fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

FirmwareVersionChecker formatting fix

Browse Source
This commit is contained in:
Pavel Kirienko 2015-05-26 21:05:35 +03:00
parent 53317eb902
commit 85f498bbe0
1 changed files with 151 additions and 177 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

328
libuavcan_drivers/posix/include/uavcan_posix/firmware_version_checker.hpp
View File

@ -10,10 +10,9 @@
#define UAVCAN_POSIX_FIRMWARE_VERSION_CHECKER_HPP_INCLUDED
#include <cstdint>
#include <cstdbool>
#include <cstdio>
#include <cstring>
#include <cfcntl>
#include <fcntl.h>
#include <cerrno>
#include <dirent.h>
@ -31,191 +30,24 @@ class FirmwareVersionChecker : public uavcan::IFirmwareVersionChecker
{
enum { FilePermissions = 438 }; ///< 0o666
FirmwarePath *paths_;
FirmwarePath* paths_;
public:
/**
* This method will be invoked when the class obtains a response to GetNodeInfo request.
*
* @param node_id Node ID that this GetNodeInfo response was received from.
*
* @param node_info Actual node info structure; refer to uavcan.protocol.GetNodeInfo for details.
*
* @param out_firmware_file_path The implementation should return the firmware image path via this argument.
* Note that this path must be reachable via uavcan.protocol.file.Read service.
* Refer to @ref FileServer and @ref BasicFileServer for details.
*
* @return True - the class will begin sending update requests.
* False - the node will be ignored, no request will be sent.
*/
__attribute__((optimize("O0")))
virtual bool shouldRequestFirmwareUpdate(uavcan::NodeID node_id, const
uavcan::protocol::GetNodeInfo::Response& node_info,
FirmwareFilePath& out_firmware_file_path)
int copyIfNot(const char* srcpath, const char* destpath)
{
/* This is a work around for two issues.
* 1) FirmwareFilePath is 40
* 2) OK using is using 32 for max file names.
*
* So for the file:
* org.pixhawk.px4cannode-v1-0.1.59efc137.uavcan.bin
* +---fw
* +-c <----------- Files are cashed here.
* +--- 59efc137.bin <---------- A unknown Firmware file
* +---org.pixhawk.px4cannode-v1 <---------- node_info.name
* +---1.0 <-------------------------------- node_info.name's hardware_version.major,minor
* + - 59efc137.bin <----------- A well known file must match the name
* in the root fw folder, so if it does not exist
* it is copied up
*/
bool rv = false;
char fname_root[FirmwarePath::MaxBasePathLength + 1];
int n = snprintf(fname_root, sizeof(fname_root), "%s%s/%d.%d",
paths_->getFirmwareBasePath().c_str(),
node_info.name.c_str(),
node_info.hardware_version.major,
node_info.hardware_version.minor);
if (n > 0 && n < (int) sizeof(fname_root) - 2)
{
FAR DIR *fwdir = opendir(fname_root);
fname_root[n++] = FirmwarePath::getPathSeparator();
fname_root[n++] = '\0';
if (fwdir)
{
FAR struct dirent *pfile;
while((pfile = readdir(fwdir)) != NULL)
{
if (DIRENT_ISFILE(pfile->d_type))
{
// Open any bin file in there.
if (strstr(pfile->d_name, ".bin"))
{
FirmwarePath::PathString full_src_path = fname_root;
full_src_path += pfile->d_name;
FirmwarePath::PathString full_dst_path = paths_->getFirmwareCachePath().c_str();
full_dst_path += pfile->d_name;
/* ease the burden on the user */
int cr = copy_if_not(full_src_path.c_str(), full_dst_path.c_str());
/* We have a file, is it a valid image */
FirmwareCommon fw;
if (cr == 0 && fw.getFileInfo(full_dst_path.c_str()) == 0)
{
if (node_info.software_version.image_crc == 0 ||
(node_info.software_version.major == 0 &&
node_info.software_version.minor == 0) ||
fw.descriptor.image_crc !=
node_info.software_version.image_crc)
{
rv = true;
out_firmware_file_path = pfile->d_name;
}
break;
}
}
}
}
closedir(fwdir);
}
}
return rv;
}
/**
* This method will be invoked when a node responds to the update request with an error. If the request simply
* times out, this method will not be invoked.
* Note that if by the time of arrival of the response the node is already removed, this method will not be called.
*
* SPECIAL CASE: If the node responds with ERROR_IN_PROGRESS, the class will assume that further requesting
* is not needed anymore. This method will not be invoked.
*
* @param node_id Node ID that returned this error.
*
* @param error_response Contents of the error response. It contains error code and text.
*
* @param out_firmware_file_path New firmware path if a retry is needed. Note that this argument will be
* initialized with old path, so if the same path needs to be reused, this
* argument should be left unchanged.
*
* @return True - the class will continue sending update requests with new firmware path.
* False - the node will be forgotten, new requests will not be sent.
*/
__attribute__((optimize("O0")))
virtual bool shouldRetryFirmwareUpdate(uavcan::NodeID node_id,
const uavcan::protocol::file::BeginFirmwareUpdate::Response& error_response,
FirmwareFilePath& out_firmware_file_path)
{
return true;
}
/**
* This node is invoked when the node responds to the update request with confirmation.
* Note that if by the time of arrival of the response the node is already removed, this method will not be called.
*
* Implementation is optional; default one does nothing.
*
* @param node_id Node ID that confirmed the request.
*
* @param response Actual response.
*/
virtual void handleFirmwareUpdateConfirmation(uavcan::NodeID node_id,
const uavcan::protocol::file::BeginFirmwareUpdate::Response& response)
{
(void)node_id;
(void)response;
}
FirmwareVersionChecker() :
paths_(0)
{ }
virtual ~FirmwareVersionChecker() { }
/**
* Initializes the Firmware File back-end storage by passing a paths object
* that maintains the directory where files will be stored.
*/
int init(FirmwarePath& paths)
{
paths_ = &paths;
return 0;
}
const char * getFirmwarePath() { return paths_->getFirmwareCachePath().c_str(); }
private:
__attribute__((optimize("O0")))
int copy_if_not(const char *srcpath, const char * destpath)
{
/* Does the file exits */
// Does the file exist
int rv = 0;
int dfd = open(destpath, O_RDONLY, 0);
if (dfd >= 0)
{
/* Close it and exit 0 */
close(dfd);
// Close it and exit 0
(void)close(dfd);
}
else
{
uint8_t buffer[512];
dfd = open(destpath, O_WRONLY | O_CREAT , FilePermissions);
dfd = open(destpath, O_WRONLY | O_CREAT, FilePermissions);
if (dfd < 0)
{
rv = -errno;
@ -252,14 +84,156 @@ private:
}
}
while (rv == 0 && size);
close(sfd);
(void)close(sfd);
}
close(dfd);
(void)close(dfd);
}
}
return rv;
}
protected:
/**
* This method will be invoked when the class obtains a response to GetNodeInfo request.
*
* @param node_id Node ID that this GetNodeInfo response was received from.
*
* @param node_info Actual node info structure; refer to uavcan.protocol.GetNodeInfo for details.
*
* @param out_firmware_file_path The implementation should return the firmware image path via this argument.
* Note that this path must be reachable via uavcan.protocol.file.Read service.
* Refer to @ref FileServer and @ref BasicFileServer for details.
*
* @return True - the class will begin sending update requests.
* False - the node will be ignored, no request will be sent.
*/
virtual bool shouldRequestFirmwareUpdate(uavcan::NodeID node_id,
const uavcan::protocol::GetNodeInfo::Response& node_info,
FirmwareFilePath& out_firmware_file_path)
{
/* This is a work around for two issues.
* 1) FirmwareFilePath is 40
* 2) OK using is using 32 for max file names.
*
* So for the file:
* org.pixhawk.px4cannode-v1-0.1.59efc137.uavcan.bin
* +---fw
* +-c <----------- Files are cashed here.
* +--- 59efc137.bin <---------- A unknown Firmware file
* +---org.pixhawk.px4cannode-v1 <---------- node_info.name
* +---1.0 <-------------------------------- node_info.name's hardware_version.major,minor
* + - 59efc137.bin <----------- A well known file must match the name
* in the root fw folder, so if it does not exist
* it is copied up
*/
bool rv = false;
char fname_root[FirmwarePath::MaxBasePathLength + 1];
int n = snprintf(fname_root, sizeof(fname_root), "%s%s/%d.%d",
paths_->getFirmwareBasePath().c_str(),
node_info.name.c_str(),
node_info.hardware_version.major,
node_info.hardware_version.minor);
if (n > 0 && n < (int) sizeof(fname_root) - 2)
{
DIR* const fwdir = opendir(fname_root);
fname_root[n++] = FirmwarePath::getPathSeparator();
fname_root[n++] = '\0';
if (fwdir != NULL)
{
struct dirent* pfile = NULL;
while ((pfile = readdir(fwdir)) != NULL)
{
// TODO: This is not POSIX compliant
if (DIRENT_ISFILE(pfile->d_type))
{
// Open any bin file in there.
if (strstr(pfile->d_name, ".bin") != NULL)
{
FirmwarePath::PathString full_src_path = fname_root;
full_src_path += pfile->d_name;
FirmwarePath::PathString full_dst_path = paths_->getFirmwareCachePath().c_str();
full_dst_path += pfile->d_name;
// ease the burden on the user
int cr = copyIfNot(full_src_path.c_str(), full_dst_path.c_str());
// We have a file, is it a valid image
FirmwareCommon fw;
if (cr == 0 && fw.getFileInfo(full_dst_path.c_str()) == 0)
{
if (node_info.software_version.image_crc == 0 ||
(node_info.software_version.major == 0 && node_info.software_version.minor == 0) ||
fw.descriptor.image_crc != node_info.software_version.image_crc)
{
rv = true;
out_firmware_file_path = pfile->d_name;
}
break;
}
}
}
}
(void)closedir(fwdir);
}
}
return rv;
}
/**
* This method will be invoked when a node responds to the update request with an error. If the request simply
* times out, this method will not be invoked.
* Note that if by the time of arrival of the response the node is already removed, this method will not be called.
*
* SPECIAL CASE: If the node responds with ERROR_IN_PROGRESS, the class will assume that further requesting
* is not needed anymore. This method will not be invoked.
*
* @param node_id Node ID that returned this error.
*
* @param error_response Contents of the error response. It contains error code and text.
*
* @param out_firmware_file_path New firmware path if a retry is needed. Note that this argument will be
* initialized with old path, so if the same path needs to be reused, this
* argument should be left unchanged.
*
* @return True - the class will continue sending update requests with new firmware path.
* False - the node will be forgotten, new requests will not be sent.
*/
virtual bool shouldRetryFirmwareUpdate(uavcan::NodeID,
const uavcan::protocol::file::BeginFirmwareUpdate::Response&,
FirmwareFilePath&)
{
// TODO: Limit the number of attempts per node
return true;
}
public:
FirmwareVersionChecker()
: paths_(NULL)
{ }
/**
* Initializes the Firmware File back-end storage by passing a paths object
* that maintains the directory where files will be stored.
*/
int init(FirmwarePath& paths)
{
paths_ = &paths;
return 0;
}
const char* getFirmwarePath() const
{
return paths_->getFirmwareCachePath().c_str();
}
};
}
#endif // Include guard