Decouple filepaths from rcS/MTD using Kconfig rootpath

Kconfig

@@ -185,6 +185,17 @@ menu "Serial ports"
         string "EXT2 tty port"
 endmenu
 
+menu "File paths"
+
+    config BOARD_ROOT_PATH
+        string "PX4 Root file path"
+        default "/fs/microsd"
+
+    config BOARD_PARAM_FILE
+        string "Parameter file"
+        default "/fs/mtd_params"
+endmenu
+
 menu "drivers"
 source "src/drivers/Kconfig"
 endmenu

ROMFS/CMakeLists.txt

@@ -120,6 +120,7 @@ add_custom_command(
 		${romfs_gen_root_dir}/init.d/rc.serial
 		${romfs_gen_root_dir}/init.d/rc.autostart
 		${romfs_gen_root_dir}/init.d/rc.autostart.post
+		${romfs_gen_root_dir}/init.d/rc.filepaths
 		${romfs_copy_stamp}
 	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
 	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
@@ -131,6 +132,9 @@ add_custom_command(
 		--rc-dir ${romfs_gen_root_dir}/init.d
 		--serial-ports ${board_serial_ports} ${added_arguments}
 		--config-files ${module_config_files} #--verbose
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/filepaths/generate_config.py
+		--rc-dir ${romfs_gen_root_dir}/init.d
+		--params-file ${CONFIG_BOARD_PARAM_FILE}
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
 	WORKING_DIRECTORY ${romfs_gen_root_dir}
 	DEPENDS ${romfs_tar_file}
@@ -320,6 +324,7 @@ add_custom_target(romfs_gen_files_target
 	DEPENDS
 		${romfs_copy_stamp}
 		${romfs_gen_root_dir}/init.d/rc.serial
+		${romfs_gen_root_dir}/init.d/rc.filepaths
 		romfs_extras.stamp
 	)
 

ROMFS/cannode/init.d/rcS

@@ -21,25 +21,14 @@ set R /
 #
 ver all
 
-if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
-then
-	set PARAM_FILE /fs/mtd_params
-fi
-
-if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0
-then
-	set PARAM_FILE /dev/eeeprom0
-fi
-
-if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/qspi/params
-then
-	set PARAM_FILE /mnt/qspi/params
-fi
+# Load param file location from kconfig
+. ${R}etc/init.d/rc.filepaths
 
 #
 # Load parameters.
 #
 param select $PARAM_FILE
+
 if ! param load
 then
 	param reset_all

ROMFS/px4fmu_common/init.d/rcS

@@ -114,14 +114,8 @@ then
 	. $FRC
 else
 
-	#
-	# Set the parameter file the board supports params on
-	# MTD device.
-	#
-	if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
-	then
-		set PARAM_FILE /fs/mtd_params
-	fi
+	# Load param file location from kconfig
+	. ${R}etc/init.d/rc.filepaths
 
 	#
 	# Load parameters.

Tools/filepaths/generate_config.py

@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+""" Script to generate Serial rc.filepaths for the ROMFS startup script """
+
+import argparse
+import os
+import sys
+
+try:
+    from jinja2 import Environment, FileSystemLoader
+except ImportError as e:
+    print("Failed to import jinja2: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user jinja2")
+    print("")
+    sys.exit(1)
+
+try:
+    import yaml
+except ImportError as e:
+    print("Failed to import yaml: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user pyyaml")
+    print("")
+    sys.exit(1)
+
+parser = argparse.ArgumentParser(description='Generate PX4 ROMFS filepaths')
+
+parser.add_argument('--config-files', type=str, nargs='*', default=[],
+                    help='YAML module config file(s)')
+parser.add_argument('--constrained-flash', action='store_true',
+                    help='Reduce verbosity in ROMFS scripts to reduce flash size')
+parser.add_argument('--rc-dir', type=str, action='store',
+                    help='ROMFS output directory', default=None)
+parser.add_argument('--params-file', type=str, action='store',
+                    help='Parameter output file', default=None)
+parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
+                    help='Verbose Output')
+
+args = parser.parse_args()
+
+verbose = args.verbose
+constrained_flash = args.constrained_flash
+rc_filepaths_output_dir = args.rc_dir
+rc_filepaths_template = 'rc.filepaths.jinja'
+
+
+jinja_env = Environment(loader=FileSystemLoader(
+    os.path.dirname(os.path.realpath(__file__))))
+
+# generate the ROMFS script using a jinja template
+if rc_filepaths_output_dir is not None:
+    rc_filepath_output_file = os.path.join(rc_filepaths_output_dir, "rc.filepaths")
+
+    if verbose: print("Generating {:}".format(rc_filepath_output_file))
+    template = jinja_env.get_template(rc_filepaths_template)
+    with open(rc_filepath_output_file, 'w') as fid:
+        fid.write(template.render(constrained_flash=constrained_flash, params_file=args.params_file))
+else:
+    raise Exception("--rc-dir needs to be specified")

Tools/filepaths/rc.filepaths.jinja

@@ -0,0 +1,6 @@
+{# jinja template to generate the serial autostart script. #}
+
+# serial autostart script generated with generate_serial_config.py
+
+
+set PARAM_FILE {{ params_file }}

boards/nxp/mr-canhubk3/default.px4board

@@ -2,6 +2,7 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_ETHERNET=y
+CONFIG_BOARD_PARAM_FILE="/mnt/qspi/params"
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
@@ -16,6 +17,7 @@ CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_NETMAN=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y

boards/nxp/mr-canhubk3/fmu.px4board

@@ -59,7 +59,6 @@ CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_NETMAN=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REFLECT=y

boards/nxp/mr-canhubk3/init/rc.board_defaults

@@ -28,6 +28,12 @@ then
 	safety_button start
 fi
 
+if [ -f "/mnt/qspi/mtd_net" ]
+then
+else
+	netman update -i eth0
+fi
+
 if param greater -s UAVCAN_ENABLE 0
 then
 	ifup can0

boards/nxp/mr-canhubk3/sysview.px4board

@@ -45,7 +45,6 @@ CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_NETMAN=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REFLECT=y

boards/nxp/mr-canhubk3/zenoh.px4board

@@ -50,7 +50,6 @@ CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_NETMAN=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REFLECT=y

boards/nxp/ucans32k146/default.px4board

@@ -3,6 +3,7 @@ CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
+CONFIG_BOARD_PARAM_FILE="/dev/eeeprom0"
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_GPS=y

boards/px4/sitl/default.px4board

@@ -1,6 +1,7 @@
 CONFIG_PLATFORM_POSIX=y
 CONFIG_BOARD_TESTING=y
 CONFIG_BOARD_ETHERNET=y
+CONFIG_BOARD_ROOT_PATH="./"
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y

boards/px4/sitl/zenoh.px4board

@@ -1,3 +1,2 @@
 CONFIG_MODULES_UXRCE_DDS_CLIENT=n
 CONFIG_MODULES_ZENOH=y
-CONFIG_ZENOH_CONFIG_PATH="./zenoh"

platforms/common/include/px4_platform_common/board_common.h

@@ -239,7 +239,7 @@
 #  else
 /*  Use PX4IO FW search paths defaults based on version */
 #    if BOARD_USES_PX4IO_VERSION == 2
-#      define PX4IO_FW_SEARCH_PATHS {"/etc/extras/px4_io-v2_default.bin","/fs/microsd/px4_io-v2_default.bin", "/fs/microsd/px4io2.bin", nullptr }
+#      define PX4IO_FW_SEARCH_PATHS {"/etc/extras/px4_io-v2_default.bin",CONFIG_BOARD_ROOT_PATH "/px4_io-v2_default.bin", CONFIG_BOARD_ROOT_PATH "/px4io2.bin", nullptr }
 #    endif
 #  endif
 #endif

platforms/common/include/px4_platform_common/defines.h

@@ -64,7 +64,7 @@ static inline constexpr bool PX4_ISFINITE(double x) { return __builtin_isfinite(
  ****************************************************************************/
 
 #define PX4_ROOTFSDIR ""
-#define PX4_STORAGEDIR PX4_ROOTFSDIR "/fs/microsd"
+#define PX4_STORAGEDIR PX4_ROOTFSDIR CONFIG_BOARD_ROOT_PATH
 #define _PX4_IOC(x,y) _IOC(x,y)
 
 // mode for open with O_CREAT

src/drivers/tap_esc/tap_esc_uploader.h

@@ -44,7 +44,7 @@
 #include <stdbool.h>
 #include <systemlib/mavlink_log.h>
 
-#define TAP_ESC_FW_SEARCH_PATHS {"/etc/extras/tap_esc.bin", "/fs/microsd/tap_esc.bin", nullptr }
+#define TAP_ESC_FW_SEARCH_PATHS {"/etc/extras/tap_esc.bin", CONFIG_BOARD_ROOT_PATH "/tap_esc.bin", nullptr }
 #define PROTO_SUPPORT_BL_REV 5	/**< supported bootloader protocol revision */
 #define SYNC_RETRY_TIMES     5	/**< (uint8) esc sync failed allow retry times*/
 #define UPLOADER_RETRY_TIMES 2  /**< esc uploader failed allow retry times*/

src/drivers/uavcan/uavcan_module.hpp

@@ -49,7 +49,7 @@
 
 // firmware paths
 #define UAVCAN_MAX_PATH_LENGTH (128 + 40)
-#define UAVCAN_SD_ROOT_PATH    "/fs/microsd/"
+#define UAVCAN_SD_ROOT_PATH    CONFIG_BOARD_ROOT_PATH "/"
 #define UAVCAN_FIRMWARE_PATH   UAVCAN_SD_ROOT_PATH"ufw"
 #define UAVCAN_ROMFS_FW_PATH   "/etc/uavcan/fw"
 #define UAVCAN_ROMFS_FW_PREFIX "_"

src/lib/rc/rc_tests/RCTest.cpp

@@ -19,7 +19,7 @@
 #if defined(CONFIG_ARCH_BOARD_PX4_SITL)
 #define TEST_DATA_PATH "./test_data/"
 #else
-#define TEST_DATA_PATH "/fs/microsd"
+#define TEST_DATA_PATH CONFIG_BOARD_ROOT_PATH
 #endif
 
 extern "C" __EXPORT int rc_tests_main(int argc, char *argv[]);

src/lib/systemlib/hardfault_log.h

@@ -213,7 +213,7 @@ typedef struct ssarc_s dump_s;
  * Specifier to the xxxx_NUM definei.e %Y is YYYY so add 2 and %s is -2
  * Also xxxxTIME_FMT need to match in size. See CCASERT in hardfault_log.c
  */
-#define LOG_PATH_BASE       "/fs/microsd/"
+#define LOG_PATH_BASE       CONFIG_BOARD_ROOT_PATH "/"
 #define LOG_PATH_BASE_LEN    ((arraySize(LOG_PATH_BASE))-1)
 
 #define LOG_NAME_FMT        "fault_%s.log"

src/modules/logger/logger.h

@@ -158,8 +158,8 @@ class Logger : public ModuleBase<Logger>, public ModuleParams
 	static constexpr int		MAX_MISSION_TOPICS_NUM = 5; /**< Maximum number of mission topics */
 	static constexpr unsigned	MAX_NO_LOGFILE = 999;	/**< Maximum number of log files */
 	static constexpr const char	*LOG_ROOT[(int)LogType::Count] = {
-		PX4_STORAGEDIR "/log",
-		PX4_STORAGEDIR "/mission_log"
+		CONFIG_BOARD_ROOT_PATH "/log",
+		CONFIG_BOARD_ROOT_PATH "/mission_log"
 	};
 
 	struct LogFileName {

src/modules/mavlink/mavlink_ftp.cpp

@@ -1173,7 +1173,7 @@ bool MavlinkFTP::_validatePathIsWritable(const char *path)
 	// Don't allow writes to system paths as they are in RAM
 	// Ideally we'd canonicalize the path (with 'realpath'), but it might not exist, so realpath() would fail.
 	// The next simpler thing is to check there's no reference to a parent dir.
-	if (strncmp(path, "/fs/microsd/", 12) != 0 || strstr(path, "/../") != nullptr) {
+	if (strncmp(path, CONFIG_BOARD_ROOT_PATH "/", 12) != 0 || strstr(path, "/../") != nullptr) {
 		PX4_ERR("Disallowing write to %s", path);
 		return false;
 	}

src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp

@@ -43,7 +43,7 @@
 #include "../mavlink_ftp.h"
 
 #ifdef __PX4_NUTTX
-#define PX4_MAVLINK_TEST_DATA_DIR "/fs/microsd/ftp_unit_test_data"
+#define PX4_MAVLINK_TEST_DATA_DIR CONFIG_BOARD_ROOT_PATH "/ftp_unit_test_data"
 #else
 #define PX4_MAVLINK_TEST_DATA_DIR "ftp_unit_test_data"
 #endif

src/modules/zenoh/Kconfig

@@ -6,12 +6,6 @@ menuconfig MODULES_ZENOH
 		Enable support for Zenoh
 
 if MODULES_ZENOH
-    config ZENOH_CONFIG_PATH
-        string "Config path"
-        default "/fs/microsd/zenoh"
-        help
-            Path to store network, publishers and subscribers configuration
-
     config ZENOH_DEBUG
         int "Zenoh debug level"
         default 0

src/modules/zenoh/zenoh_config.cpp

@@ -58,7 +58,7 @@ const char *default_sub_config = ""; //TODO maybe use YAML
 Zenoh_Config::Zenoh_Config()
 {
 	bool correct_config = true;
-	DIR *dir = opendir(ZENOH_SD_ROOT_PATH);
+	DIR *dir = opendir(ZENOH_ROOT_PATH);
 	fp_mapping = NULL;
 
 	if (dir) {
@@ -342,14 +342,14 @@ void Zenoh_Config::generate_clean_config()
 	printf("Generate clean\n");
 	FILE *fp;
 
-	DIR *dir = opendir(ZENOH_SD_ROOT_PATH);
+	DIR *dir = opendir(ZENOH_ROOT_PATH);
 
 	if (dir) {
 		printf("Zenoh directory exists\n");
 
 	} else {
 		/* Create zenoh dir. */
-		if (mkdir(ZENOH_SD_ROOT_PATH, 0700) < 0) {
+		if (mkdir(ZENOH_ROOT_PATH, 0700) < 0) {
 			printf("Failed to create Zenoh directory\n");
 			return;
 		}

src/modules/zenoh/zenoh_config.hpp

@@ -49,10 +49,10 @@
 #include <zenoh-pico.h>
 
 #define ZENOH_MAX_PATH_LENGTH (128 + 40)
-#define ZENOH_SD_ROOT_PATH    CONFIG_ZENOH_CONFIG_PATH
-#define ZENOH_PUB_CONFIG_PATH ZENOH_SD_ROOT_PATH"/pub.csv"
-#define ZENOH_SUB_CONFIG_PATH ZENOH_SD_ROOT_PATH"/sub.csv"
-#define ZENOH_NET_CONFIG_PATH ZENOH_SD_ROOT_PATH"/net.txt"
+#define ZENOH_ROOT_PATH       CONFIG_BOARD_ROOT_PATH"/zenoh"
+#define ZENOH_PUB_CONFIG_PATH ZENOH_ROOT_PATH"/pub.csv"
+#define ZENOH_SUB_CONFIG_PATH ZENOH_ROOT_PATH"/sub.csv"
+#define ZENOH_NET_CONFIG_PATH ZENOH_ROOT_PATH"/net.txt"
 
 #define NET_MODE_SIZE sizeof("client")
 #define NET_LOCATOR_SIZE 64

src/systemcmds/hardfault_log/hardfault_log.c

@@ -1273,7 +1273,7 @@ static void print_usage(void)
 	PRINT_MODULE_USAGE_ARG("0|1", "Hardfault type: 0=divide by 0, 1=Assertion (default=0)", true);
 
 	PRINT_MODULE_USAGE_COMMAND_DESCR("commit",
-					 "Write uncommitted hardfault to /fs/microsd/fault_%i.txt (and rearm, but don't reset)");
+					 "Write uncommitted hardfault to " CONFIG_BOARD_ROOT_PATH "/fault_%i.txt (and rearm, but don't reset)");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("count",
 					 "Read the reboot counter, counts the number of reboots of an uncommitted hardfault (returned as the exit code of the program)");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("reset", "Reset the reboot counter");

src/systemcmds/netman/netman.cpp

@@ -51,7 +51,7 @@
 #include <arpa/inet.h>
 #include <px4_platform_common/shutdown.h>
 
-constexpr char DEFAULT_NETMAN_CONFIG[] = "/fs/microsd/net.cfg";
+constexpr char DEFAULT_NETMAN_CONFIG[] = CONFIG_BOARD_ROOT_PATH "/net.cfg";
 #if defined(CONFIG_NETINIT_DHCPC)
 #  define DEFAULT_PROTO   IPv4PROTO_FALLBACK
 #  define DEFAULT_IP      CONFIG_NETMAN_FALLBACK_IPADDR

src/systemcmds/tests/test_mount.cpp

@@ -62,7 +62,7 @@ int test_mount(int argc, char *argv[])
 	const unsigned iterations = 2000;
 	const unsigned alignments = 10;
 
-	const char *cmd_filename = "/fs/microsd/mount_test_cmds.txt";
+	const char *cmd_filename = CONFIG_BOARD_ROOT_PATH "/mount_test_cmds.txt";
 
 
 	/* check if microSD card is mounted */