mirror of https://github.com/ArduPilot/ardupilot
544 lines
22 KiB
Python
Executable File
544 lines
22 KiB
Python
Executable File
#!/usr/bin/env 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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import gen_stable
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import subprocess
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if sys.version_info[0] < 3:
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running_python3 = False
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else:
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running_python3 = True
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FIRMWARE_TYPES = ["AntennaTracker", "Copter", "Plane", "Rover", "Sub", "AP_Periph"]
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RELEASE_TYPES = ["beta", "latest", "stable", "stable-*", "dirty"]
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# mapping for board names to brand name and manufacturer
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brand_map = {
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'Pixhawk4' : ('Pixhawk 4', 'Holybro'),
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'Pix32v5' : ('Pix32 v5', 'Holybro'),
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'Durandal' : ('Durandal', 'Holybro'),
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'Durandal-bdshot' : ('Durandal', 'Holybro'),
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'PH4-mini' : ('Pixhawk 4 Mini', 'Holybro'),
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'KakuteF4' : ('KakuteF4', 'Holybro'),
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'KakuteF7' : ('KakuteF7', 'Holybro'),
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'KakuteF7Mini' : ('KakuteF7Mini', 'Holybro'),
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'KakuteF4Mini' : ('KakuteF4Mini', 'Holybro'),
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'CubeBlack' : ('CubeBlack', 'Hex/ProfiCNC'),
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'CubeYellow' : ('CubeYellow', 'Hex/ProfiCNC'),
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'CubeOrange' : ('CubeOrange', 'Hex/ProfiCNC'),
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'CubeOrange-bdshot' : ('CubeOrange', 'Hex/ProfiCNC'),
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'CubePurple' : ('CubePurple', 'Hex/ProfiCNC'),
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'CubeSolo' : ('CubeSolo', '3DR'),
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'CubeGreen-solo' : ('CubeGreen Solo', 'Hex/ProfiCNC'),
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'CUAVv5' : ('CUAVv5', 'CUAV'),
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'CUAVv5Nano' : ('CUAVv5 Nano', 'CUAV'),
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'CUAV-Nora' : ('CUAV Nora', 'CUAV'),
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'CUAV-X7' : ('CUAV X7', 'CUAV'),
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'CUAV-X7-bdshot' : ('CUAV X7', 'CUAV'),
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'DrotekP3Pro' : ('Pixhawk 3 Pro', 'Drotek'),
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'MambaF405v2' : ('Diatone Mamba F405 MK2', 'Diatone'),
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'MatekF405' : ('Matek F405', 'Matek'),
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'MatekF405-bdshot' : ('Matek F405', 'Matek'),
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'MatekF405-STD' : ('Matek F405 STD', 'Matek'),
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'MatekF405-Wing' : ('Matek F405 Wing', 'Matek'),
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'MatekH743' : ('Matek H743', 'Matek'),
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'MatekH743-bdshot' : ('Matek H743', 'Matek'),
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'mini-pix' : ('MiniPix', 'Radiolink'),
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'Pixhawk1' : ('Pixhawk1', 'mRobotics'),
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'Pixracer' : ('PixRacer', 'mRobotics'),
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'Pixracer-bdshot' : ('PixRacer', 'mRobotics'),
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'mRoX21' : ('mRo X2.1', 'mRobotics'),
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'mRoX21-777' : ('mRo X2.1-777', 'mRobotics'),
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'mRoPixracerPro' : ('mRo PixracerPro', 'mRobotics'),
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'mRoPixracerPro-bdshot' : ('mRo PixracerPro', 'mRobotics'),
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'mRoControlZeroOEMH7' : ('mRo ControlZero OEM H7', 'mRobotics'),
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'mRoNexus' : ('mRo Nexus', 'mRobotics'),
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'TBS-Colibri-F7' : ('Colibri F7', 'TBS'),
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'sparky2' : ('Sparky2', 'TauLabs'),
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'mindpx-v2' : ('MindPX V2', 'AirMind'),
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'OMNIBUSF7V2' : ('Omnibus F7 V2', 'Airbot'),
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'omnibusf4pro' : ('Omnibus F4 Pro', 'Airbot'),
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'omnibusf4pro-bdshot' : ('Omnibus F4 Pro', 'Airbot'),
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'omnibusf4v6' : ('Omnibus F4 V6', 'Airbot'),
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'OmnibusNanoV6' : ('Omnibus Nano V6', 'Airbot'),
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'OmnibusNanoV6-bdshot' : ('Omnibus Nano V6', 'Airbot'),
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'speedybeef4' : ('SpeedyBee F4', 'SpeedyBee'),
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'QioTekZealotF427' : ('ZealotF427', 'QioTek'),
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'BeastH7' : ('Beast H7 55A AIO', 'iFlight'),
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'BeastF7' : ('Beast F7 45A AIO', 'iFlight'),
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'MambaF405US-I2C' : ('Diatone Mamba Basic F405 MK3/MK3.5', 'Diatone'),
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"FlywooF745" : ('Flywoo Goku GN 745 AIO', 'Flywoo'),
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"FlywooF745Nano" : ('Flywoo Goku Hex F745', 'Flywoo'),
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}
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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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"deca": "DECAROTOR",
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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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"AP_Periph": "CAN_PERIPHERAL",
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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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'Durandal': ['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 'USBID' in apj_json:
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# newer APJ files have USBID in the json data
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firmware['USBID'] = [apj_json['USBID']]
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elif 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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if platform in brand_map:
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(brand_name, manufacturer) = brand_map[platform]
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firmware['brand_name'] = brand_name
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firmware['manufacturer'] = manufacturer
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# copy over some extra information if available
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extra_tags = [ 'image_size' ]
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for tag in extra_tags:
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if tag in apj_json:
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firmware[tag] = apj_json[tag]
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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 firmware_format_for_filepath(self, filepath):
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filename = os.path.basename(filepath)
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if "." in filename:
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return "".join(filename.split(".")[-1:])
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# no extension; ensure this is an elf:
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text = subprocess.check_output(["file", "-b", filepath])
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if running_python3:
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text = text.decode('ascii')
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if re.match("^ELF", text):
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return "ELF"
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print("Unknown file type (%s)" % filepath)
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print("Got: %s" % text)
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return "Unknown" # should raise an error somehow
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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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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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(_, _) = 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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# Directory names for heli builds end in -heli
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platform_frame_regex = re.compile("(?P<board>.+)(-(?P<frame>heli)$)")
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m = platform_frame_regex.match(platformdir)
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if m is not None:
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# This is a heli build
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platform = m.group("board") # e.g. navio
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frame = "heli"
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else:
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# Non-heli build
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frame = vehicletype # e.g. Plane
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platform = platformdir # e.g. apm2
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for filename in os.listdir(some_dir):
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if filename in ["git-version.txt", "firmware-version.txt", "files.html"]:
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continue
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if filename.startswith("."):
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continue
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m = variant_firmware_regex.match(filename)
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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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filepath = os.path.join(some_dir, filename)
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firmware_format = self.firmware_format_for_filepath(filepath)
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if firmware_format not in [ "ELF", "abin", "apj", "hex", "px4", "bin" ]:
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print("Unknown firmware format (%s)" % firmware_format)
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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"] = filepath
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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"] = filepath
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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"] = filepath
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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("."):
|
|
# generated file which should be ignored
|
|
continue
|
|
# skip any non-directories (e.g. "files.html"):
|
|
if year_month_regex.match(firstlevel):
|
|
# this is a dated directory e.g. binaries/Copter/2016-02
|
|
# we do not include dated directories in the manifest ATM:
|
|
continue
|
|
|
|
# assume this is a release directory such as
|
|
# "beta", or the "latest" directory (treated as a
|
|
# release and handled specially later)
|
|
tag = firstlevel
|
|
if not self.valid_release_type(tag):
|
|
print("Unknown tag (%s) in directory (%s)" %
|
|
(tag, os.path.join(vdir)), file=sys.stderr)
|
|
continue
|
|
tag_path = os.path.join(basedir, vehicletype, tag)
|
|
if not os.path.isdir(tag_path):
|
|
continue
|
|
self.add_firmware_data_from_dir(tag_path,
|
|
firmwares,
|
|
vehicletype,
|
|
releasetype=tag)
|
|
|
|
# convert from ardupilot-naming conventions to common JSON format:
|
|
firmware_json = []
|
|
for firmware in firmwares:
|
|
filepath = firmware["filepath"]
|
|
# replace the base directory with the base URL
|
|
urlifier = re.compile("^" + re.escape(basedir))
|
|
url = re.sub(urlifier, self.baseurl, filepath)
|
|
version_type = self.releasetype_map(firmware["release-type"])
|
|
some_json = dict({
|
|
"mav-autopilot": "ARDUPILOTMEGA",
|
|
"vehicletype": firmware["vehicletype"],
|
|
"platform": firmware["platform"],
|
|
"git-sha": firmware["git_sha"],
|
|
"url": url,
|
|
"mav-type": self.frame_map(firmware["frame"]),
|
|
"mav-firmware-version-type": version_type,
|
|
"latest": firmware["latest"],
|
|
"format": firmware["format"],
|
|
})
|
|
if firmware["firmware-version"]:
|
|
try:
|
|
(major, minor, patch, release_type) = self.parse_fw_version(
|
|
firmware["firmware-version"])
|
|
except Exception:
|
|
print("Badly formed firmware-version.txt %s" % firmware["firmware-version"], file=sys.stderr)
|
|
continue
|
|
some_json["mav-firmware-version"] = ".".join([major,
|
|
minor,
|
|
patch])
|
|
some_json["mav-firmware-version-major"] = major
|
|
some_json["mav-firmware-version-minor"] = minor
|
|
some_json["mav-firmware-version-patch"] = patch
|
|
|
|
self.add_USB_IDs(some_json)
|
|
|
|
#print(some_json['url'])
|
|
firmware_json.append(some_json)
|
|
|
|
ret = {
|
|
"format-version": "1.0.0", # semantic versioning
|
|
"firmware": firmware_json
|
|
}
|
|
|
|
return ret
|
|
|
|
def json(self):
|
|
'''walk directory supplied in constructor, return json string'''
|
|
if not self.looks_like_binaries_directory(self.basedir):
|
|
print("Warning: this does not look like a binaries directory",
|
|
file=sys.stderr)
|
|
|
|
structure = self.walk_directory(self.basedir)
|
|
return json.dumps(structure, indent=4, separators=(',', ': '))
|
|
|
|
|
|
def usage():
|
|
return '''Usage:
|
|
generate-manifest.py basedir'''
|
|
|
|
|
|
if __name__ == "__main__":
|
|
import argparse
|
|
parser = argparse.ArgumentParser(description='generate manifest.json')
|
|
|
|
parser.add_argument('--outfile', type=str, default=None, help='output file, default stdout')
|
|
parser.add_argument('--baseurl', type=str, default="https://firmware.ardupilot.org", help='base binaries directory')
|
|
parser.add_argument('basedir', type=str, default="-", help='base binaries directory')
|
|
|
|
args = parser.parse_args()
|
|
|
|
# ensure all stable directories are created
|
|
gen_stable.make_all_stable(args.basedir)
|
|
|
|
generator = ManifestGenerator(args.basedir, args.baseurl)
|
|
if args.outfile is None:
|
|
print(generator.json())
|
|
else:
|
|
f = open(args.outfile, "w")
|
|
content = generator.json()
|
|
if running_python3:
|
|
content = bytes(content, 'ascii')
|
|
f.write(content)
|
|
f.close()
|