From 8c2678bca12c7ade5ac0126a6d0738ebdb8998e7 Mon Sep 17 00:00:00 2001 From: David Sidrane Date: Thu, 11 Feb 2021 10:50:38 -0800 Subject: [PATCH] uavcan_servers:Reworked file naming and use ROM fs as fall back Supporting direct down loads from ROMFS with preferece give to the files fould on the SD card first. This will allow a user to provide an updated uavcan firware on the SD card, and there is no overhead of coping files from the ROM FS to the SD card. --- src/drivers/bootloaders/CMakeLists.txt | 14 +- src/drivers/uavcan/libuavcan | 2 +- src/drivers/uavcan/uavcan_module.hpp | 5 +- src/drivers/uavcan/uavcan_servers.cpp | 302 ++++++------------------- src/drivers/uavcan/uavcan_servers.hpp | 1 + 5 files changed, 77 insertions(+), 247 deletions(-) diff --git a/src/drivers/bootloaders/CMakeLists.txt b/src/drivers/bootloaders/CMakeLists.txt index f5bc89a5d9..47e0df1942 100644 --- a/src/drivers/bootloaders/CMakeLists.txt +++ b/src/drivers/bootloaders/CMakeLists.txt @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2017 PX4 Development Team. All rights reserved. +# Copyright (c) 2017, 2021 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -48,7 +48,7 @@ if(NOT "${PX4_BOARD_LABEL}" MATCHES "canbootloader") set(SW_MAJOR ${uavcanblid_sw_version_major}) set(SW_MINOR ${uavcanblid_sw_version_minor}) - string(REPLACE "\"" "" HWNAME ${uavcanblid_name}) + math(EXPR HWBOARD_ID "(${HW_MAJOR} << 8) + ${HW_MINOR}") execute_process( COMMAND git rev-list HEAD --max-count=1 --abbrev=8 --abbrev-commit @@ -60,12 +60,16 @@ if(NOT "${PX4_BOARD_LABEL}" MATCHES "canbootloader") if ("${uavcanbl_git_desc}" STREQUAL "") set(uavcanbl_git_desc ffffffff) endif() - set(uavcan_bl_imange_name ${HWNAME}-${HW_MAJOR}.${HW_MINOR}-${SW_MAJOR}.${SW_MINOR}.${uavcanbl_git_desc}.uavcan.bin) + set(uavcan_bl_imange_name ${HWBOARD_ID}-${SW_MAJOR}.${SW_MINOR}.${uavcanbl_git_desc}.uavcan.bin) message(STATUS "Generating UAVCAN Bootable as ${uavcan_bl_imange_name}") - add_custom_command(OUTPUT ${uavcan_bl_imange_name} + add_custom_command(OUTPUT ${uavcan_bl_imange_name} deploy/${HWBOARD_ID}.bin COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/make_can_boot_descriptor.py - -v --use-git-hash ${PX4_BINARY_DIR}/${PX4_BOARD}.bin ${uavcan_bl_imange_name} + -v --use-git-hash ${PX4_BOARD}.bin ${uavcan_bl_imange_name} + COMMAND + COMMAND ${CMAKE_COMMAND} -E make_directory deploy + COMMAND + ${CMAKE_COMMAND} -E copy ${uavcan_bl_imange_name} deploy/${HWBOARD_ID}.bin DEPENDS ${PX4_BINARY_DIR}/${PX4_BOARD}.bin ${CMAKE_CURRENT_SOURCE_DIR}/make_can_boot_descriptor.py diff --git a/src/drivers/uavcan/libuavcan b/src/drivers/uavcan/libuavcan index b1dc99279a..c445d90d37 160000 --- a/src/drivers/uavcan/libuavcan +++ b/src/drivers/uavcan/libuavcan @@ -1 +1 @@ -Subproject commit b1dc99279a468ae0de31dbc608d3090c7d73d16b +Subproject commit c445d90d370cb61e11d26ba46b86256b63b25561 diff --git a/src/drivers/uavcan/uavcan_module.hpp b/src/drivers/uavcan/uavcan_module.hpp index 4d8247ccb3..ea7420482a 100644 --- a/src/drivers/uavcan/uavcan_module.hpp +++ b/src/drivers/uavcan/uavcan_module.hpp @@ -49,12 +49,13 @@ // firmware paths #define UAVCAN_MAX_PATH_LENGTH (128 + 40) -#define UAVCAN_FIRMWARE_PATH "/fs/microsd/fw" +#define UAVCAN_SD_ROOT_PATH "/fs/microsd/" +#define UAVCAN_FIRMWARE_PATH UAVCAN_SD_ROOT_PATH"ufw" #define UAVCAN_ROMFS_FW_PATH "/etc/uavcan/fw" #define UAVCAN_ROMFS_FW_PREFIX "_" // logging -#define UAVCAN_NODE_DB_PATH "/fs/microsd/uavcan.db" +#define UAVCAN_NODE_DB_PATH UAVCAN_SD_ROOT_PATH"/uavcan.db" #define UAVCAN_LOG_FILE UAVCAN_NODE_DB_PATH"/trace.log" // device files diff --git a/src/drivers/uavcan/uavcan_servers.cpp b/src/drivers/uavcan/uavcan_servers.cpp index ec7bd11657..827374d84b 100644 --- a/src/drivers/uavcan/uavcan_servers.cpp +++ b/src/drivers/uavcan/uavcan_servers.cpp @@ -38,6 +38,7 @@ #include #include +#include #include #include #include @@ -73,8 +74,6 @@ * UavcanNode */ -#define UAVCAN_FIRMWARE_CACHE_PATH UAVCAN_FIRMWARE_PATH"/c/" - UavcanServers *UavcanServers::_instance; UavcanServers::UavcanServers(uavcan::INode &main_node) : @@ -211,7 +210,7 @@ UavcanServers::init() * Initialize the fw version checker. * giving it its path */ - ret = _fw_version_checker.createFwPaths(UAVCAN_FIRMWARE_PATH); + ret = _fw_version_checker.createFwPaths(UAVCAN_FIRMWARE_PATH, UAVCAN_ROMFS_FW_PATH); if (ret < 0) { PX4_ERR("FirmwareVersionChecker init: %d, errno: %d", ret, errno); @@ -220,7 +219,7 @@ UavcanServers::init() /* Start fw file server back */ - ret = _fw_server.start(UAVCAN_FIRMWARE_CACHE_PATH); + ret = _fw_server.start(UAVCAN_FIRMWARE_PATH, UAVCAN_ROMFS_FW_PATH); if (ret < 0) { PX4_ERR("BasicFileServer init: %d, errno: %d", ret, errno); @@ -266,7 +265,7 @@ UavcanServers::init() } /* Start the fw version checker */ - ret = _fw_upgrade_trigger.start(_node_info_retriever, _fw_version_checker.getFirmwarePath()); + ret = _fw_upgrade_trigger.start(_node_info_retriever); if (ret < 0) { PX4_ERR("FirmwareUpdateTrigger init: %d", ret); @@ -285,10 +284,10 @@ UavcanServers::run(pthread_addr_t) Lock lock(_subnode_mutex); /* - Copy any firmware bundled in the ROMFS to the appropriate location on the - SD card, unless the user has copied other firmware for that device. + Check for firmware in the root directory, move it to appropriate location on + the SD card, as defined by the APDesc. */ - unpackFwFromROMFS(UAVCAN_FIRMWARE_PATH, UAVCAN_ROMFS_FW_PATH); + migrateFWFromRoot(UAVCAN_FIRMWARE_PATH, UAVCAN_SD_ROOT_PATH); /* the subscribe call needs to happen in the same thread, * so not in the constructor */ @@ -952,259 +951,84 @@ UavcanServers::cb_enumeration_save(const uavcan::ServiceCallResultd_type)) { - continue; + if (rv != 0) { + PX4_ERR("dev: couldn't create '%s'", sd_path); + return; } - - // Make sure the path fits - size_t dev_dirname_len = strlen(dev_dirent->d_name); - size_t srcpath_dev_len = romfs_path_len + 1 + dev_dirname_len; - - if (srcpath_dev_len > maxlen) { - PX4_WARN("dev: srcpath '%s/%s' too long", romfs_path, dev_dirent->d_name); - continue; - } - - size_t dstpath_dev_len = sd_path_len + 1 + dev_dirname_len; - - if (dstpath_dev_len > maxlen) { - PX4_WARN("dev: dstpath '%s/%s' too long", sd_path, dev_dirent->d_name); - continue; - } - - // Create the device name directory on the SD card if it doesn't already exist - dstpath[sd_path_len] = '/'; - memcpy(&dstpath[sd_path_len + 1], dev_dirent->d_name, dev_dirname_len + 1); - - if (stat(dstpath, &sb) != 0 || !S_ISDIR(sb.st_mode)) { - rv = mkdir(dstpath, S_IRWXU | S_IRWXG | S_IRWXO); - - if (rv != 0) { - PX4_ERR("dev: couldn't create '%s'", dstpath); - continue; - } - } - - // Set up the source path - srcpath[romfs_path_len] = '/'; - memcpy(&srcpath[romfs_path_len + 1], dev_dirent->d_name, dev_dirname_len + 1); - - DIR *const dev_dir = opendir(srcpath); - - if (!dev_dir) { - PX4_ERR("dev: couldn't open '%s'", srcpath); - continue; - } - - // Iterate over all version directories in the current ROMFS device directory - struct dirent *ver_dirent = NULL; - - while ((ver_dirent = readdir(dev_dir)) != NULL) { - // Skip if not a directory - if (!DIRENT_ISDIRECTORY(ver_dirent->d_type)) { - continue; - } - - // Make sure the path fits - size_t ver_dirname_len = strlen(ver_dirent->d_name); - size_t srcpath_ver_len = srcpath_dev_len + 1 + ver_dirname_len; - - if (srcpath_ver_len > maxlen) { - PX4_ERR("ver: srcpath '%s/%s' too long", srcpath, ver_dirent->d_name); - continue; - } - - size_t dstpath_ver_len = dstpath_dev_len + 1 + ver_dirname_len; - - if (dstpath_ver_len > maxlen) { - PX4_ERR("ver: dstpath '%s/%s' too long", dstpath, ver_dirent->d_name); - continue; - } - - // Create the device version directory on the SD card if it doesn't already exist - dstpath[dstpath_dev_len] = '/'; - memcpy(&dstpath[dstpath_dev_len + 1], ver_dirent->d_name, ver_dirname_len + 1); - - if (stat(dstpath, &sb) != 0 || !S_ISDIR(sb.st_mode)) { - rv = mkdir(dstpath, S_IRWXU | S_IRWXG | S_IRWXO); - - if (rv != 0) { - PX4_ERR("ver: couldn't create '%s'", dstpath); - continue; - } - } - - // Set up the source path - srcpath[srcpath_dev_len] = '/'; - memcpy(&srcpath[srcpath_dev_len + 1], ver_dirent->d_name, ver_dirname_len + 1); - - // Find the name of the bundled firmware file, or move on to the - // next directory if there's no file here. - DIR *const src_ver_dir = opendir(srcpath); - - if (!src_ver_dir) { - PX4_ERR("ver: couldn't open '%s'", srcpath); - continue; - } - - struct dirent *src_fw_dirent = NULL; - - while ((src_fw_dirent = readdir(src_ver_dir)) != NULL && - !DIRENT_ISFILE(src_fw_dirent->d_type)); - - if (!src_fw_dirent) { - (void)closedir(src_ver_dir); - continue; - } - - size_t fw_len = strlen(src_fw_dirent->d_name); - - bool copy_fw = true; - - // Clear out any romfs_ files in the version directory on the SD card - DIR *const dst_ver_dir = opendir(dstpath); - - if (!dst_ver_dir) { - PX4_ERR("unlink: couldn't open '%s'", dstpath); - - } else { - struct dirent *fw_dirent = NULL; - - while ((fw_dirent = readdir(dst_ver_dir)) != NULL) { - // Skip if not a file - if (!DIRENT_ISFILE(fw_dirent->d_type)) { - continue; - } - - if (!memcmp(&fw_dirent->d_name, src_fw_dirent->d_name, fw_len)) { - /* - * Exact match between SD card filename and ROMFS filename; must be the same version - * so don't bother deleting and rewriting it. - */ - copy_fw = false; - - } else if (!memcmp(fw_dirent->d_name, UAVCAN_ROMFS_FW_PREFIX, sizeof(UAVCAN_ROMFS_FW_PREFIX) - 1)) { - size_t dst_fw_len = strlen(fw_dirent->d_name); - size_t dstpath_fw_len = dstpath_ver_len + dst_fw_len; - - if (dstpath_fw_len > maxlen) { - // sizeof(prefix) includes trailing NUL, cancelling out the +1 for the path separator - PX4_ERR("unlink: path '%s/%s' too long", dstpath, fw_dirent->d_name); - - } else { - // File name starts with "_", delete it. - dstpath[dstpath_ver_len] = '/'; - memcpy(&dstpath[dstpath_ver_len + 1], fw_dirent->d_name, dst_fw_len + 1); - unlink(dstpath); - PX4_ERR("unlink: removed '%s'", dstpath); - } - - } else { - // User file, don't copy firmware - copy_fw = false; - } - } - - (void)closedir(dst_ver_dir); - } - - // If we need to, copy the file from ROMFS to the SD card - if (copy_fw) { - size_t srcpath_fw_len = srcpath_ver_len + 1 + fw_len; - size_t dstpath_fw_len = dstpath_ver_len + fw_len; - - if (srcpath_fw_len > maxlen) { - PX4_ERR("copy: srcpath '%s/%s' too long", srcpath, src_fw_dirent->d_name); - - } else if (dstpath_fw_len > maxlen) { - PX4_ERR("copy: dstpath '%s/%s' too long", dstpath, src_fw_dirent->d_name); - - } else { - // All OK, make the paths and copy the file - srcpath[srcpath_ver_len] = '/'; - memcpy(&srcpath[srcpath_ver_len + 1], src_fw_dirent->d_name, fw_len + 1); - - dstpath[dstpath_ver_len] = '/'; - memcpy(&dstpath[dstpath_ver_len + 1], src_fw_dirent->d_name, fw_len + 1); - - rv = copyFw(dstpath, srcpath); - - if (rv != 0) { - PX4_ERR("copy: '%s' -> '%s' failed: %d", srcpath, dstpath, rv); - - } else { - PX4_INFO("copy: '%s' -> '%s' succeeded", srcpath, dstpath); - } - } - } - - (void)closedir(src_ver_dir); - } - - (void)closedir(dev_dir); } - (void)closedir(romfs_dir); + // Iterate over all bin files in root directory + struct dirent *dev_dirent = NULL; + + 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; + + if (srcpath_len > maxlen) { + PX4_WARN("file: srcpath '%s%s' too long", sd_root_path, dev_dirent->d_name); + continue; + } + + snprintf(srcpath, sizeof(srcpath), "%s%s", sd_root_path, dev_dirent->d_name); + + if (uavcan_posix::FirmwareVersionChecker::getFileInfo(srcpath, descriptor, 1024) != 0) { + continue; + } + + if (descriptor.image_crc == 0) { + continue; + } + + snprintf(dstpath, sizeof(dstpath), "%s/%d.bin", sd_path, descriptor.board_id); + + if (copyFw(dstpath, srcpath) >= 0) { + unlink(srcpath); + } + } + } + + if (dev_dirent != nullptr) { + (void)closedir(dev_dirent); + } } int diff --git a/src/drivers/uavcan/uavcan_servers.hpp b/src/drivers/uavcan/uavcan_servers.hpp index 9fed3ec28b..15fa6cabeb 100644 --- a/src/drivers/uavcan/uavcan_servers.hpp +++ b/src/drivers/uavcan/uavcan_servers.hpp @@ -220,5 +220,6 @@ private: uavcan::ServiceClient _enumeration_save_client; void unpackFwFromROMFS(const char *sd_path, const char *romfs_path); + void migrateFWFromRoot(const char *sd_path, const char *sd_root_path); int copyFw(const char *dst, const char *src); };