -1;
}
backend = BACKEND_FILE;
k_data_manager_device_path = strdup(dmoptarg);
PX4_INFO("dataman file set to: %s", k_data_manager_device_path);
break;
case 'r':
if (backend_check()) {
return -1;
}
backend = BACKEND_RAM;
break;
//no break
default:
usage();
return -1;
}
}
if (backend == BACKEND_NONE) {
backend = BACKEND_FILE;
k_data_manager_device_path = strdup(default_device_path);
}
start();
if (!is_running()) {
PX4_ERR("dataman start failed");
free(k_data_manager_device_path);
k_data_manager_device_path = nullptr;
return -1;
}
return 0;
}
/* Worker thread should be running for all other commands */
if (!is_running()) {
PX4_WARN("dataman worker thread not running");
usage();
return -1;
}
if (!strcmp(argv[1], "stop")) {
stop();
free(k_data_manager_device_path);
k_data_manager_device_path = nullptr;
} else if (!strcmp(argv[1], "status")) {
status();
} else {
usage();
return -1;
}
return 0;
}
static_assert(sizeof(dataman_request_s::data) == sizeof(dataman_response_s::data), "request and response data are not the same size");
static_assert(sizeof(dataman_response_s::data) >= MISSION_SAFE_POINT_SIZE, "mission_item_s can't fit in the response data");
static_assert(sizeof(dataman_response_s::data) >= MISSION_FENCE_POINT_SIZE, "mission_fance_point_s can't fit in the response data");
static_assert(sizeof(dataman_response_s::data) >= MISSION_ITEM_SIZE, "mission_item_s can't fit in the response data");
static_assert(sizeof(dataman_response_s::data) >= MISSION_SIZE, "mission_s can't fit in the response data");
static_assert(sizeof(dataman_response_s::data) >= DATAMAN_COMPAT_SIZE, "dataman_compat_s can't fit in the response data");
static_assert(sizeof(dataman_response_s::data) >= sizeof(hrt_abstime), "hrt_abstime can't fit in the response data");