Tools: fixed call to apj_tool in skyviper build

Tools/ardupilotwaf/chibios.py

@@ -70,10 +70,16 @@ class set_default_parameters(Task.Task):
         return "apj_tool"
     def run(self):
         rel_default_parameters = self.env.get_flat('DEFAULT_PARAMETERS')
-        abs_default_parameters = os.path.join(self.env.STANDARD_BUILDDIR,
-                                              rel_default_parameters)
-        run_str = ("python ${APJ_TOOL} --set-file %s ${SRC}" %
-                   (abs_default_parameters,))
+        abs_default_parameters = os.path.join(self.env.SRCROOT, rel_default_parameters)
+        apj_tool = self.env.APJ_TOOL
+        sys.path.append(os.path.dirname(apj_tool))
+        from apj_tool import embedded_defaults
+        defaults = embedded_defaults(self.inputs[0].abspath())
+        if not defaults.find():
+            print("Error: Param defaults support not found in firmware")
+            sys.exit(1)
+        defaults.set_file(abs_default_parameters)
+        defaults.save()
 
 
 class generate_fw(Task.Task):
@@ -188,13 +194,13 @@ def configure(cfg):
     env.AP_HAL_ROOT = srcpath('libraries/AP_HAL_ChibiOS')
     env.BUILDDIR = bldpath('modules/ChibiOS')
     env.BUILDROOT = bldpath('')
+    env.SRCROOT = srcpath('')
     env.PT_DIR = srcpath('Tools/ardupilotwaf/chibios/image')
     env.UPLOAD_TOOLS = srcpath('Tools/ardupilotwaf')
     env.CHIBIOS_SCRIPTS = srcpath('libraries/AP_HAL_ChibiOS/hwdef/scripts')
     env.TOOLS_SCRIPTS = srcpath('Tools/scripts')
     env.APJ_TOOL = srcpath('Tools/scripts/apj_tool.py')
     env.SERIAL_PORT = srcpath('/dev/serial/by-id/*_STLink*')
-    env.STANDARD_BUILDDIR = srcpath("build/some-board")
 
     # relative paths to pass to make, relative to directory that make is run from
     env.CH_ROOT_REL = os.path.relpath(env.CH_ROOT, env.BUILDROOT)

Tools/scripts/apj_tool.py

@@ -12,6 +12,7 @@ class embedded_defaults(object):
     def __init__(self, filename):
         self.filename = filename
         self.offset = 0
+        self.max_len = 0
         self.extension = os.path.splitext(filename)[1]
         if self.extension.lower() in ['.apj', '.px4']:
             self.load_apj()
@@ -22,7 +23,7 @@ class embedded_defaults(object):
 
     def load_binary(self):
         '''load firmware from binary file'''
-        f = open(self.filename,'r')
+        f = open(self.filename,'rb')
         self.firmware = f.read()
         f.close()
         print("Loaded binary file of length %u" % len(self.firmware))
@@ -91,6 +92,7 @@ class embedded_defaults(object):
         while True:
             i = self.firmware[self.offset:].find(magic_str)
             if i == -1:
+                print("No param area found")
                 return None
             matched = True
             for j in range(len(param_magic)):
@@ -195,37 +197,38 @@ def defaults_contents(firmware, ofs, length):
     '''return current defaults contents'''
     return firmware
 
-parser = argparse.ArgumentParser(description='manipulate parameter defaults in an ArduPilot firmware')
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser(description='manipulate parameter defaults in an ArduPilot firmware')
 
-parser.add_argument('firmware_file')
-parser.add_argument('--set-file', type=str, default=None, help='replace parameter defaults from a file')
-parser.add_argument('--set', type=str, default=None, help='replace one parameter default, in form NAME=VALUE')
-parser.add_argument('--show', action='store_true', default=False, help='show current parameter defaults')
-parser.add_argument('--extract', action='store_true', default=False, help='extract firmware image to *.bin')
+    parser.add_argument('firmware_file')
+    parser.add_argument('--set-file', type=str, default=None, help='replace parameter defaults from a file')
+    parser.add_argument('--set', type=str, default=None, help='replace one parameter default, in form NAME=VALUE')
+    parser.add_argument('--show', action='store_true', default=False, help='show current parameter defaults')
+    parser.add_argument('--extract', action='store_true', default=False, help='extract firmware image to *.bin')
 
-args = parser.parse_args()
+    args = parser.parse_args()
 
-defaults = embedded_defaults(args.firmware_file)
+    defaults = embedded_defaults(args.firmware_file)
 
-if not defaults.find():
-    print("Error: Param defaults support not found in firmware")
-    sys.exit(1)
+    if not defaults.find():
+        print("Error: Param defaults support not found in firmware")
+        sys.exit(1)
     
-print("Found param defaults max_length=%u length=%u" % (defaults.max_len, defaults.length))
+    print("Found param defaults max_length=%u length=%u" % (defaults.max_len, defaults.length))
 
-if args.set_file:
-    # load new defaults from a file
-    defaults.set_file(args.set_file)
-    defaults.save()
+    if args.set_file:
+        # load new defaults from a file
+        defaults.set_file(args.set_file)
+        defaults.save()
 
-if args.set:
-    # set a single parameter
-    defaults.set_one(args.set)
-    defaults.save()
+    if args.set:
+        # set a single parameter
+        defaults.set_one(args.set)
+        defaults.save()
 
-if args.show:
-    # show all defaults
-    print(defaults.contents())
+    if args.show:
+        # show all defaults
+        print(defaults.contents())
 
-if args.extract:
-    defaults.extract()
+    if args.extract:
+        defaults.extract()