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