diff --git a/Tools/ardupilotwaf/embed.py b/Tools/ardupilotwaf/embed.py index f6d39d7378..91821b6309 100755 --- a/Tools/ardupilotwaf/embed.py +++ b/Tools/ardupilotwaf/embed.py @@ -7,7 +7,7 @@ Andrew Tridgell May 2017 ''' -import os, sys, tempfile, gzip +import os, sys, zlib def write_encode(out, s): out.write(s.encode()) @@ -28,28 +28,24 @@ def embed_file(out, f, idx, embedded_name, uncompressed): contents += bytes([0xff]*pad) print("Padded %u bytes for %s to %u" % (pad, embedded_name, len(contents))) - crc = crc32(bytearray(contents)) + crc = crc32(contents) write_encode(out, '__EXTFLASHFUNC__ static const uint8_t ap_romfs_%u[] = {' % idx) - compressed = tempfile.NamedTemporaryFile() if uncompressed: # ensure nul termination if contents[-1] != 0: contents += bytes([0]) - compressed.write(contents) + b = 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() + # compress it (max level, max window size, raw stream, max mem usage) + z = zlib.compressobj(level=9, method=zlib.DEFLATED, wbits=-15, memLevel=9) + b = z.compress(contents) + b += z.flush() + # append uncompressed length as little-endian bytes + l = len(contents) + b += bytes([l & 0xFF, (l >> 8) & 0xFF, (l >> 16) & 0xFF, (l >> 24) & 0xFF]) - compressed.seek(0) - b = bytearray(compressed.read()) - compressed.close() - - for c in b: - write_encode(out, '%u,' % c) + write_encode(out, ",".join(str(c) for c in b)) write_encode(out, '};\n\n'); return crc diff --git a/libraries/AP_ROMFS/AP_ROMFS.cpp b/libraries/AP_ROMFS/AP_ROMFS.cpp index c56ce5e2db..a9db08d1b1 100644 --- a/libraries/AP_ROMFS/AP_ROMFS.cpp +++ b/libraries/AP_ROMFS/AP_ROMFS.cpp @@ -65,7 +65,7 @@ const uint8_t *AP_ROMFS::find_decompress(const char *name, uint32_t &size) size = compressed_size; return compressed_data; #else - // last 4 bytes of gzip file are length of decompressed data + // last 4 bytes of compressed data are length of decompressed data const uint8_t *p = &compressed_data[compressed_size-4]; uint32_t decompressed_size = p[0] | p[1] << 8 | p[2] << 16 | p[3] << 24; @@ -86,21 +86,10 @@ const uint8_t *AP_ROMFS::find_decompress(const char *name, uint32_t &size) d->source = compressed_data; d->source_limit = compressed_data + compressed_size - 4; - - // assume gzip format - int res = uzlib_gzip_parse_header(d); - if (res != TINF_OK) { - ::free(decompressed_data); - ::free(d); - return nullptr; - } - d->dest = decompressed_data; d->destSize = decompressed_size; - // we don't check CRC, as it just wastes flash space for constant - // ROMFS data - res = uzlib_uncompress(d); + int res = uzlib_uncompress(d); ::free(d); diff --git a/libraries/AP_ROMFS/tinfgzip.cpp b/libraries/AP_ROMFS/tinfgzip.cpp deleted file mode 100644 index f1afdd0b8d..0000000000 --- a/libraries/AP_ROMFS/tinfgzip.cpp +++ /dev/null @@ -1,110 +0,0 @@ -/* - * tinfgzip - tiny gzip decompressor - * - * Copyright (c) 2003 by Joergen Ibsen / Jibz - * All Rights Reserved - * - * http://www.ibsensoftware.com/ - * - * Copyright (c) 2014-2016 by Paul Sokolovsky - * - * This software is provided 'as-is', without any express - * or implied warranty. In no event will the authors be - * held liable for any damages arising from the use of - * this software. - * - * Permission is granted to anyone to use this software - * for any purpose, including commercial applications, - * and to alter it and redistribute it freely, subject to - * the following restrictions: - * - * 1. The origin of this software must not be - * misrepresented; you must not claim that you - * wrote the original software. If you use this - * software in a product, an acknowledgment in - * the product documentation would be appreciated - * but is not required. - * - * 2. Altered source versions must be plainly marked - * as such, and must not be misrepresented as - * being the original software. - * - * 3. This notice may not be removed or altered from - * any source distribution. - */ - -#include "tinf.h" - -#define FTEXT 1 -#define FHCRC 2 -#define FEXTRA 4 -#define FNAME 8 -#define FCOMMENT 16 - -void tinf_skip_bytes(TINF_DATA *d, int num); -uint16_t tinf_get_uint16(TINF_DATA *d); - -void tinf_skip_bytes(TINF_DATA *d, int num) -{ - while (num--) uzlib_get_byte(d); -} - -uint16_t tinf_get_uint16(TINF_DATA *d) -{ - unsigned int v = uzlib_get_byte(d); - v = (uzlib_get_byte(d) << 8) | v; - return v; -} - -int uzlib_gzip_parse_header(TINF_DATA *d) -{ - unsigned char flg; - - /* -- check format -- */ - - /* check id bytes */ - if (uzlib_get_byte(d) != 0x1f || uzlib_get_byte(d) != 0x8b) return TINF_DATA_ERROR; - - /* check method is deflate */ - if (uzlib_get_byte(d) != 8) return TINF_DATA_ERROR; - - /* get flag byte */ - flg = uzlib_get_byte(d); - - /* check that reserved bits are zero */ - if (flg & 0xe0) return TINF_DATA_ERROR; - - /* -- find start of compressed data -- */ - - /* skip rest of base header of 10 bytes */ - tinf_skip_bytes(d, 6); - - /* skip extra data if present */ - if (flg & FEXTRA) - { - unsigned int xlen = tinf_get_uint16(d); - tinf_skip_bytes(d, xlen); - } - - /* skip file name if present */ - if (flg & FNAME) { while (uzlib_get_byte(d)); } - - /* skip file comment if present */ - if (flg & FCOMMENT) { while (uzlib_get_byte(d)); } - - /* check header crc if present */ - if (flg & FHCRC) - { - /*unsigned int hcrc =*/ tinf_get_uint16(d); - - // TODO: Check! -// if (hcrc != (tinf_crc32(src, start - src) & 0x0000ffff)) -// return TINF_DATA_ERROR; - } - - /* initialize for crc32 checksum */ - d->checksum_type = TINF_CHKSUM_CRC; - d->checksum = ~0; - - return TINF_OK; -}