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uavcan: servers handle move firmware early

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This commit is contained in:
Daniel Agar
2022-11-14 09:34:44 -05:00
parent 054a549dae
commit 24d67d1666
1 changed files with 23 additions and 26 deletions
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src/drivers/uavcan/uavcan_servers.cpp
+23 -26
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@@ -87,6 +87,12 @@ int UavcanServers::init()
return ret;
}
/*
Check for firmware in the root directory, move it to appropriate location on
the SD card, as defined by the APDesc.
*/
migrateFWFromRoot(UAVCAN_FIRMWARE_PATH, UAVCAN_SD_ROOT_PATH);
/* Start fw file server back */
ret = _fw_server.start(UAVCAN_FIRMWARE_PATH, UAVCAN_ROMFS_FW_PATH);
@@ -131,12 +137,6 @@ int UavcanServers::init()
return ret;
}
/*
Check for firmware in the root directory, move it to appropriate location on
the SD card, as defined by the APDesc.
*/
migrateFWFromRoot(UAVCAN_FIRMWARE_PATH, UAVCAN_SD_ROOT_PATH);
/* Start the Node */
return 0;
}
@@ -152,22 +152,12 @@ void UavcanServers::migrateFWFromRoot(const char *sd_path, const char *sd_root_p
/fs/microsd/ufw
nnnnn.bin - where n is the board_id
*/
static constexpr size_t maxlen = UAVCAN_MAX_PATH_LENGTH;
const size_t maxlen = UAVCAN_MAX_PATH_LENGTH;
const size_t sd_root_path_len = strlen(sd_root_path);
struct stat sb;
int rv;
char dstpath[maxlen + 1];
char srcpath[maxlen + 1];
DIR *const sd_root_dir = opendir(sd_root_path);
if (!sd_root_dir) {
return;
}
struct stat sb {};
if (stat(sd_path, &sb) != 0 || !S_ISDIR(sb.st_mode)) {
rv = mkdir(sd_path, S_IRWXU | S_IRWXG | S_IRWXO);
int rv = mkdir(sd_path, S_IRWXU | S_IRWXG | S_IRWXO);
if (rv != 0) {
PX4_ERR("dev: couldn't create '%s'", sd_path);
@@ -175,29 +165,35 @@ void UavcanServers::migrateFWFromRoot(const char *sd_path, const char *sd_root_p
}
}
DIR *const sd_root_dir = opendir(sd_root_path);
if (!sd_root_dir) {
return;
}
// Iterate over all bin files in root directory
struct dirent *dev_dirent = NULL;
struct dirent *dev_dirent = nullptr;
while ((dev_dirent = readdir(sd_root_dir)) != nullptr) {
uavcan_posix::FirmwareVersionChecker::AppDescriptor descriptor;
// Looking for all uavcan.bin files.
if (DIRENT_ISFILE(dev_dirent->d_type) && strstr(dev_dirent->d_name, ".bin") != nullptr) {
// Make sure the path fits
size_t filename_len = strlen(dev_dirent->d_name);
size_t srcpath_len = sd_root_path_len + 1 + filename_len;
const size_t filename_len = strlen(dev_dirent->d_name);
const size_t sd_root_path_len = strlen(sd_root_path);
const size_t srcpath_len = sd_root_path_len + 1 + filename_len;
if (srcpath_len > maxlen) {
PX4_WARN("file: srcpath '%s%s' too long", sd_root_path, dev_dirent->d_name);
continue;
}
char srcpath[maxlen + 1] {};
snprintf(srcpath, sizeof(srcpath), "%s%s", sd_root_path, dev_dirent->d_name);
uavcan_posix::FirmwareVersionChecker::AppDescriptor descriptor{};
if (uavcan_posix::FirmwareVersionChecker::getFileInfo(srcpath, descriptor, 1024) != 0) {
continue;
}
@@ -206,6 +202,7 @@ void UavcanServers::migrateFWFromRoot(const char *sd_path, const char *sd_root_p
continue;
}
char dstpath[maxlen + 1] {};
snprintf(dstpath, sizeof(dstpath), "%s/%d.bin", sd_path, descriptor.board_id);
if (copyFw(dstpath, srcpath) >= 0) {