Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : /*
      16             :   ArduPilot filesystem interface. This offsets a minimal subset of
      17             :   full functionality offered by posix type interfaces, meeting the
      18             :   needs of ArduPilot
      19             :  */
      20             : #pragma once
      21             : 
      22             : #include <stdint.h>
      23             : #include <AP_HAL/AP_HAL_Boards.h>
      24             : 
      25             : #include "AP_Filesystem_config.h"
      26             : 
      27             : #ifndef MAX_NAME_LEN
      28             : #define MAX_NAME_LEN 255
      29             : #endif
      30             : 
      31             : #if (CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS) || (CONFIG_HAL_BOARD == HAL_BOARD_ESP32)
      32             : #define DT_REG 0
      33             : #define DT_DIR 1
      34             : #define DT_LNK 10
      35             : #endif
      36             : 
      37             : #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
      38             : #if AP_FILESYSTEM_FATFS_ENABLED
      39             : #include "AP_Filesystem_FATFS.h"
      40             : #endif
      41             : #if AP_FILESYSTEM_LITTLEFS_ENABLED
      42             : #include "AP_Filesystem_FlashMemory_LittleFS.h"
      43             : #endif
      44             : 
      45             : struct dirent {
      46             :    char    d_name[MAX_NAME_LEN]; /* filename */
      47             :    uint8_t d_type;
      48             : };
      49             : 
      50             : #endif // HAL_BOARD_CHIBIOS
      51             : 
      52             : #include <fcntl.h>
      53             : #include <errno.h>
      54             : #include <unistd.h>
      55             : 
      56             : #ifndef AP_FILESYSTEM_FORMAT_ENABLED
      57             : #define AP_FILESYSTEM_FORMAT_ENABLED 1
      58             : #endif
      59             : 
      60             : #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_QURT
      61             : #include "AP_Filesystem_posix.h"
      62             : #if AP_FILESYSTEM_LITTLEFS_ENABLED
      63             : #include "AP_Filesystem_FlashMemory_LittleFS.h"
      64             : #endif
      65             : #endif
      66             : 
      67             : #if CONFIG_HAL_BOARD == HAL_BOARD_ESP32
      68             : #include "AP_Filesystem_ESP32.h"
      69             : #endif
      70             : 
      71             : #include "AP_Filesystem_backend.h"
      72             : 
      73             : // used by LittleFS
      74             : #define AP_FILESYSTEM_FLASH_JEDEC_NOR 1
      75             : #define AP_FILESYSTEM_FLASH_W25NXX 2
      76             : 
      77             : #ifndef AP_FILESYSTEM_LITTLEFS_FLASH_TYPE
      78             : #define AP_FILESYSTEM_LITTLEFS_FLASH_TYPE AP_FILESYSTEM_FLASH_JEDEC_NOR
      79             : #endif
      80             : 
      81             : #ifndef AP_FILESYSTEM_POSIX_MAP_FILENAME_ALLOC
      82             : // this requires AP_FILESYSTEM_POSIX_MAP_FILENAME_BASEDIR
      83             : #define AP_FILESYSTEM_POSIX_MAP_FILENAME_ALLOC 0
      84             : #endif
      85             : 
      86             : #ifndef AP_FILESYSTEM_HAVE_DIRENT_DTYPE
      87             : #define AP_FILESYSTEM_HAVE_DIRENT_DTYPE 1
      88             : #endif
      89             : 
      90             : #ifndef AP_FATFS_MAX_IO_SIZE
      91             : #define AP_FATFS_MAX_IO_SIZE 4096
      92             : #endif
      93             : 
      94             : #ifndef AP_FATFS_MIN_IO_SIZE
      95             : #define AP_FATFS_MIN_IO_SIZE 4096
      96             : #endif
      97             : 
      98             : class AP_Filesystem {
      99             : private:
     100             :     struct DirHandle {
     101             :         uint8_t fs_index;
     102             :         void *dir;
     103             :     };
     104             : 
     105             : public:
     106        2193 :     AP_Filesystem() {}
     107             : 
     108             :     // functions that closely match the equivalent posix calls
     109             :     int open(const char *fname, int flags, bool allow_absolute_paths = false);
     110             :     int close(int fd);
     111             :     int32_t read(int fd, void *buf, uint32_t count);
     112             :     int32_t write(int fd, const void *buf, uint32_t count);
     113             :     int fsync(int fd);
     114             :     int32_t lseek(int fd, int32_t offset, int whence);
     115             :     int stat(const char *pathname, struct stat *stbuf);
     116             : 
     117             :     // stat variant for scripting
     118             :     typedef struct Stat {
     119             :         uint32_t size;
     120             :         int32_t mode;
     121             :         uint32_t mtime;
     122             :         uint32_t atime;
     123             :         uint32_t ctime;
     124           0 :         bool is_directory(void) const {
     125           0 :             return (mode & S_IFMT) == S_IFDIR;
     126             :         }
     127             :     } stat_t;
     128             :     bool stat(const char *pathname, stat_t &stbuf);
     129             : 
     130             :     int unlink(const char *pathname);
     131             :     int mkdir(const char *pathname);
     132             :     int rename(const char *oldpath, const char *newpath);
     133             : 
     134             :     DirHandle *opendir(const char *pathname);
     135             :     struct dirent *readdir(DirHandle *dirp);
     136             :     int closedir(DirHandle *dirp);
     137             : 
     138             :     // return number of bytes that should be written before fsync for optimal
     139             :     // streaming performance/robustness. if zero, any number can be written.
     140             :     uint32_t bytes_until_fsync(int fd);
     141             : 
     142             :     // return free disk space in bytes, -1 on error
     143             :     int64_t disk_free(const char *path);
     144             : 
     145             :     // return total disk space in bytes, -1 on error
     146             :     int64_t disk_space(const char *path);
     147             : 
     148             :     // set modification time on a file
     149             :     bool set_mtime(const char *filename, const uint32_t mtime_sec);
     150             : 
     151             :     // if filesystem is not running then try a remount. Return true if fs is mounted
     152             :     bool retry_mount(void);
     153             : 
     154             :     // unmount filesystem for reboot
     155             :     void unmount(void);
     156             : 
     157             :     // reads a line into buf, guaranteeing null-termination.  buflen
     158             :     // is the full size of buf, including the space required for the
     159             :     // null terminator, so up to buflen-1 characters are returned.  cr
     160             :     // or lf terminates the line and is consumed but not returned.
     161             :     bool fgets(char *buf, uint8_t buflen, int fd);
     162             : 
     163             :     // run crc32 over file with given name, returns true if successful
     164             :     bool crc32(const char *fname, uint32_t& checksum) WARN_IF_UNUSED;
     165             : 
     166             :     // format filesystem.  This is async, monitor get_format_status for progress
     167             :     bool format(void);
     168             : 
     169             :     // retrieve status of format process:
     170             :     AP_Filesystem_Backend::FormatStatus get_format_status() const;
     171             : 
     172             :     /*
     173             :       Load a file's contents into memory. Returned object must be `delete`d to
     174             :       free the data. The data is guaranteed to be null-terminated such that it
     175             :       can be treated as a string.
     176             :      */
     177             :     FileData *load_file(const char *filename);
     178             : 
     179             :     // get_singleton for scripting
     180             :     static AP_Filesystem *get_singleton(void);
     181             : 
     182             : private:
     183             :     struct Backend {
     184             :         const char *prefix;
     185             :         AP_Filesystem_Backend &fs;
     186             :     };
     187             :     static const struct Backend backends[];
     188             : 
     189             :     /*
     190             :       find backend by path
     191             :      */
     192             :     const Backend &backend_by_path(const char *&path) const;
     193             : 
     194             :     /*
     195             :       find backend by open fd
     196             :      */
     197             :     const Backend &backend_by_fd(int &fd) const;
     198             : 
     199             :     // support for listing out virtual directory entries (e.g. @SYS
     200             :     // then @MISSION)
     201             :     struct {
     202             :         uint8_t backend_ofs;
     203             :         struct dirent de;
     204             :         uint8_t d_off;
     205             :     } virtual_dirent;
     206             : };
     207             : 
     208             : namespace AP {
     209             :     AP_Filesystem &FS();
     210             : };
     211             :