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Merge pull request #3242 from PX4/master_uavcan_travis 

Move uavcan bin files to ROMFS based on naming convention
This commit is contained in:
Lorenz Meier 2015-12-05 15:51:21 +01:00
parent 4b9cad7129 90ba24b1c8
commit 0b14266eff
4 changed files with 59 additions and 22 deletions
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3
.travis.yml
View File

@ -102,9 +102,8 @@ script:
- echo 'Building UAVCAN node firmware..' && git clone https://github.com/thiemar/vectorcontrol
- cd vectorcontrol
- BOARD=s2740vc_1_0 make && BOARD=px4esc_1_6 make
- ../Tools/uavcan_copy.sh
- cd ..
- mkdir -p ROMFS/px4fmu_common/uavcan/fw/com.thiemar.s2740vc-v1/1.0/
- mkdir -p ROMFS/px4fmu_common/uavcan/fw/org.pixhawk.px4esc-v1/1.0/
- echo 'Building NuttX px4fmu-v1 Firmware..' && make px4fmu-v1_default
- echo 'Building NuttX px4fmu-v2 Firmware..' && make px4fmu-v2_default
- echo 'Building NuttX px4fmu-v4 Firmware..' && make px4fmu-v4_default

34
Tools/uavcan_copy.sh Executable file
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@ -0,0 +1,34 @@
#!/bin/bash
UAVCANFW=../ROMFS/px4fmu_common/uavcan/fw
ROMFS_REFIX=_
echo Removing : $UAVCANFW
rm -fr $UAVCANFW
for f in $(find firmware -type f -name "*.*.bin")
do
UAVCAN_NAME=$(echo $f | cut -d"/" -f2 | cut -d. -f1-4 | cut -d- -f1-2)
UAVCAN_HW=$(echo $f cut -d/ -f2 | cut -d. -f1-4 | cut -d- -f3)
DST=${ROMFS_REFIX}$(echo $f | cut -d. -f3-7 | cut -d- -f1,2,3).$(echo $f | cut -d. -f6,7)
# deal with legacy non conforming naming
if [[ ${DST:(-7)} == bin.bin ]]
then
echo " WARNING: Improper name format!!!!!!!!! $f see should be <uavcan_name>-<HW_MAJOR>.<HW_MINOR)-<HW_MAJOR>.<HW_MINOR).<git hash[8]>.bin"
DST=${DST%????}
fi
echo Processing file: $f Length:${#DST}
if [ ${#DST} -le 28 ]
then
if [ -d "${UAVCANFW}/${UAVCAN_NAME}/${UAVCAN_HW}" ]
then
echo " ERROR: name colision directory ${UAVCANFW}/${UAVCAN_NAME}/${UAVCAN_HW} exits!"
exit 2
fi
echo " Creating Directory ${UAVCANFW}/${UAVCAN_NAME}/${UAVCAN_HW}"
mkdir -p ${UAVCANFW}/${UAVCAN_NAME}/${UAVCAN_HW}
echo " Copying $f to ${UAVCANFW}/${UAVCAN_NAME}/${UAVCAN_HW}/${DST}"
cp $f ${UAVCANFW}/${UAVCAN_NAME}/${UAVCAN_HW}/${DST}
else
echo " ERROR: $DST is ${#DST} charaters and needs to be less than or equal to 28"
exit 1
fi
done
exit 0

42
src/modules/uavcan/uavcan_servers.cpp
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@ -886,16 +886,19 @@ void UavcanServers::unpackFwFromROMFS(const char* sd_path, const char* romfs_pat
/fs/microsd/fw
- /c
- - /1a2b3c4d.bin cache file (copy of /fs/microsd/fw/org.pixhawk.nodename-v1/1.1/1a2b3c4d.bin)
- /org.pixhawk.nodename-v1 device directory for org.pixhawk.nodename-v1
- - /1.0 version directory for hardware 1.0
- - /1.1 version directory for hardware 1.1
- - - /1a2b3c4d.bin firmware file for org.pixhawk.nodename-v1 nodes, hardware version 1.1
- /com.example.othernode-v3 device directory for com.example.othernode-v3
- - /1.0 version directory for hardawre 1.0
- - - /deadbeef.bin firmware file for com.example.othernode-v3, hardware version 1.0
- /nodename-v1-1.0.25d0137d.bin cache file (copy of /fs/microsd/fw/org.pixhawk.nodename-v1/1.1/nodename-v1-1.0.25d0137d.bin)
- /othernode-v3-1.6.25d0137d.bin cache file (copy of /fs/microsd/fw/com.example.othernode-v3/1.6/othernode-v3-1.6.25d0137d.bin)
- /org.pixhawk.nodename-v1 device directory for org.pixhawk.nodename-v1
- - /1.0 version directory for hardware 1.0
- - /1.1 version directory for hardware 1.1
- - - /nodename-v1-1.0.25d0137d.bin firmware file for org.pixhawk.nodename-v1 nodes, hardware version 1.1
- /com.example.othernode-v3 device directory for com.example.othernode-v3
- - /1.0 version directory for hardawre 1.0
- - - /othernode-v3-1.6.25d0137d.bin firmware file for com.example.othernode-v3, hardware version 1.6
The ROMFS directory structure is the same, but located at /etc/uavcan/fw
Files located there are prefixed with _ to identify them a comming from the rom
file system.
We iterate over all device directories in the ROMFS base directory, and create
corresponding device directories on the SD card if they don't already exist.
@ -903,9 +906,12 @@ void UavcanServers::unpackFwFromROMFS(const char* sd_path, const char* romfs_pat
In each device directory, we iterate over each version directory and create a
corresponding version directory on the SD card if it doesn't already exist.
In each version directory, we remove any files with a name starting with "romfs_"
In each version directory, we remove any files with a name starting with "_"
in the corresponding directory on the SD card that don't match the bundled firmware
filename; if the directory is empty after that process, we copy the bundled firmware.
todo:This code would benefit from the use of strcat.
*/
const size_t maxlen = UAVCAN_MAX_PATH_LENGTH;
const size_t sd_path_len = strlen(sd_path);
@ -1037,7 +1043,7 @@ void UavcanServers::unpackFwFromROMFS(const char* sd_path, const char* romfs_pat
continue;
}
if (!memcmp(&fw_dirent->d_name[sizeof(UAVCAN_ROMFS_FW_PREFIX) - 1], src_fw_dirent->d_name, fw_len)) {
if (!memcmp(&fw_dirent->d_name, src_fw_dirent->d_name, fw_len)) {
/*
* Exact match between SD card filename and ROMFS filename; must be the same version
* so don't bother deleting and rewriting it.
@ -1045,17 +1051,16 @@ void UavcanServers::unpackFwFromROMFS(const char* sd_path, const char* romfs_pat
copy_fw = false;
} else if (!memcmp(fw_dirent->d_name, UAVCAN_ROMFS_FW_PREFIX, sizeof(UAVCAN_ROMFS_FW_PREFIX) - 1)) {
size_t fw_len = strlen(fw_dirent->d_name);
size_t dstpath_fw_len = dstpath_ver_len + sizeof(UAVCAN_ROMFS_FW_PREFIX) + fw_len;
size_t dstpath_fw_len = dstpath_ver_len + fw_len;
if (dstpath_fw_len > maxlen) {
// sizeof(prefix) includes trailing NUL, cancelling out the +1 for the path separator
warnx("unlink: path '%s/%s%s' too long", dstpath, UAVCAN_ROMFS_FW_PREFIX, fw_dirent->d_name);
warnx("unlink: path '%s/%s' too long", dstpath, fw_dirent->d_name);
} else {
// File name starts with "romfs_", delete it.
// File name starts with "_", delete it.
dstpath[dstpath_ver_len] = '/';
memcpy(&dstpath[dstpath_ver_len + 1], fw_dirent->d_name, fw_len + 1);
unlink(dstpath);
warnx("unlink: removed '%s/%s%s'", dstpath, UAVCAN_ROMFS_FW_PREFIX, fw_dirent->d_name);
warnx("unlink: removed '%s'", dstpath);
}
} else {
// User file, don't copy firmware
@ -1068,20 +1073,19 @@ void UavcanServers::unpackFwFromROMFS(const char* sd_path, const char* romfs_pat
// If we need to, copy the file from ROMFS to the SD card
if (copy_fw) {
size_t srcpath_fw_len = srcpath_ver_len + 1 + fw_len;
size_t dstpath_fw_len = dstpath_ver_len + sizeof(UAVCAN_ROMFS_FW_PREFIX) + fw_len;
size_t dstpath_fw_len = dstpath_ver_len + fw_len;
if (srcpath_fw_len > maxlen) {
warnx("copy: srcpath '%s/%s' too long", srcpath, src_fw_dirent->d_name);
} else if (dstpath_fw_len > maxlen) {
warnx("copy: dstpath '%s/%s%s' too long", dstpath, UAVCAN_ROMFS_FW_PREFIX, src_fw_dirent->d_name);
warnx("copy: dstpath '%s/%s' too long", dstpath, src_fw_dirent->d_name);
} else {
// All OK, make the paths and copy the file
srcpath[srcpath_ver_len] = '/';
memcpy(&srcpath[srcpath_ver_len + 1], src_fw_dirent->d_name, fw_len + 1);
dstpath[dstpath_ver_len] = '/';
memcpy(&dstpath[dstpath_ver_len + 1], UAVCAN_ROMFS_FW_PREFIX, sizeof(UAVCAN_ROMFS_FW_PREFIX));
memcpy(&dstpath[dstpath_ver_len + sizeof(UAVCAN_ROMFS_FW_PREFIX)], src_fw_dirent->d_name, fw_len + 1);
memcpy(&dstpath[dstpath_ver_len +1], src_fw_dirent->d_name, fw_len + 1);
rv = copyFw(dstpath, srcpath);
if (rv != 0) {

2
src/modules/uavcan/uavcan_servers.hpp
View File

@ -70,7 +70,7 @@
#define UAVCAN_NODE_DB_PATH "/fs/microsd/uavcan.db"
#define UAVCAN_FIRMWARE_PATH "/fs/microsd/fw"
#define UAVCAN_ROMFS_FW_PATH "/etc/uavcan/fw"
#define UAVCAN_ROMFS_FW_PREFIX "romfs_"
#define UAVCAN_ROMFS_FW_PREFIX "_"
#define UAVCAN_MAX_PATH_LENGTH (128 + 40)
#define UAVCAN_LOG_FILE UAVCAN_NODE_DB_PATH"/trace.log"