diff options
Diffstat (limited to 'src/modules/dataman/dataman.c')
| -rw-r--r-- | src/modules/dataman/dataman.c | 105 |
1 files changed, 78 insertions, 27 deletions
diff --git a/src/modules/dataman/dataman.c b/src/modules/dataman/dataman.c index 34d20e485..406293bda 100644 --- a/src/modules/dataman/dataman.c +++ b/src/modules/dataman/dataman.c @@ -1,10 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: Jean Cyr - * Lorenz Meier - * Julian Oes - * Thomas Gubler + * Copyright (c) 2013, 2014 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 @@ -37,6 +33,11 @@ /** * @file dataman.c * DATAMANAGER driver. + * + * @author Jean Cyr + * @author Lorenz Meier + * @author Julian Oes + * @author Thomas Gubler */ #include <nuttx/config.h> @@ -44,9 +45,12 @@ #include <stdlib.h> #include <fcntl.h> #include <systemlib/systemlib.h> +#include <systemlib/err.h> #include <queue.h> +#include <string.h> #include "dataman.h" +#include <systemlib/param/param.h> /** * data manager app start / stop handling function @@ -60,7 +64,7 @@ __EXPORT ssize_t dm_write(dm_item_t item, unsigned char index, dm_persitence_t __EXPORT int dm_clear(dm_item_t item); __EXPORT int dm_restart(dm_reset_reason restart_type); -/* Types of function calls supported by the worker task */ +/** Types of function calls supported by the worker task */ typedef enum { dm_write_func = 0, dm_read_func, @@ -69,11 +73,12 @@ typedef enum { dm_number_of_funcs } dm_function_t; -/* Work task work item */ +/** Work task work item */ typedef struct { sq_entry_t link; /**< list linkage */ sem_t wait_sem; - dm_function_t func; + unsigned char first; + unsigned char func; ssize_t result; union { struct { @@ -98,6 +103,8 @@ typedef struct { }; } work_q_item_t; +const size_t k_work_item_allocation_chunk_size = 8; + /* Usage statistics */ static unsigned g_func_counts[dm_number_of_funcs]; @@ -175,9 +182,23 @@ create_work_item(void) unlock_queue(&g_free_q); - /* If we there weren't any free items then obtain memory for a new one */ - if (item == NULL) - item = (work_q_item_t *)malloc(sizeof(work_q_item_t)); + /* 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) + g_free_q.max_size = g_free_q.size; + unlock_queue(&g_free_q); + } + } /* If we got one then lock the item*/ if (item) @@ -409,31 +430,31 @@ _clear(dm_item_t item) return result; } -/* Tell the data manager about the type of the last reset */ +/** Tell the data manager about the type of the last reset */ static int _restart(dm_reset_reason reason) { unsigned char buffer[2]; - int offset, result = 0; + int offset = 0, result = 0; /* We need to scan the entire file and invalidate and data that should not persist after the last reset */ /* Loop through all of the data segments and delete those that are not persistent */ - offset = 0; - while (1) { size_t len; /* Get data segment at current offset */ if (lseek(g_task_fd, offset, SEEK_SET) != offset) { - result = -1; + /* must be at eof */ break; } len = read(g_task_fd, buffer, sizeof(buffer)); - if (len == 0) + if (len != sizeof(buffer)) { + /* must be at eof */ break; + } /* check if segment contains data */ if (buffer[0]) { @@ -441,12 +462,12 @@ _restart(dm_reset_reason reason) /* Whether data gets deleted depends on reset type and data segment's persistence setting */ if (reason == DM_INIT_REASON_POWER_ON) { - if (buffer[1] != DM_PERSIST_POWER_ON_RESET) { + if (buffer[1] > DM_PERSIST_POWER_ON_RESET) { clear_entry = 1; } } else { - if ((buffer[1] != DM_PERSIST_POWER_ON_RESET) && (buffer[1] != DM_PERSIST_IN_FLIGHT_RESET)) { + if (buffer[1] > DM_PERSIST_IN_FLIGHT_RESET) { clear_entry = 1; } } @@ -478,7 +499,7 @@ _restart(dm_reset_reason reason) return result; } -/* write to the data manager file */ +/** Write to the data manager file */ __EXPORT ssize_t dm_write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const void *buf, size_t count) { @@ -503,7 +524,7 @@ dm_write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const return (ssize_t)enqueue_work_item_and_wait_for_result(work); } -/* Retrieve from the data manager file */ +/** Retrieve from the data manager file */ __EXPORT ssize_t dm_read(dm_item_t item, unsigned char index, void *buf, size_t count) { @@ -594,6 +615,20 @@ task_main(int argc, char *argv[]) sem_init(&g_work_queued_sema, 1, 0); + /* 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); + close(g_task_fd); + unlink(k_data_manager_device_path); + } + else + close(g_task_fd); + } + /* Open or create the data manager file */ g_task_fd = open(k_data_manager_device_path, O_RDWR | O_CREAT | O_BINARY); @@ -603,7 +638,7 @@ task_main(int argc, char *argv[]) return -1; } - if (lseek(g_task_fd, max_offset, SEEK_SET) != max_offset) { + if ((unsigned)lseek(g_task_fd, max_offset, SEEK_SET) != max_offset) { close(g_task_fd); warnx("Could not seek data manager file %s", k_data_manager_device_path); sem_post(&g_init_sema); /* Don't want to hang startup */ @@ -612,6 +647,23 @@ task_main(int argc, char *argv[]) fsync(g_task_fd); + /* 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) { + warnx("Power on restart"); + _restart(DM_INIT_REASON_POWER_ON); + } + else if (sys_restart_val == DM_INIT_REASON_IN_FLIGHT) { + warnx("In flight restart"); + _restart(DM_INIT_REASON_IN_FLIGHT); + } + else + warnx("Unknown restart"); + } + else + warnx("Unknown restart"); + /* We use two file descriptors, one for the caller context and one for the worker thread */ /* They are actually the same but we need to some way to reject caller request while the */ /* worker thread is shutting down but still processing requests */ @@ -684,8 +736,8 @@ task_main(int argc, char *argv[]) for (;;) { if ((work = (work_q_item_t *)sq_remfirst(&(g_free_q.q))) == NULL) break; - - free(work); + if (work->first) + free(work); } destroy_q(&g_work_q); @@ -703,12 +755,12 @@ start(void) sem_init(&g_init_sema, 1, 0); /* start the worker thread */ - if ((task = task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 2048, task_main, NULL)) <= 0) { + if ((task = task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 2000, task_main, NULL)) <= 0) { warn("task start failed"); return -1; } - /* wait for the thread to actuall initialize */ + /* wait for the thread to actually initialize */ sem_wait(&g_init_sema); sem_destroy(&g_init_sema); @@ -776,4 +828,3 @@ dataman_main(int argc, char *argv[]) exit(1); } - |