int px4_open(const char *path, int flags, ...)
{
PX4_DEBUG("px4_open");
VDev *dev = VDev::getDev(path);
int ret = 0;
int i;
mode_t mode;
if (!dev && (flags & (PX4_F_WRONLY | PX4_F_CREAT)) != 0 &&
strncmp(path, "/obj/", 5) != 0 &&
strncmp(path, "/dev/", 5) != 0) {
va_list p;
va_start(p, flags);
mode = va_arg(p, mode_t);
va_end(p);
// Create the file
PX4_DEBUG("Creating virtual file %s", path);
dev = VFile::createFile(path, mode);
}
if (dev) {
pthread_mutex_lock(&filemutex);
for (i = 0; i < PX4_MAX_FD; ++i) {
if (filemap[i] == 0) {
filemap[i] = new device::file_t(flags, dev, i);
break;
}
}
pthread_mutex_unlock(&filemutex);
if (i < PX4_MAX_FD) {
ret = dev->open(filemap[i]);
} else {
PX4_WARN("exceeded maximum number of file descriptors!");
ret = -ENOENT;
}
} else {
ret = -EINVAL;
}
if (ret < 0) {
px4_errno = -ret;
return -1;
}
PX4_DEBUG("px4_open fd = %d", filemap[i]->fd);
return filemap[i]->fd;
}
int px4_ioctl(int fd, int cmd, unsigned long arg)
{
PX4_DEBUG("px4_ioctl fd = %d", fd);
int ret = 0;
if (valid_fd(fd)) {
VDev *dev = (VDev *)(filemap[fd]->vdev);
ret = dev->ioctl(filemap[fd], cmd, arg);
}
else {
ret = -EINVAL;
}
if (ret < 0) {
px4_errno = -ret;
}
return (ret == 0) ? PX4_OK : PX4_ERROR;
}
ssize_t px4_write(int fd, const void *buffer, size_t buflen)
{
int ret;
if (valid_fd(fd)) {
VDev *dev = (VDev *)(filemap[fd]->vdev);
PX4_DEBUG("px4_write fd = %d", fd);
ret = dev->write(filemap[fd], (const char *)buffer, buflen);
}
else {
ret = -EINVAL;
}
if (ret < 0) {
px4_errno = -ret;
ret = PX4_ERROR;
}
return ret;
}
int px4_close(int fd)
{
int ret;
if (valid_fd(fd)) {
VDev *dev = (VDev *)(filemap[fd]->vdev);
PX4_DEBUG("px4_close fd = %d", fd);
ret = dev->close(filemap[fd]);
filemap[fd] = NULL;
}
else {
ret = -EINVAL;
}
if (ret < 0) {
px4_errno = -ret;
ret = PX4_ERROR;
}
return ret;
}
int px4_ioctl(int fd, int cmd, unsigned long arg)
{
PX4_DEBUG("px4_ioctl fd = %d", fd);
int ret = 0;
VDev *dev = get_vdev(fd);
if (dev) {
ret = dev->ioctl(filemap[fd], cmd, arg);
} else {
ret = -EINVAL;
}
if (ret < 0) {
px4_errno = -ret;
}
return ret;
}
ssize_t px4_read(int fd, void *buffer, size_t buflen)
{
int ret;
VDev *dev = get_vdev(fd);
if (dev) {
PX4_DEBUG("px4_read fd = %d", fd);
ret = dev->read(filemap[fd], (char *)buffer, buflen);
} else {
ret = -EINVAL;
}
if (ret < 0) {
px4_errno = -ret;
ret = PX4_ERROR;
}
return ret;
}
int px4_close(int fd)
{
int ret;
VDev *dev = get_vdev(fd);
if (dev) {
pthread_mutex_lock(&filemutex);
ret = dev->close(filemap[fd]);
filemap[fd] = nullptr;
pthread_mutex_unlock(&filemutex);
PX4_DEBUG("px4_close fd = %d", fd);
} else {
ret = -EINVAL;
}
if (ret < 0) {
px4_errno = -ret;
ret = PX4_ERROR;
}
return ret;
}
int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
{
sem_t sem;
int count = 0;
int ret;
unsigned int i;
struct timespec ts;
PX4_DEBUG("Called px4_poll timeout = %d", timeout);
sem_init(&sem, 0, 0);
// For each fd
for (i=0; i<nfds; ++i)
{
fds[i].sem = &sem;
fds[i].revents = 0;
fds[i].priv = NULL;
// If fd is valid
if (valid_fd(fds[i].fd))
{
VDev *dev = (VDev *)(filemap[fds[i].fd]->vdev);;
PX4_DEBUG("px4_poll: VDev->poll(setup) %d", fds[i].fd);
ret = dev->poll(filemap[fds[i].fd], &fds[i], true);
if (ret < 0)
break;
}
}
if (ret >= 0)
{
if (timeout >= 0)
{
pthread_t pt;
void *res;
ts.tv_sec = timeout/1000;
ts.tv_nsec = (timeout % 1000)*1000000;
// Create a timer to unblock
struct timerData td(sem, ts);
int rv = pthread_create(&pt, NULL, timer_handler, (void *)&td);
if (rv != 0) {
count = -1;
goto cleanup;
}
sem_wait(&sem);
// Make sure timer thread is killed before sem goes
// out of scope
(void)pthread_cancel(pt);
(void)pthread_join(pt, &res);
}
else
{
sem_wait(&sem);
}
// For each fd
for (i=0; i<nfds; ++i)
{
// If fd is valid
if (valid_fd(fds[i].fd))
{
VDev *dev = (VDev *)(filemap[fds[i].fd]->vdev);;
PX4_DEBUG("px4_poll: VDev->poll(teardown) %d", fds[i].fd);
ret = dev->poll(filemap[fds[i].fd], &fds[i], false);
if (ret < 0)
break;
if (fds[i].revents)
count += 1;
}
}
}
cleanup:
sem_destroy(&sem);
return count;
}
int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
{
sem_t sem;
int count = 0;
int ret;
unsigned int i;
PX4_DEBUG("Called px4_poll timeout = %d", timeout);
sem_init(&sem, 0, 0);
// For each fd
for (i=0; i<nfds; ++i)
{
fds[i].sem = &sem;
fds[i].revents = 0;
fds[i].priv = NULL;
// If fd is valid
if (valid_fd(fds[i].fd))
{
VDev *dev = (VDev *)(filemap[fds[i].fd]->vdev);;
PX4_DEBUG("px4_poll: VDev->poll(setup) %d", fds[i].fd);
ret = dev->poll(filemap[fds[i].fd], &fds[i], true);
if (ret < 0)
break;
}
}
if (ret >= 0)
{
if (timeout >= 0)
{
// Use a work queue task
work_s _hpwork;
hrt_work_queue(&_hpwork, (worker_t)&timer_cb, (void *)&sem, 1000*timeout);
sem_wait(&sem);
// Make sure timer thread is killed before sem goes
// out of scope
hrt_work_cancel(&_hpwork);
}
else
{
sem_wait(&sem);
}
// For each fd
for (i=0; i<nfds; ++i)
{
// If fd is valid
if (valid_fd(fds[i].fd))
{
VDev *dev = (VDev *)(filemap[fds[i].fd]->vdev);;
PX4_DEBUG("px4_poll: VDev->poll(teardown) %d", fds[i].fd);
ret = dev->poll(filemap[fds[i].fd], &fds[i], false);
if (ret < 0)
break;
if (fds[i].revents)
count += 1;
}
}
}
sem_destroy(&sem);
return count;
}
int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
{
if (nfds == 0) {
PX4_WARN("px4_poll with no fds");
return -1;
}
px4_sem_t sem;
int count = 0;
int ret = -1;
unsigned int i;
const unsigned NAMELEN = 32;
char thread_name[NAMELEN] = {};
int nret = pthread_getname_np(pthread_self(), thread_name, NAMELEN);
if (nret || thread_name[0] == 0) {
PX4_WARN("failed getting thread name");
}
PX4_DEBUG("Called px4_poll timeout = %d", timeout);
px4_sem_init(&sem, 0, 0);
// Go through all fds and check them for a pollable state
bool fd_pollable = false;
for (i = 0; i < nfds; ++i) {
fds[i].sem = &sem;
fds[i].revents = 0;
fds[i].priv = NULL;
VDev *dev = get_vdev(fds[i].fd);
// If fd is valid
if (dev) {
PX4_DEBUG("%s: px4_poll: VDev->poll(setup) %d", thread_name, fds[i].fd);
ret = dev->poll(filemap[fds[i].fd], &fds[i], true);
if (ret < 0) {
PX4_WARN("%s: px4_poll() error: %s",
thread_name, strerror(errno));
break;
}
if (ret >= 0) {
fd_pollable = true;
}
}
}
// If any FD can be polled, lock the semaphore and
// check for new data
if (fd_pollable) {
if (timeout > 0) {
// Get the current time
struct timespec ts;
px4_clock_gettime(CLOCK_REALTIME, &ts);
// Calculate an absolute time in the future
const unsigned billion = (1000 * 1000 * 1000);
unsigned tdiff = timeout;
uint64_t nsecs = ts.tv_nsec + (tdiff * 1000 * 1000);
ts.tv_sec += nsecs / billion;
nsecs -= (nsecs / billion) * billion;
ts.tv_nsec = nsecs;
// Execute a blocking wait for that time in the future
errno = 0;
ret = px4_sem_timedwait(&sem, &ts);
#ifndef __PX4_DARWIN
ret = errno;
#endif
// Ensure ret is negative on failure
if (ret > 0) {
ret = -ret;
}
if (ret && ret != -ETIMEDOUT) {
PX4_WARN("%s: px4_poll() sem error", thread_name);
}
} else if (timeout < 0) {
px4_sem_wait(&sem);
}
// We have waited now (or not, depending on timeout),
// go through all fds and count how many have data
for (i = 0; i < nfds; ++i) {
VDev *dev = get_vdev(fds[i].fd);
// If fd is valid
if (dev) {
PX4_DEBUG("%s: px4_poll: VDev->poll(teardown) %d", thread_name, fds[i].fd);
ret = dev->poll(filemap[fds[i].fd], &fds[i], false);
if (ret < 0) {
PX4_WARN("%s: px4_poll() 2nd poll fail", thread_name);
break;
}
if (fds[i].revents) {
count += 1;
}
}
}
}
px4_sem_destroy(&sem);
// Return the positive count if present,
// return the negative error number if failed
return (count) ? count : ret;
}