px4-firmware/Tools/auterion/remote_update_fmu.sh

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#!/bin/bash
# Flash PX4 to a device running AuterionOS in the local network
if [ "$1" == "-h" ] || [ "$1" == "--help" ] || [ $# -lt 2 ]; then
echo "Usage: $0 -f <firmware.px4|.elf> [-c <configuration_dir>] -d <IP/Device> [-u <user>] [-p <ssh_port>] [--revert]"
exit 1
fi
ssh_port=22
ssh_user=root
while getopts ":f:c:d:p:u:r" opt; do
case ${opt} in
f )
if [ -n "$OPTARG" ]; then
firmware_file="$OPTARG"
else
echo "ERROR: -f requires a non-empty option argument."
exit 1
fi
;;
c )
if [ -f "$OPTARG/rc.autostart" ]; then
config_dir="$OPTARG"
else
echo "ERROR: -c configuration directory is empty or does not contain a valid rc.autostart"
exit 1
fi
;;
d )
if [ "$OPTARG" ]; then
device="$OPTARG"
else
echo "ERROR: -d requires a non-empty option argument."
exit 1
fi
;;
p )
if [[ "$OPTARG" =~ ^[0-9]+$ ]]; then
ssh_port="$OPTARG"
else
echo "ERROR: -p ssh_port must be a number."
exit 1
fi
;;
u )
if [ "$OPTARG" ]; then
ssh_user="$OPTARG"
else
echo "ERROR: -u requires a non-empty option argument."
exit 1
fi
;;
r )
revert=true
;;
esac
done
if [ -z "$device" ]; then
echo "Error: missing device"
exit 1
fi
target_dir=/shared_container_dir/fmu
target_file_name="update-dev.tar"
if [ "$revert" == true ]; then
# revert to the release version which was originally deployed
cmd="cp $target_dir/update.tar $target_dir/$target_file_name"
ssh -t -p $ssh_port $ssh_user@$device "$cmd"
else
# create custom update-dev.tar
tmp_dir="$(mktemp -d)"
config_path=""
firmware_path=""
if [ -d "$config_dir" ]; then
cp -r "$config_dir" "$tmp_dir/config"
config_path=config
fi
if [ -f "$firmware_file" ]; then
extension="${firmware_file##*.}"
cp "$firmware_file" "$tmp_dir/firmware.$extension"
if [ "$extension" == "elf" ]; then
# ensure the file is stripped to reduce file size
arm-none-eabi-strip "$tmp_dir/firmware.$extension"
fi
firmware_path="firmware.$extension"
fi
pushd "$tmp_dir" &>/dev/null
if [ -z $firmware_path ] && [ -z $config_path ]; then
exit 1
fi
tar_name="tar"
if [ -x "$(command -v gtar)" ]; then
# check if gnu-tar is installed on macOS and use that instead
tar_name="gtar"
fi
$tar_name -C "$tmp_dir" --sort=name --owner=root:0 --group=root:0 --mtime='2019-01-01 00:00:00' -cvf $target_file_name $firmware_path $config_path
# send it to the target to start flashing
scp -P $ssh_port "$target_file_name" $ssh_user@"$device":$target_dir
popd &>/dev/null
rm -rf "$tmp_dir"
fi
# grab status output for flashing progress
cmd="tail --follow=name $target_dir/update_status 2>/dev/null || true"
ssh -t -p $ssh_port $ssh_user@$device "$cmd"