forked from Archive/PX4-Autopilot
component_information: rework to reflect mavlink message changes
This commit is contained in:
Beat Küng
parent
0f29b87101
commit
6a7688cbca
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@ -110,8 +110,8 @@ pipeline {
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sh 'make distclean'
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sh 'make parameters_metadata'
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dir('build/px4_sitl_default/docs') {
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archiveArtifacts(artifacts: 'parameters.md, parameters.xml, params.json.xz')
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stash includes: 'parameters.md, parameters.xml, params.json.xz', name: 'metadata_parameters'
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archiveArtifacts(artifacts: 'parameters.md, parameters.xml, parameters.json.xz')
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stash includes: 'parameters.md, parameters.xml, parameters.json.xz', name: 'metadata_parameters'
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}
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}
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post {
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@ -342,7 +342,7 @@ pipeline {
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withAWS(credentials: 'px4_aws_s3_key', region: 'us-east-1') {
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s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'airframes.xml', path: 'Firmware/master/')
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s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.xml', path: 'Firmware/master/')
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s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'params.json.xz', path: 'Firmware/master/')
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s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.json.xz', path: 'Firmware/master/')
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}
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}
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when {
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@ -59,7 +59,7 @@ add_custom_target(metadata_parameters
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
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--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d`
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--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
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--json ${PX4_BINARY_DIR}/docs/params.json
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--json ${PX4_BINARY_DIR}/docs/parameters.json
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--compress
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
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@ -209,14 +209,14 @@ function(px4_add_board)
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set(config_romfs_extra_dependencies)
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foreach(metadata ${EMBEDDED_METADATA})
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if(${metadata} STREQUAL "parameters")
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list(APPEND romfs_extra_files ${PX4_BINARY_DIR}/params.json.xz)
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list(APPEND romfs_extra_files ${PX4_BINARY_DIR}/parameters.json.xz)
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list(APPEND romfs_extra_dependencies parameters_xml)
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else()
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message(FATAL_ERROR "invalid value for EMBEDDED_METADATA: ${metadata}")
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endif()
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endforeach()
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list(APPEND romfs_extra_files ${PX4_BINARY_DIR}/component_version.json.xz)
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list(APPEND romfs_extra_dependencies component_version_json)
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list(APPEND romfs_extra_files ${PX4_BINARY_DIR}/component_general.json.xz)
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list(APPEND romfs_extra_dependencies component_general_json)
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set(config_romfs_extra_files ${romfs_extra_files} CACHE INTERNAL "extra ROMFS files" FORCE)
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set(config_romfs_extra_dependencies ${romfs_extra_dependencies} CACHE INTERNAL "extra ROMFS deps" FORCE)
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@ -1 +1 @@
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Subproject commit 45eda11755c726fbff2a893b6e13e35dbd075a34
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Subproject commit 9b429ea239d7230d7f0329cfbec4a817162670ea
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@ -31,39 +31,55 @@
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#
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############################################################################
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set(component_version_extra_args)
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# types:
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# 0: COMP_METADATA_TYPE_GENERAL
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# 1: COMP_METADATA_TYPE_PARAMETER
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# 2: COMP_METADATA_TYPE_COMMANDS
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# 3: COMP_METADATA_TYPE_PERIPHERALS
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set(comp_metadata_types)
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# We disable parameter support if the metadata is not in the ROMFS. This can be
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# removed once it is stored on a server
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list(FIND config_romfs_extra_dependencies "parameters_xml" index)
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set(comp_metadata_board "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}")
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set(s3_url "https://px4-travis.s3.amazonaws.com")
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set(comp_metadata_param_uri_board "${s3_url}/Firmware/{version}/${comp_metadata_board}/parameters.json.xz")
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if (${index} EQUAL -1)
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set(component_version_extra_args "--no-parameters")
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set(comp_metadata_param_uri ${comp_metadata_param_uri_board})
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# use generic URL as fallback
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set(comp_metadata_param_uri_fallback "${s3_url}/Firmware/{version}/_general/parameters.json.xz")
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else()
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set(comp_metadata_param_uri "mftp://etc/extras/parameters.json.xz")
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set(comp_metadata_param_uri_fallback ${comp_metadata_param_uri_board})
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endif()
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# arguments: type, metadata file, uri, fallback uri, optional translation uri
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list(APPEND comp_metadata_types "--type" "1,${PX4_BINARY_DIR}/parameters.json.xz,${comp_metadata_param_uri},${comp_metadata_param_uri_fallback},")
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set(component_version_json ${PX4_BINARY_DIR}/component_version.json)
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add_custom_command(OUTPUT ${component_version_json} ${component_version_json}.xz
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COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_component_version.py
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${component_version_json}
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set(component_general_json ${PX4_BINARY_DIR}/component_general.json)
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add_custom_command(OUTPUT ${component_general_json} ${component_general_json}.xz
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COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_component_general.py
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${component_general_json}
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--compress
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${component_version_extra_args}
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${comp_metadata_types}
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--version-file ${PX4_BINARY_DIR}/src/lib/version/build_git_version.h
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DEPENDS
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generate_component_version.py
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COMMENT "Generating component_version.json"
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generate_component_general.py
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${PX4_BINARY_DIR}/parameters.json.xz
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parameters_xml
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ver_gen
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COMMENT "Generating component_general.json"
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)
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add_custom_target(component_version_json DEPENDS ${component_version_json})
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add_custom_target(component_general_json DEPENDS ${component_general_json})
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set(component_information_header ${CMAKE_CURRENT_BINARY_DIR}/hashes.h)
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set(component_information_header ${CMAKE_CURRENT_BINARY_DIR}/checksums.h)
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add_custom_command(OUTPUT ${component_information_header}
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COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_hashes.py
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${PX4_BINARY_DIR}/params.json.xz
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${component_version_json}
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COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_crc.py
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${component_general_json}
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--output ${component_information_header}
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DEPENDS
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generate_hashes.py
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parameters_xml
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${PX4_BINARY_DIR}/params.json.xz
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${component_version_json}
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COMMENT "Generating component_information/hashes.h"
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generate_crc.py
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${component_general_json}
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COMMENT "Generating component_information/checksums.h"
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)
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add_custom_target(component_information_header DEPENDS ${component_information_header})
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@ -0,0 +1,79 @@
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#!/usr/bin/env python
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import argparse
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import json
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import lzma #to create .xz file
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import re
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parser = argparse.ArgumentParser(description="""Generate the COMPONENT_GENERAL json file""")
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parser.add_argument('filename', metavar='component_general.json', help='JSON output file')
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parser.add_argument('--compress', action='store_true', help='Add a compressed output file')
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parser.add_argument('--type', metavar='type', action="append", default=[],
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help='Metadata type (<type>,<metadata file>,<uri>,<fallback uri>,[translation uri])')
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parser.add_argument('--version-file', metavar='build_git_version.h', help='Git version file')
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args = parser.parse_args()
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filename = args.filename
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compress = args.compress
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version_file = args.version_file
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version_dir = ''
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if version_file is not None:
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for line in open(version_file, "r"):
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version_search = re.search('PX4_GIT_TAG_OR_BRANCH_NAME\s+"(.+)"', line)
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if version_search:
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version_dir = version_search.group(1)
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break
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def save_compressed(filename):
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#create lzma compressed version
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xz_filename=filename+'.xz'
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with lzma.open(xz_filename, 'wt', preset=9) as f:
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with open(filename, 'r') as content_file:
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f.write(content_file.read())
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component_general = {}
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component_general['version'] = 1
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def create_table():
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a = []
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for i in range(256):
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k = i
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for j in range(8):
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if k & 1:
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k ^= 0x1db710640
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k >>= 1
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a.append(k)
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return a
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# MAVLink's CRC32
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def crc_update(buf, crc_table, crc):
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for k in buf:
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crc = (crc >> 8) ^ crc_table[(crc & 0xff) ^ k]
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return crc
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crc_table = create_table()
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metadata_types = []
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for metadata_type_tuple in args.type:
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type_id, metadata_file, uri, fallback_uri, translation_uri = metadata_type_tuple.split(',')
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file_crc = 0
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for line in open(metadata_file, "rb"):
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file_crc = crc_update(line, crc_table, file_crc)
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json_type = {
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'type': int(type_id),
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'uri': uri.replace('{version}', version_dir),
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'fileCrc': file_crc,
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'uriFallback': fallback_uri.replace('{version}', version_dir),
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}
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if len(translation_uri) > 0:
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json_type['translationUri'] = translation_uri
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metadata_types.append(json_type)
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component_general['metadataTypes'] = metadata_types
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with open(filename, 'w') as outfile:
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json.dump(component_general, outfile)
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if compress:
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save_compressed(filename)
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@ -1,37 +0,0 @@
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#!/usr/bin/env python
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import argparse
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import json
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import lzma #to create .xz file
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parser = argparse.ArgumentParser(description="""Generate the COMPONENT_VERSION json file""")
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parser.add_argument('filename', metavar='component_version.json', help='JSON output file')
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parser.add_argument('--compress', action='store_true', help='Add a compressed output file')
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parser.add_argument('--no-parameters', action='store_true', help='disable parameter support')
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args = parser.parse_args()
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filename = args.filename
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compress = args.compress
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def save_compressed(filename):
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#create lzma compressed version
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xz_filename=filename+'.xz'
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with lzma.open(xz_filename, 'wt', preset=9) as f:
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with open(filename, 'r') as content_file:
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f.write(content_file.read())
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component_version = {}
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component_version['version'] = 1
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# types:
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# 0: COMP_METADATA_TYPE_VERSION
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# 1: COMP_METADATA_TYPE_PARAMETER
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# 2: COMP_METADATA_TYPE_COMMANDS
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supported_types = [0]
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if not args.no_parameters: supported_types.append(1)
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component_version['supportedCompMetadataTypes'] = supported_types
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with open(filename, 'w') as outfile:
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json.dump(component_version, outfile)
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if compress:
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save_compressed(filename)
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@ -0,0 +1,48 @@
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#!/usr/bin/env python
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import argparse
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import os
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parser = argparse.ArgumentParser(description="""Generate the COMPONENT_INFORMATION checksums (CRC32) header file""")
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parser.add_argument('--output', metavar='checksums.h', help='output file')
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parser.add_argument('files', nargs='+', metavar='input_file.json', help='files to generate CRC from')
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args = parser.parse_args()
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filename = args.output
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files = args.files
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def create_table():
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a = []
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for i in range(256):
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k = i
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for j in range(8):
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if k & 1:
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k ^= 0x1db710640
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k >>= 1
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a.append(k)
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return a
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# MAVLink's CRC32
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def crc_update(buf, crc_table, crc):
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for k in buf:
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crc = (crc >> 8) ^ crc_table[(crc & 0xff) ^ k]
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return crc
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crc_table = create_table()
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with open(filename, 'w') as outfile:
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outfile.write("#include <stdint.h>\n")
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outfile.write("namespace component_information {\n")
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for filename in files:
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file_crc = 0
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for line in open(filename, "rb"):
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file_crc = crc_update(line, crc_table, file_crc)
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basename = os.path.basename(filename)
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identifier = basename.split('.')[0]
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outfile.write("static constexpr uint32_t {:}_crc = {:};\n".format(identifier, file_crc))
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outfile.write("}\n")
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@ -1,31 +0,0 @@
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#!/usr/bin/env python
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import argparse
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import zlib
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import os
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parser = argparse.ArgumentParser(description="""Generate the COMPONENT_INFORMATION hashes header file""")
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parser.add_argument('--output', metavar='hashes.h', help='output file')
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parser.add_argument('files', nargs='+', metavar='hashes.json', help='files to generate hashes from')
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args = parser.parse_args()
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filename = args.output
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files = args.files
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with open(filename, 'w') as outfile:
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outfile.write("#include <stdint.h>\n")
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outfile.write("namespace component_information {\n")
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for filename in files:
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# get CRC
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file_hash = 0
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for line in open(filename, "rb"):
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file_hash = zlib.crc32(line, file_hash)
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basename = os.path.basename(filename)
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identifier = basename.split('.')[0]
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outfile.write("static constexpr uint32_t {:}_hash = {:};\n".format(identifier, file_hash))
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outfile.write("}\n")
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@ -92,7 +92,7 @@ add_custom_command(OUTPUT ${generated_serial_params_file}
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)
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set(parameters_xml ${PX4_BINARY_DIR}/parameters.xml)
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set(parameters_json ${PX4_BINARY_DIR}/params.json) # file name needs to be kept short to fit into url (metadata_uri)
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set(parameters_json ${PX4_BINARY_DIR}/parameters.json)
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file(GLOB_RECURSE param_src_files ${PX4_SOURCE_DIR}/src/*params.c)
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add_custom_command(OUTPUT ${parameters_xml} ${parameters_json} ${parameters_json}.xz
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COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_process_params.py
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@ -8,7 +8,6 @@ class JsonOutput():
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def __init__(self, groups, board, inject_xml_file_name):
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all_json=dict()
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all_json['version']=1
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all_json['scope']="Firmware"
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all_params=[]
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all_json['parameters']=all_params
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@ -36,7 +36,7 @@
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#include "../mavlink_stream.h"
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#include <component_information/hashes.h>
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#include <component_information/checksums.h>
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#include <px4_platform_common/defines.h>
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@ -61,34 +61,17 @@ public:
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bool request_message(float param2, float param3, float param4,
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float param5, float param6, float param7) override
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{
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int type = (int)roundf(param2);
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mavlink_component_information_t component_info{};
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bool handled = false;
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PX4_DEBUG("COMPONENT_INFORMATION request type %i", type);
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PX4_DEBUG("COMPONENT_INFORMATION request");
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switch (type) {
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case COMP_METADATA_TYPE_VERSION:
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component_info.metadata_uid = component_information::component_version_hash;
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handled = get_component_information("component_version.json.xz", component_info);
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break;
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strncpy(component_info.general_metadata_uri, "mftp://etc/extras/component_general.json.xz",
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sizeof(component_info.general_metadata_uri) - 1);
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component_info.general_metadata_file_crc = component_information::component_general_crc;
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case COMP_METADATA_TYPE_PARAMETER:
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component_info.metadata_uid = component_information::params_hash;
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handled = get_component_information("params.json.xz", component_info);
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break;
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component_info.time_boot_ms = hrt_absolute_time() / 1000;
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mavlink_msg_component_information_send_struct(_mavlink->get_channel(), &component_info);
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case COMP_METADATA_TYPE_COMMANDS:
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// TODO
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break;
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}
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if (handled) {
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component_info.metadata_type = type;
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component_info.time_boot_ms = hrt_absolute_time() / 1000;
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mavlink_msg_component_information_send_struct(_mavlink->get_channel(), &component_info);
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}
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return handled;
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return true;
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}
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private:
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explicit MavlinkStreamComponentInformation(Mavlink *mavlink) : MavlinkStream(mavlink) {}
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@ -97,40 +80,6 @@ private:
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{
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return false;
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}
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bool get_component_information(const char *file, mavlink_component_information_t &component_info)
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{
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char full_path[64];
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snprintf(full_path, sizeof(full_path), "%s/etc/extras/%s", PX4_ROOTFSDIR, file);
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full_path[sizeof(full_path) - 1] = '\0';
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if (file_exist(full_path)) {
|
||||
if (snprintf(component_info.metadata_uri, sizeof(component_info.metadata_uri), "mftp://etc/extras/%s", file)
|
||||
>= (int)sizeof(component_info.metadata_uri)) {
|
||||
PX4_ERR("path too long (%s)", file);
|
||||
return false;
|
||||
}
|
||||
|
||||
} else {
|
||||
// TODO:
|
||||
// - check for tagged version, use per-version files
|
||||
// - generate & use board-specific file
|
||||
if (snprintf(component_info.metadata_uri, sizeof(component_info.metadata_uri),
|
||||
"https://px4-travis.s3.amazonaws.com/Firmware/master/%s", file)
|
||||
>= (int)sizeof(component_info.metadata_uri)) {
|
||||
PX4_ERR("url too long (%s)", file);
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool file_exist(const char *filename)
|
||||
{
|
||||
struct stat buffer;
|
||||
return stat(filename, &buffer) == 0;
|
||||
}
|
||||
};
|
||||
|
||||
#endif // COMPONENT_INFORMATION_HPP
|
||||
|
|
|
|||
Loading…
Reference in New Issue