ardupilot/Tools/ardupilotwaf/embed.py

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#!/usr/bin/env python
'''
script to create ap_romfs_embedded.h from a set of static files
Andrew Tridgell
May 2017
'''
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import os, sys, tempfile, gzip
def write_encode(out, s):
out.write(s.encode())
def embed_file(out, f, idx, embedded_name, uncompressed):
'''embed one file'''
try:
contents = open(f,'rb').read()
except Exception:
raise Exception("Failed to embed %s" % f)
pad = 0
if embedded_name.endswith("bootloader.bin"):
# round size to a multiple of 32 bytes for bootloader, this ensures
# it can be flashed on a STM32H7 chip
blen = len(contents)
pad = (32 - (blen % 32)) % 32
if pad != 0:
if sys.version_info[0] >= 3:
contents += bytes([0xff]*pad)
else:
for i in range(pad):
contents += bytes(chr(0xff))
print("Padded %u bytes for %s to %u" % (pad, embedded_name, len(contents)))
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crc = crc32(bytearray(contents))
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write_encode(out, '__EXTFLASHFUNC__ static const uint8_t ap_romfs_%u[] = {' % idx)
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compressed = tempfile.NamedTemporaryFile()
if uncompressed:
# ensure nul termination
if sys.version_info[0] >= 3:
nul = bytearray(0)
else:
nul = chr(0)
if contents[-1] != nul:
contents += nul
compressed.write(contents)
else:
# compress it
f = open(compressed.name, "wb")
with gzip.GzipFile(fileobj=f, mode='wb', filename='', compresslevel=9, mtime=0) as g:
g.write(contents)
f.close()
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compressed.seek(0)
b = bytearray(compressed.read())
compressed.close()
for c in b:
write_encode(out, '%u,' % c)
write_encode(out, '};\n\n');
return crc
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def crc32(bytes, crc=0):
'''crc32 equivalent to crc32_small() from AP_Math/crc.cpp'''
for byte in bytes:
crc ^= byte
for i in range(8):
mask = (-(crc & 1)) & 0xFFFFFFFF
crc >>= 1
crc ^= (0xEDB88320 & mask)
return crc
def create_embedded_h(filename, files, uncompressed=False):
'''create a ap_romfs_embedded.h file'''
out = open(filename, "wb")
write_encode(out, '''// generated embedded files for AP_ROMFS\n\n''')
# remove duplicates and sort
files = sorted(list(set(files)))
crc = {}
for i in range(len(files)):
(name, filename) = files[i]
try:
crc[filename] = embed_file(out, filename, i, name, uncompressed)
except Exception as e:
print(e)
return False
write_encode(out, '''const AP_ROMFS::embedded_file AP_ROMFS::files[] = {\n''')
for i in range(len(files)):
(name, filename) = files[i]
if uncompressed:
ustr = ' (uncompressed)'
else:
ustr = ''
print("Embedding file %s:%s%s" % (name, filename, ustr))
write_encode(out, '{ "%s", sizeof(ap_romfs_%u), 0x%08x, ap_romfs_%u },\n' % (name, i, crc[filename], i))
write_encode(out, '};\n')
out.close()
return True
if __name__ == '__main__':
import sys
flist = []
for i in range(1, len(sys.argv)):
f = sys.argv[i]
flist.append((f, f))
create_embedded_h("/tmp/ap_romfs_embedded.h", flist)