mirror of https://github.com/ArduPilot/ardupilot
443 lines
17 KiB
Python
Executable File
443 lines
17 KiB
Python
Executable File
#!/usr/bin/python
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from __future__ import print_function
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import sys
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import json
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import os
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import re
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import fnmatch
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FIRMWARE_TYPES = ["AntennaTracker", "Copter", "Plane", "Rover", "Sub"]
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RELEASE_TYPES = ["beta", "latest", "stable", "stable-*"]
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class Firmware():
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def __init__(self,
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date=None,
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platform=None,
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vehicletype=None,
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filepath=None,
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git_sha=None,
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frame=None):
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self.atts = dict()
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self.atts["date"] = date
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self.atts["platform"] = platform
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self.atts["vehicletype"] = vehicletype
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self.atts["filepath"] = filepath
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self.atts["git_sha"] = git_sha
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self.atts["frame"] = frame
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self.atts["release-type"] = None
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self.atts["firmware-version"] = None
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def __getitem__(self, what):
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return self.atts[what]
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def __setitem__(self, name, value):
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self.atts[name] = value
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class ManifestGenerator():
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'''Return a JSON string describing "binary" directory contents under
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basedir'''
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def __init__(self, basedir, baseurl):
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self.basedir = basedir
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self.baseurl = baseurl
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def frame_map(self, frame):
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'''translate from ArduPilot frame type terminology into mavlink
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terminology'''
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frame_to_mavlink_dict = {
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"quad": "QUADROTOR",
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"hexa": "HEXAROTOR",
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"y6": "ARDUPILOT_Y6",
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"tri": "TRICOPTER",
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"octa": "OCTOROTOR",
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"octa-quad": "ARDUPILOT_OCTAQUAD",
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"heli": "HELICOPTER",
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"Plane": "FIXED_WING",
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"AntennaTracker": "ANTENNA_TRACKER",
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"Rover": "GROUND_ROVER",
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"Sub": "SUBMARINE"
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}
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if frame in frame_to_mavlink_dict:
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return frame_to_mavlink_dict[frame]
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return frame
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def releasetype_map(self, releasetype):
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'''translate from ArduPilot release type terminology into mavlink
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terminology'''
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if releasetype == 'stable':
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return 'OFFICIAL'
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return releasetype.upper()
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def looks_like_binaries_directory(self, dir):
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'''returns True if dir looks like it is a build_binaries.py output
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directory'''
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for entry in os.listdir(dir):
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if entry in FIRMWARE_TYPES:
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return True
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return False
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def git_sha_from_git_version(self, filepath):
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'''parses get-version.txt (as emitted by build_binaries.py, returns
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git sha from it'''
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content = open(filepath).read()
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sha_regex = re.compile("commit (?P<sha>[0-9a-f]+)")
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m = sha_regex.search(content)
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if m is None:
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raise Exception(
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"filepath (%s) does not contain a git sha" % (filepath,))
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return m.group("sha")
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def add_USB_IDs_PX4(self, firmware):
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'''add USB IDs to a .px4 firmware'''
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url = firmware['url']
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suffix = url.split('-')[-1]
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if suffix == "v1.px4":
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firmware['USBID'] = ['0x26AC/0x0010']
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firmware['board_id'] = 5
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firmware['bootloader_str'] = ['PX4 BL FMU v1.x']
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elif suffix in ["v2.px4", "v3.px4"]:
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firmware['USBID'] = ['0x26AC/0x0011']
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firmware['board_id'] = 9
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firmware['bootloader_str'] = ['PX4 BL FMU v2.x']
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elif suffix == "v4.px4":
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firmware['USBID'] = ['0x26AC/0x0012']
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firmware['board_id'] = 11
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firmware['bootloader_str'] = ['PX4 BL FMU v4.x']
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elif suffix == "v4pro.px4":
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firmware['USBID'] = ['0x26AC/0x0013']
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firmware['board_id'] = 13
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firmware['bootloader_str'] = ['PX4 BL FMU v4.x PRO']
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def add_USB_IDs_ChibiOS(self, firmware):
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'''add USB IDs to a ChbiOS apj firmware'''
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url = firmware['url'][len(self.baseurl)+1:]
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apj_path = os.path.join(self.basedir, url)
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if not os.path.exists(apj_path):
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print("bad apj path %s" % apj_path, file=sys.stderr)
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return
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apj_json = json.load(open(apj_path, 'r'))
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if 'board_id' not in apj_json:
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print("no board_id in %s" % apj_path, file=sys.stderr)
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return
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if 'platform' not in firmware:
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print("no platform for %s" % apj_path, file=sys.stderr)
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return
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board_id = apj_json['board_id']
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platform = firmware['platform']
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# all ChibiOS builds can have platform as bootloader_str and board_id from
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# hwdef.dat
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firmware['board_id'] = board_id
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firmware['bootloader_str'] = [platform+"-BL"]
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# map of vendor specific USB IDs
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USBID_MAP = {
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'CubeBlack': ['0x2DAE/0x1011'],
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'CubeOrange': ['0x2DAE/0x1016'],
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'CubePurple': ['0x2DAE/0x1005'],
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'CubeYellow': ['0x2DAE/0x1002'],
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'Pixhawk4': ['0x3162/0x0047'],
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'PH4-mini': ['0x3162/0x0049'],
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'Pixhawk6': ['0x3162/0x004B'],
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'VRBrain-v51': ['0x27AC/0x1151'],
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'VRBrain-v52': ['0x27AC/0x1152'],
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'VRBrain-v54': ['0x27AC/0x1154'],
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'VRCore-v10': ['0x27AC/0x1910'],
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'VRUBrain-v51': ['0x27AC/0x1351']
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}
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if platform in USBID_MAP:
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firmware['USBID'] = USBID_MAP[platform]
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else:
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# all others use a single USB VID/PID
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firmware['USBID'] = ['0x0483/0x5740']
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if board_id == 50:
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# special case for FMUv5, they always get the px4 bootloader IDs as an option
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firmware['bootloader_str'].append('PX4 BL FMU v5.x')
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firmware['USBID'].append('0x26AC/0x0032')
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if board_id == 9:
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# special case for FMUv3, they always get the px4 bootloader IDs as an option
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firmware['bootloader_str'].append('PX4 BL FMU v2.x')
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firmware['USBID'].append('0x26AC/0x0011')
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if board_id == 11:
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# special case for FMUv4, they always get the px4 bootloader IDs as an option
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firmware['bootloader_str'].append('PX4 BL FMU v4.x')
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firmware['USBID'].append('0x26AC/0x0012')
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if board_id == 13:
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# special case for FMUv4pro, they always get the px4 bootloader IDs as an option
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firmware['bootloader_str'].append('PX4 BL FMU v4.x PRO')
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firmware['USBID'].append('0x26AC/0x0013')
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if board_id == 88:
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# special case for MindPX-v2 boards
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firmware['bootloader_str'].append('MindPX BL FMU v2.x')
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firmware['USBID'].append('0x26AC/0x0030')
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def add_USB_IDs(self, firmware):
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'''add USB IDs to a firmware'''
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fmt = firmware['format']
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if fmt == "px4":
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self.add_USB_IDs_PX4(firmware)
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return
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if fmt == "apj":
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self.add_USB_IDs_ChibiOS(firmware)
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return
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def add_firmware_data_from_dir(self,
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dir,
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firmware_data,
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vehicletype,
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releasetype="dev"):
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'''accumulate additional information about firmwares from directory'''
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platform_frame_regex = re.compile(
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"(?P<board>PX4|navio|pxf)(-(?P<frame>.+))?")
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variant_firmware_regex = re.compile("[^-]+-(?P<variant>v\d+)[.px4]")
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if not os.path.isdir(dir):
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return
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try:
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dlist = os.listdir(dir)
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except Exception:
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print("Error listing '%s'" % dir)
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return
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for platformdir in dlist:
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if platformdir.startswith("."):
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continue
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some_dir = os.path.join(dir, platformdir)
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if not os.path.isdir(some_dir):
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continue
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git_version_txt = os.path.join(some_dir, "git-version.txt")
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if not os.path.exists(git_version_txt):
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print("No file %s" % git_version_txt, file=sys.stderr)
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continue
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try:
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git_sha = self.git_sha_from_git_version(git_version_txt)
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except Exception as ex:
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print("Failed to parse %s" % git_version_txt, ex, file=sys.stderr)
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continue
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# we require a firmware-version.txt. These files have been added to
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# old builds that didn't have them
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firmware_version_file = os.path.join(some_dir,
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"firmware-version.txt")
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if not os.path.exists(firmware_version_file):
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print("Missing %s" % firmware_version_file, file=sys.stderr)
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continue
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try:
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firmware_version = open(firmware_version_file).read()
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firmware_version = firmware_version.strip()
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(version_numbers, release_type) = firmware_version.split("-")
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except ValueError:
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print("malformed firmware-version.txt at (%s)" % (firmware_version_file,), file=sys.stderr)
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continue
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except Exception as ex:
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print("bad file %s" % firmware_version_file, file=sys.stderr)
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# this exception is swallowed.... the current archive
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# is incomplete.
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continue
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m = platform_frame_regex.match(platformdir)
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if m is not None:
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# the model type (quad/tri) is
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# encoded in the platform name
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# (e.g. navio-octa)
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platform = m.group("board") # e.g. navio
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frame = m.group("frame") # e.g. octa
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if frame is None:
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frame = vehicletype
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else:
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frame = vehicletype # e.g. Plane
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platform = platformdir # e.g. apm2
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for file in os.listdir(some_dir):
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if file in ["git-version.txt", "firmware-version.txt", "files.html"]:
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continue
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if file.startswith("."):
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continue
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m = variant_firmware_regex.match(file)
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if m:
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# the platform variant is
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# encoded in the firmware filename
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# (e.g. the "v1" in
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# ArduCopter-v1.px4)
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variant = m.group("variant")
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file_platform = "-".join([platform, variant])
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else:
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file_platform = platform
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firmware_format = "".join(file.split(".")[-1:])
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firmware = Firmware()
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# translate from supplied "release type" into both a
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# "latest" flag and an actual release type. Also sort
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# out which filepath we should use:
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firmware["latest"] = 0
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if releasetype == "dev":
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if firmware["filepath"] is None:
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firmware["filepath"] = os.path.join(some_dir, file)
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if firmware["release-type"] is None:
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firmware["release-type"] = "dev"
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elif releasetype == "latest":
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firmware["latest"] = 1
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firmware["filepath"] = os.path.join(some_dir, file)
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if firmware["release-type"] is None:
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firmware["release-type"] = "dev"
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else:
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if (not firmware["latest"]):
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firmware["filepath"] = os.path.join(some_dir, file)
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firmware["release-type"] = releasetype
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firmware["platform"] = file_platform
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firmware["vehicletype"] = vehicletype
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firmware["git_sha"] = git_sha
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firmware["frame"] = frame
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firmware["timestamp"] = os.path.getctime(firmware["filepath"])
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firmware["format"] = firmware_format
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firmware["firmware-version"] = firmware_version
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firmware_data.append(firmware)
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def valid_release_type(self, tag):
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'''check for valid release type'''
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for r in RELEASE_TYPES:
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if fnmatch.fnmatch(tag, r):
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return True
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return False
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def parse_fw_version(self, version):
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(version_numbers, release_type) = version.split("-")
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(major, minor, patch) = version_numbers.split(".")
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return (major, minor, patch, version)
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def walk_directory(self, basedir):
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'''walks directory structure created by build_binaries, returns Python
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structure representing releases in that structure'''
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year_month_regex = re.compile("(?P<year>\d{4})-(?P<month>\d{2})")
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firmwares = []
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# used to listdir basedir here, but since this is also a web
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# document root, there's a lot of other stuff accumulated...
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vehicletypes = FIRMWARE_TYPES
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for vehicletype in vehicletypes:
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try:
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# the sort means we prefer 'stable' to 'stable-x.y.z' when they
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# both contain the same contents
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vdir = sorted(os.listdir(os.path.join(basedir, vehicletype)), reverse=True)
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except OSError as e:
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if e.errno == 2:
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continue
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for firstlevel in vdir:
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if firstlevel == "files.html" or firstlevel.startswith("."):
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# generated file which should be ignored
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continue
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# skip any non-directories (e.g. "files.html"):
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if year_month_regex.match(firstlevel):
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# this is a dated directory e.g. binaries/Copter/2016-02
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# we do not include dated directories in the manifest ATM:
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continue
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# assume this is a release directory such as
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# "beta", or the "latest" directory (treated as a
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# release and handled specially later)
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tag = firstlevel
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if not self.valid_release_type(tag):
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print("Unknown tag (%s) in directory (%s)" %
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(tag, os.path.join(vdir)), file=sys.stderr)
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continue
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tag_path = os.path.join(basedir, vehicletype, tag)
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if not os.path.isdir(tag_path):
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continue
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self.add_firmware_data_from_dir(tag_path,
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firmwares,
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vehicletype,
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releasetype=tag)
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# convert from ardupilot-naming conventions to common JSON format:
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firmware_json = []
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for firmware in firmwares:
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filepath = firmware["filepath"]
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# replace the base directory with the base URL
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urlifier = re.compile("^" + re.escape(basedir))
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url = re.sub(urlifier, self.baseurl, filepath)
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version_type = self.releasetype_map(firmware["release-type"])
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some_json = dict({
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"mav-autopilot": "ARDUPILOTMEGA",
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# "vehicletype": firmware["vehicletype"],
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"platform": firmware["platform"],
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"git-sha": firmware["git_sha"],
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"url": url,
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"mav-type": self.frame_map(firmware["frame"]),
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"mav-firmware-version-type": version_type,
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"latest": firmware["latest"],
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"format": firmware["format"],
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})
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if firmware["firmware-version"]:
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try:
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(major, minor, patch, release_type) = self.parse_fw_version(
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firmware["firmware-version"])
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except Exception:
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print("Badly formed firmware-version.txt %s" % firmware["firmware-version"], file=sys.stderr)
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continue
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some_json["mav-firmware-version"] = ".".join([major,
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minor,
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patch])
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some_json["mav-firmware-version-major"] = major
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some_json["mav-firmware-version-minor"] = minor
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some_json["mav-firmware-version-patch"] = patch
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self.add_USB_IDs(some_json)
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#print(some_json['url'])
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firmware_json.append(some_json)
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ret = {
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"format-version": "1.0.0", # semantic versioning
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"firmware": firmware_json
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}
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return ret
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def json(self):
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'''walk directory supplied in constructor, return json string'''
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if not self.looks_like_binaries_directory(self.basedir):
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print("Warning: this does not look like a binaries directory",
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file=sys.stderr)
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structure = self.walk_directory(self.basedir)
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return json.dumps(structure, indent=4)
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def usage():
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return '''Usage:
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generate-manifest.py basedir'''
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if __name__ == "__main__":
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import argparse
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parser = argparse.ArgumentParser(description='generate manifest.json')
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parser.add_argument('--outfile', type=str, default=None, help='output file, default stdout')
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parser.add_argument('--baseurl', type=str, default="http://firmware.ardupilot.org", help='base binaries directory')
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parser.add_argument('basedir', type=str, default="-", help='base binaries directory')
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args = parser.parse_args()
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generator = ManifestGenerator(args.basedir, args.baseurl)
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if args.outfile is None:
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print(generator.json())
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else:
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f = open(args.outfile, "w")
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f.write(generator.json())
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f.close()
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