diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro index 67da3fd..5dbf682 100644 --- a/qgroundcontrol.pro +++ b/qgroundcontrol.pro @@ -599,6 +599,7 @@ HEADERS += \ src/Settings/AppSettings.h \ src/Settings/AutoConnectSettings.h \ src/Settings/BrandImageSettings.h \ + src/Settings/FirmwareUpgradeSettings.h \ src/Settings/FlightMapSettings.h \ src/Settings/FlyViewSettings.h \ src/Settings/OfflineMapsSettings.h \ @@ -803,6 +804,7 @@ SOURCES += \ src/Settings/AppSettings.cc \ src/Settings/AutoConnectSettings.cc \ src/Settings/BrandImageSettings.cc \ + src/Settings/FirmwareUpgradeSettings.cc \ src/Settings/FlightMapSettings.cc \ src/Settings/FlyViewSettings.cc \ src/Settings/OfflineMapsSettings.cc \ diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc index 4e1ff77..a203b16 100644 --- a/qgroundcontrol.qrc +++ b/qgroundcontrol.qrc @@ -224,6 +224,7 @@ src/Settings/AutoConnect.SettingsGroup.json src/Settings/BrandImage.SettingsGroup.json src/MissionManager/CameraSection.FactMetaData.json + src/Settings/FirmwareUpgrade.SettingsGroup.json src/Settings/FlightMap.SettingsGroup.json src/MissionManager/FWLandingPattern.FactMetaData.json src/Settings/FlyView.SettingsGroup.json diff --git a/src/Settings/FirmwareUpgrade.SettingsGroup.json b/src/Settings/FirmwareUpgrade.SettingsGroup.json new file mode 100644 index 0000000..97711ac --- /dev/null +++ b/src/Settings/FirmwareUpgrade.SettingsGroup.json @@ -0,0 +1,22 @@ +[ +{ + "name": "defaultFirmwareType", + "shortDescription": "Default firmware type for flashing", + "type": "uint32", + "defaultValue": 12 +}, +{ + "name": "apmChibiOS", + "type": "uint32", + "enumStrings": "ChibiOS,NuttX", + "enumValues": "0,1", + "defaultValue": 0 +}, +{ + "name": "apmVehicleType", + "type": "uint32", + "enumStrings": "Multi-Rotor,Helicopter,Plane,Rover,Sub", + "enumValues": "0,1,2,3,4", + "defaultValue": 0 +} +] diff --git a/src/Settings/FirmwareUpgradeSettings.cc b/src/Settings/FirmwareUpgradeSettings.cc new file mode 100644 index 0000000..0adab2b --- /dev/null +++ b/src/Settings/FirmwareUpgradeSettings.cc @@ -0,0 +1,22 @@ +/**************************************************************************** + * + * (c) 2009-2016 QGROUNDCONTROL PROJECT + * + * QGroundControl is licensed according to the terms in the file + * COPYING.md in the root of the source code directory. + * + ****************************************************************************/ + +#include "FirmwareUpgradeSettings.h" + +#include +#include + +DECLARE_SETTINGGROUP(FirmwareUpgrade, "FirmwareUpgrade") +{ + qmlRegisterUncreatableType("QGroundControl.SettingsManager", 1, 0, "FirmwareUpgradeSettings", "Reference only"); +} + +DECLARE_SETTINGSFACT(FirmwareUpgradeSettings, defaultFirmwareType) +DECLARE_SETTINGSFACT(FirmwareUpgradeSettings, apmChibiOS) +DECLARE_SETTINGSFACT(FirmwareUpgradeSettings, apmVehicleType) diff --git a/src/Settings/FirmwareUpgradeSettings.h b/src/Settings/FirmwareUpgradeSettings.h new file mode 100644 index 0000000..5e7fe17 --- /dev/null +++ b/src/Settings/FirmwareUpgradeSettings.h @@ -0,0 +1,26 @@ +/**************************************************************************** + * + * (c) 2009-2016 QGROUNDCONTROL PROJECT + * + * QGroundControl is licensed according to the terms in the file + * COPYING.md in the root of the source code directory. + * + ****************************************************************************/ +#pragma once + +#include "SettingsGroup.h" +#include "QGCMAVLink.h" + +class FirmwareUpgradeSettings : public SettingsGroup +{ + Q_OBJECT + +public: + FirmwareUpgradeSettings(QObject* parent = nullptr); + + DEFINE_SETTING_NAME_GROUP() + + DEFINE_SETTINGFACT(defaultFirmwareType) + DEFINE_SETTINGFACT(apmChibiOS) + DEFINE_SETTINGFACT(apmVehicleType) +}; diff --git a/src/Settings/SettingsManager.cc b/src/Settings/SettingsManager.cc index 963e1bf..4b6968f 100644 --- a/src/Settings/SettingsManager.cc +++ b/src/Settings/SettingsManager.cc @@ -27,6 +27,7 @@ SettingsManager::SettingsManager(QGCApplication* app, QGCToolbox* toolbox) , _planViewSettings (nullptr) , _brandImageSettings (nullptr) , _offlineMapsSettings (nullptr) + , _firmwareUpgradeSettings (nullptr) #if !defined(NO_ARDUPILOT_DIALECT) , _apmMavlinkStreamRateSettings (nullptr) #endif @@ -40,20 +41,21 @@ void SettingsManager::setToolbox(QGCToolbox *toolbox) QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership); qmlRegisterUncreatableType("QGroundControl.SettingsManager", 1, 0, "SettingsManager", "Reference only"); - _unitsSettings = new UnitsSettings (this); // Must be first since AppSettings references it - _appSettings = new AppSettings (this); - _autoConnectSettings = new AutoConnectSettings (this); - _videoSettings = new VideoSettings (this); - _flightMapSettings = new FlightMapSettings (this); - _rtkSettings = new RTKSettings (this); - _flyViewSettings = new FlyViewSettings (this); - _planViewSettings = new PlanViewSettings (this); - _brandImageSettings = new BrandImageSettings (this); - _offlineMapsSettings = new OfflineMapsSettings (this); + _unitsSettings = new UnitsSettings (this); // Must be first since AppSettings references it + _appSettings = new AppSettings (this); + _autoConnectSettings = new AutoConnectSettings (this); + _videoSettings = new VideoSettings (this); + _flightMapSettings = new FlightMapSettings (this); + _rtkSettings = new RTKSettings (this); + _flyViewSettings = new FlyViewSettings (this); + _planViewSettings = new PlanViewSettings (this); + _brandImageSettings = new BrandImageSettings (this); + _offlineMapsSettings = new OfflineMapsSettings (this); + _firmwareUpgradeSettings = new FirmwareUpgradeSettings (this); #if !defined(NO_ARDUPILOT_DIALECT) - _apmMavlinkStreamRateSettings = new APMMavlinkStreamRateSettings (this); + _apmMavlinkStreamRateSettings = new APMMavlinkStreamRateSettings(this); #endif #if defined(QGC_AIRMAP_ENABLED) - _airMapSettings = new AirMapSettings (this); + _airMapSettings = new AirMapSettings (this); #endif } diff --git a/src/Settings/SettingsManager.h b/src/Settings/SettingsManager.h index 141730f..6c3f867 100644 --- a/src/Settings/SettingsManager.h +++ b/src/Settings/SettingsManager.h @@ -25,6 +25,7 @@ #include "BrandImageSettings.h" #include "OfflineMapsSettings.h" #include "APMMavlinkStreamRateSettings.h" +#include "FirmwareUpgradeSettings.h" #if defined(QGC_AIRMAP_ENABLED) #include "AirMapSettings.h" #endif @@ -50,7 +51,8 @@ public: Q_PROPERTY(QObject* flyViewSettings READ flyViewSettings CONSTANT) Q_PROPERTY(QObject* planViewSettings READ planViewSettings CONSTANT) Q_PROPERTY(QObject* brandImageSettings READ brandImageSettings CONSTANT) - Q_PROPERTY(QObject* offlineMapsSettings READ offlineMapsSettings CONSTANT) + Q_PROPERTY(QObject* offlineMapsSettings READ offlineMapsSettings CONSTANT) + Q_PROPERTY(QObject* firmwareUpgradeSettings READ firmwareUpgradeSettings CONSTANT) #if !defined(NO_ARDUPILOT_DIALECT) Q_PROPERTY(QObject* apmMavlinkStreamRateSettings READ apmMavlinkStreamRateSettings CONSTANT) #endif @@ -70,6 +72,7 @@ public: PlanViewSettings* planViewSettings (void) { return _planViewSettings; } BrandImageSettings* brandImageSettings (void) { return _brandImageSettings; } OfflineMapsSettings* offlineMapsSettings (void) { return _offlineMapsSettings; } + FirmwareUpgradeSettings* firmwareUpgradeSettings (void) { return _firmwareUpgradeSettings; } #if !defined(NO_ARDUPILOT_DIALECT) APMMavlinkStreamRateSettings* apmMavlinkStreamRateSettings(void) { return _apmMavlinkStreamRateSettings; } #endif @@ -87,6 +90,7 @@ private: PlanViewSettings* _planViewSettings; BrandImageSettings* _brandImageSettings; OfflineMapsSettings* _offlineMapsSettings; + FirmwareUpgradeSettings* _firmwareUpgradeSettings; #if !defined(NO_ARDUPILOT_DIALECT) APMMavlinkStreamRateSettings* _apmMavlinkStreamRateSettings; #endif diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc index 099b02c..8ee1190 100644 --- a/src/Vehicle/Vehicle.cc +++ b/src/Vehicle/Vehicle.cc @@ -3334,6 +3334,10 @@ void Vehicle::_handleCommandAck(mavlink_message_t& message) //_startPlanRequest(); } + if (ack.command == MAV_CMD_FLASH_BOOTLOADER && ack.result == MAV_RESULT_ACCEPTED) { + qgcApp()->showMessage(tr("Bootloader flash succeeded")); + } + if (_mavCommandQueue.count() && ack.command == _mavCommandQueue[0].command) { _mavCommandAckTimer.stop(); showError = _mavCommandQueue[0].showError; diff --git a/src/VehicleSetup/FirmwareUpgrade.qml b/src/VehicleSetup/FirmwareUpgrade.qml index 113506a..74bef1e 100644 --- a/src/VehicleSetup/FirmwareUpgrade.qml +++ b/src/VehicleSetup/FirmwareUpgrade.qml @@ -60,8 +60,9 @@ SetupPage { readonly property int _defaultFimwareTypePX4: 12 readonly property int _defaultFimwareTypeAPM: 3 - property var _defaultFirmwareFact: QGroundControl.settingsManager.appSettings.defaultFirmwareType - property bool _defaultFirmwareIsPX4: true + property var _firmwareUpgradeSettings: QGroundControl.settingsManager.firmwareUpgradeSettings + property var _defaultFirmwareFact: _firmwareUpgradeSettings.defaultFirmwareType + property bool _defaultFirmwareIsPX4: true property string firmwareWarningMessage property bool controllerCompleted: false @@ -76,6 +77,17 @@ SetupPage { controller.cancel() } + function firmwareVersionChanged(model) { + firmwareVersionWarningLabel.visible = false + // All of this bizarre, setting model to null and index to 1 and then to 0 is to work around + // strangeness in the combo box implementation. This sequence of steps correctly changes the combo model + // without generating any warnings and correctly updates the combo text with the new selection. + firmwareBuildTypeCombo.model = null + firmwareBuildTypeCombo.model = model + firmwareBuildTypeCombo.currentIndex = 1 + firmwareBuildTypeCombo.currentIndex = 0 + } + QGCPalette { id: qgcPal; colorGroupEnabled: true } FirmwareUpgradeController { @@ -155,7 +167,7 @@ SetupPage { function updatePX4VersionDisplay() { var versionString = "" if (_advanced.checked) { - switch (controller.selectedFirmwareType) { + switch (controller.selectedFirmwareBuildType) { case FirmwareUpgradeController.StableFirmware: versionString = controller.px4StableVersion break @@ -166,8 +178,8 @@ SetupPage { } else { versionString = controller.px4StableVersion } - px4FlightStackRadio1.text = qsTr("PX4 Flight Stack ") + versionString - px4FlightStackRadio2.text = qsTr("PX4 Flight Stack ") + versionString + px4FlightStackRadio.text = qsTr("PX4 Pro ") + versionString + //px4FlightStackRadio2.text = qsTr("PX4 Pro ") + versionString } Component.onCompleted: { @@ -177,12 +189,11 @@ SetupPage { } function accept() { - hideDialog() if (_singleFirmwareMode) { - controller.flashSingleFirmwareMode(controller.selectedFirmwareType) + controller.flashSingleFirmwareMode(controller.selectedFirmwareBuildType) } else { var stack - var firmwareType = firmwareVersionCombo.model.get(firmwareVersionCombo.currentIndex).firmwareType + var firmwareBuildType = firmwareBuildTypeCombo.model.get(firmwareBuildTypeCombo.currentIndex).firmwareType var vehicleType = FirmwareUpgradeController.DefaultVehicleFirmware if (px4Flow) { @@ -191,11 +202,25 @@ SetupPage { } else { stack = apmFlightStack.checked ? FirmwareUpgradeController.AutoPilotStackAPM : FirmwareUpgradeController.AutoPilotStackPX4 if (apmFlightStack.checked) { - vehicleType = controller.vehicleTypeFromVersionIndex(vehicleTypeSelectionCombo.currentIndex) + if (firmwareBuildType === FirmwareUpgradeController.CustomFirmware) { + vehicleType = apmVehicleTypeCombo.currentIndex + } else { + if (controller.apmFirmwareNames.length === 0) { + // Not ready yet, or no firmware available + return + } + var firmwareUrl = controller.apmFirmwareUrls[ardupilotFirmwareSelectionCombo.currentIndex] + if (firmwareUrl == "") { + return + } + controller.flashFirmwareUrl(controller.apmFirmwareUrls[ardupilotFirmwareSelectionCombo.currentIndex]) + hideDialog() + return + } } } - - controller.flash(stack, firmwareType, vehicleType) + controller.flash(stack, firmwareBuildType, vehicleType) + hideDialog() } } @@ -215,7 +240,7 @@ SetupPage { } ListModel { - id: firmwareTypeList + id: firmwareBuildTypeList ListElement { text: qsTr("Standard Version (stable)") @@ -288,66 +313,85 @@ SetupPage { readonly property string _singleFirmwareLabel: qsTr("Press Ok to upgrade your vehicle.") } - function firmwareVersionChanged(model) { - firmwareVersionWarningLabel.visible = false - // All of this bizarre, setting model to null and index to 1 and then to 0 is to work around - // strangeness in the combo box implementation. This sequence of steps correctly changes the combo model - // without generating any warnings and correctly updates the combo text with the new selection. - firmwareVersionCombo.model = null - firmwareVersionCombo.model = model - firmwareVersionCombo.currentIndex = 1 - firmwareVersionCombo.currentIndex = 0 - } + QGCLabel { text: qsTr("Flight Stack") } + + RowLayout { + spacing: _margins + layoutDirection: px4FlightStackRadio.checked ? Qt.LeftToRight : Qt.RightToLeft - // The following craziness of three radio buttons to represent two radio buttons is so that the - // order can be changed such that the default firmware button is always on the top + // The following craziness of three radio buttons to represent two radio buttons is so that the + // order can be changed such that the default firmware button is always on the top - QGCRadioButton { - id: px4FlightStackRadio1 - exclusiveGroup: _defaultFirmwareIsPX4 ? firmwareGroup : null - text: qsTr("PX4 Flight Stack ") - textBold: _defaultFirmwareIsPX4 - checked: _defaultFirmwareIsPX4 - visible: _defaultFirmwareIsPX4 && !_singleFirmwareMode && !px4Flow + QGCRadioButton { + id: px4FlightStackRadio + exclusiveGroup: firmwareGroup + text: qsTr("PX4 Pro ") + textBold: _defaultFirmwareIsPX4 + checked: _defaultFirmwareIsPX4 + visible: !_singleFirmwareMode && !px4Flow - onClicked: { - _defaultFirmwareFact.rawValue = _defaultFimwareTypePX4 - parent.firmwareVersionChanged(firmwareTypeList) + onClicked: { + _defaultFirmwareFact.rawValue = _defaultFimwareTypePX4 + firmwareVersionChanged(firmwareBuildTypeList) + } } - } - QGCRadioButton { - id: apmFlightStack - exclusiveGroup: firmwareGroup - text: qsTr("ArduPilot Flight Stack") - textBold: !_defaultFirmwareIsPX4 - checked: !_defaultFirmwareIsPX4 - visible: !_singleFirmwareMode && !px4Flow - - onClicked: { - _defaultFirmwareFact.rawValue = _defaultFimwareTypeAPM - parent.firmwareVersionChanged(firmwareTypeList) + QGCRadioButton { + id: apmFlightStack + exclusiveGroup: firmwareGroup + text: qsTr("ArduPilot") + textBold: !_defaultFirmwareIsPX4 + checked: !_defaultFirmwareIsPX4 + visible: !_singleFirmwareMode && !px4Flow + + onClicked: { + _defaultFirmwareFact.rawValue = _defaultFimwareTypeAPM + firmwareVersionChanged(firmwareBuildTypeList) + } } } - QGCRadioButton { - id: px4FlightStackRadio2 - exclusiveGroup: _defaultFirmwareIsPX4 ? null : firmwareGroup - text: qsTr("PX4 Flight Stack ") - visible: !_defaultFirmwareIsPX4 && !_singleFirmwareMode && !px4Flow + FactComboBox { + anchors.left: parent.left + anchors.right: parent.right + visible: !px4Flow && apmFlightStack.checked + fact: _firmwareUpgradeSettings.apmChibiOS + indexModel: false + } - onClicked: { - _defaultFirmwareFact.rawValue = _defaultFimwareTypePX4 - parent.firmwareVersionChanged(firmwareTypeList) - } + FactComboBox { + id: apmVehicleTypeCombo + anchors.left: parent.left + anchors.right: parent.right + visible: !px4Flow && apmFlightStack.checked + fact: _firmwareUpgradeSettings.apmVehicleType + indexModel: false } QGCComboBox { - id: vehicleTypeSelectionCombo + id: ardupilotFirmwareSelectionCombo anchors.left: parent.left anchors.right: parent.right - visible: !px4Flow && apmFlightStack.checked - model: controller.apmAvailableVersions + visible: !px4Flow && apmFlightStack.checked && !controller.downloadingFirmwareList && controller.apmFirmwareNames.length !== 0 + model: controller.apmFirmwareNames + + onModelChanged: console.log("model", model) + } + + QGCLabel { + anchors.left: parent.left + anchors.right: parent.right + wrapMode: Text.WordWrap + text: qsTr("Downloading list of available firmwares...") + visible: controller.downloadingFirmwareList + } + + QGCLabel { + anchors.left: parent.left + anchors.right: parent.right + wrapMode: Text.WordWrap + text: qsTr("No Firmware Available") + visible: !controller.downloadingFirmwareList && controller.apmFirmwareNames.length === 0 } QGCComboBox { @@ -377,7 +421,7 @@ SetupPage { checked: px4Flow ? true : false onClicked: { - firmwareVersionCombo.currentIndex = 0 + firmwareBuildTypeCombo.currentIndex = 0 firmwareVersionWarningLabel.visible = false updatePX4VersionDisplay() } @@ -399,15 +443,15 @@ SetupPage { } QGCComboBox { - id: firmwareVersionCombo + id: firmwareBuildTypeCombo anchors.left: parent.left anchors.right: parent.right visible: showFirmwareTypeSelection - model: _singleFirmwareMode ? singleFirmwareModeTypeList : (px4Flow ? px4FlowTypeList : firmwareTypeList) - currentIndex: controller.selectedFirmwareType + model: _singleFirmwareMode ? singleFirmwareModeTypeList : (px4Flow ? px4FlowTypeList : firmwareBuildTypeList) + currentIndex: controller.selectedFirmwareBuildType onActivated: { - controller.selectedFirmwareType = model.get(index).firmwareType + controller.selectedFirmwareBuildType = model.get(index).firmwareType if (model.get(index).firmwareType === FirmwareUpgradeController.BetaFirmware) { firmwareVersionWarningLabel.visible = true firmwareVersionWarningLabel.text = qsTr("WARNING: BETA FIRMWARE. ") + diff --git a/src/VehicleSetup/FirmwareUpgradeController.cc b/src/VehicleSetup/FirmwareUpgradeController.cc index 365e5d0..5132f66 100644 --- a/src/VehicleSetup/FirmwareUpgradeController.cc +++ b/src/VehicleSetup/FirmwareUpgradeController.cc @@ -7,11 +7,6 @@ * ****************************************************************************/ - -/// @file -/// @brief PX4 Firmware Upgrade UI -/// @author Don Gagne - #include "FirmwareUpgradeController.h" #include "Bootloader.h" #include "QGCQFileDialog.h" @@ -19,6 +14,8 @@ #include "QGCFileDownload.h" #include "QGCOptions.h" #include "QGCCorePlugin.h" +#include "FirmwareUpgradeSettings.h" +#include "SettingsManager.h" #include #include @@ -27,31 +24,57 @@ #include #include +const char* FirmwareUpgradeController::_manifestFirmwareJsonKey = "firmware"; +const char* FirmwareUpgradeController::_manifestBoardIdJsonKey = "board_id"; +const char* FirmwareUpgradeController::_manifestMavTypeJsonKey = "mav-type"; +const char* FirmwareUpgradeController::_manifestFormatJsonKey = "format"; +const char* FirmwareUpgradeController::_manifestUrlJsonKey = "url"; +const char* FirmwareUpgradeController::_manifestMavFirmwareVersionTypeJsonKey = "mav-firmware-version-type"; +const char* FirmwareUpgradeController::_manifestUSBIDJsonKey = "USBID"; +const char* FirmwareUpgradeController::_manifestMavFirmwareVersionJsonKey = "mav-firmware-version"; +const char* FirmwareUpgradeController::_manifestBootloaderStrJsonKey = "bootloader_str"; +const char* FirmwareUpgradeController::_manifestLatestKey = "latest"; +const char* FirmwareUpgradeController::_manifestPlatformKey = "platform"; +const char* FirmwareUpgradeController::_manifestBrandNameKey = "brand_name"; + struct FirmwareToUrlElement_t { - FirmwareUpgradeController::AutoPilotStackType_t stackType; - FirmwareUpgradeController::FirmwareType_t firmwareType; - FirmwareUpgradeController::FirmwareVehicleType_t vehicleType; - QString url; + FirmwareUpgradeController::AutoPilotStackType_t stackType; + FirmwareUpgradeController::FirmwareBuildType_t firmwareType; + FirmwareUpgradeController::FirmwareVehicleType_t vehicleType; + QString url; }; uint qHash(const FirmwareUpgradeController::FirmwareIdentifier& firmwareId) { return static_cast(( firmwareId.autopilotStackType | - (firmwareId.firmwareType << 8) | - (firmwareId.firmwareVehicleType << 16) )); + (firmwareId.firmwareType << 8) | + (firmwareId.firmwareVehicleType << 16) )); } /// @Brief Constructs a new FirmwareUpgradeController Widget. This widget is used within the PX4VehicleConfig set of screens. FirmwareUpgradeController::FirmwareUpgradeController(void) : _singleFirmwareURL (qgcApp()->toolbox()->corePlugin()->options()->firmwareUpgradeSingleURL()) , _singleFirmwareMode (!_singleFirmwareURL.isEmpty()) + , _downloadingFirmwareList (false) , _downloadManager (nullptr) , _downloadNetworkReply (nullptr) , _statusLog (nullptr) - , _selectedFirmwareType (StableFirmware) + , _selectedFirmwareBuildType (StableFirmware) , _image (nullptr) , _apmBoardDescriptionReplaceText ("") + , _apmChibiOSSetting (qgcApp()->toolbox()->settingsManager()->firmwareUpgradeSettings()->apmChibiOS()) + , _apmVehicleTypeSetting (qgcApp()->toolbox()->settingsManager()->firmwareUpgradeSettings()->apmVehicleType()) { + _manifestMavFirmwareVersionTypeToFirmwareBuildTypeMap["OFFICIAL"] = StableFirmware; + _manifestMavFirmwareVersionTypeToFirmwareBuildTypeMap["BETA"] = BetaFirmware; + _manifestMavFirmwareVersionTypeToFirmwareBuildTypeMap["DEV"] = DeveloperFirmware; + + _manifestMavTypeToFirmwareVehicleTypeMap["Copter"] = CopterFirmware; + _manifestMavTypeToFirmwareVehicleTypeMap["HELICOPTER"] = HeliFirmware; + _manifestMavTypeToFirmwareVehicleTypeMap["FIXED_WING"] = PlaneFirmware; + _manifestMavTypeToFirmwareVehicleTypeMap["GROUND_ROVER"] = RoverFirmware; + _manifestMavTypeToFirmwareVehicleTypeMap["SUBMARINE"] = SubFirmware; + _threadController = new PX4FirmwareUpgradeThreadController(this); Q_CHECK_PTR(_threadController); @@ -70,8 +93,12 @@ FirmwareUpgradeController::FirmwareUpgradeController(void) connect(&_eraseTimer, &QTimer::timeout, this, &FirmwareUpgradeController::_eraseProgressTick); + connect(_apmChibiOSSetting, &Fact::rawValueChanged, this, &FirmwareUpgradeController::_buildAPMFirmwareNames); + connect(_apmVehicleTypeSetting, &Fact::rawValueChanged, this, &FirmwareUpgradeController::_buildAPMFirmwareNames); + _initFirmwareHash(); _determinePX4StableVersion(); + _downloadArduPilotManifest(); } FirmwareUpgradeController::~FirmwareUpgradeController() @@ -97,7 +124,7 @@ void FirmwareUpgradeController::startBoardSearch(void) } void FirmwareUpgradeController::flash(AutoPilotStackType_t stackType, - FirmwareType_t firmwareType, + FirmwareBuildType_t firmwareType, FirmwareVehicleType_t vehicleType) { qCDebug(FirmwareUpgradeLog) << "_flash stackType:firmwareType:vehicleType" << stackType << firmwareType << vehicleType; @@ -108,6 +135,18 @@ void FirmwareUpgradeController::flash(AutoPilotStackType_t stackType, // We haven't found the bootloader yet. Need to wait until then to flash _startFlashWhenBootloaderFound = true; _startFlashWhenBootloaderFoundFirmwareIdentity = firmwareId; + _firmwareFilename.clear(); + } +} + +void FirmwareUpgradeController::flashFirmwareUrl(QString firmwareFlashUrl) +{ + _firmwareFilename = firmwareFlashUrl; + if (_bootloaderFound) { + _downloadFirmware(); + } else { + // We haven't found the bootloader yet. Need to wait until then to flash + _startFlashWhenBootloaderFound = true; } } @@ -116,7 +155,7 @@ void FirmwareUpgradeController::flash(const FirmwareIdentifier& firmwareId) flash(firmwareId.autopilotStackType, firmwareId.firmwareType, firmwareId.firmwareVehicleType); } -void FirmwareUpgradeController::flashSingleFirmwareMode(FirmwareType_t firmwareType) +void FirmwareUpgradeController::flashSingleFirmwareMode(FirmwareBuildType_t firmwareType) { flash(SingleFirmwareMode, firmwareType, DefaultVehicleFirmware); } @@ -129,9 +168,12 @@ void FirmwareUpgradeController::cancel(void) void FirmwareUpgradeController::_foundBoard(bool firstAttempt, const QSerialPortInfo& info, int boardType, QString boardName) { - _foundBoardInfo = info; - _foundBoardType = static_cast(boardType); - _foundBoardTypeName = boardName; + _foundBoardInfo = info; + _foundBoardType = static_cast(boardType); + _foundBoardTypeName = boardName; + + qDebug() << info.manufacturer() << info.description(); + _startFlashWhenBootloaderFound = false; if (_foundBoardType == QGCSerialPortInfo::BoardTypeSiKRadio) { @@ -178,7 +220,9 @@ void FirmwareUpgradeController::_foundBootloader(int bootloaderVersion, int boar flash(_startFlashWhenBootloaderFoundFirmwareIdentity); } - _loadAPMVersions(_bootloaderBoardID); + if (_rgManifestFirmwareInfo.count()) { + _buildAPMFirmwareNames(); + } } @@ -197,19 +241,6 @@ void FirmwareUpgradeController::_initFirmwareHash() { AutoPilotStackPX4, StableFirmware, DefaultVehicleFirmware, "http://gumstix-aerocore.s3.amazonaws.com/PX4/stable/aerocore_default.px4"}, { AutoPilotStackPX4, BetaFirmware, DefaultVehicleFirmware, "http://gumstix-aerocore.s3.amazonaws.com/PX4/beta/aerocore_default.px4"}, { AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://gumstix-aerocore.s3.amazonaws.com/PX4/master/aerocore_default.px4"}, - #if !defined(NO_ARDUPILOT_DIALECT) - { AutoPilotStackAPM, BetaFirmware, CopterFirmware, "http://firmware.ardupilot.org/Copter/beta/PX4/ArduCopter-v2.px4"}, - { AutoPilotStackAPM, StableFirmware, HeliFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/stable/PX4-heli/ArduCopter-v2.px4"}, - { AutoPilotStackAPM, StableFirmware, PlaneFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Plane/stable/PX4/ArduPlane-v2.px4"}, - { AutoPilotStackAPM, StableFirmware, RoverFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Rover/stable/PX4/APMrover2-v2.px4"}, - { AutoPilotStackAPM, BetaFirmware, HeliFirmware, "http://firmware.ardupilot.org/Copter/beta/PX4-heli/ArduCopter-v2.px4"}, - { AutoPilotStackAPM, BetaFirmware, PlaneFirmware, "http://firmware.ardupilot.org/Plane/beta/PX4/ArduPlane-v2.px4"}, - { AutoPilotStackAPM, BetaFirmware, RoverFirmware, "http://firmware.ardupilot.org/Rover/beta/PX4/APMrover2-v2.px4"}, - { AutoPilotStackAPM, DeveloperFirmware, CopterFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4/ArduCopter-v2.px4"}, - { AutoPilotStackAPM, DeveloperFirmware, HeliFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Copter/latest/PX4-heli/ArduCopter-v2.px4"}, - { AutoPilotStackAPM, DeveloperFirmware, PlaneFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Plane/latest/PX4/ArduPlane-v2.px4"}, - { AutoPilotStackAPM, DeveloperFirmware, RoverFirmware, "http://gumstix-aerocore.s3.amazonaws.com/Rover/latest/PX4/APMrover2-v2.px4"} - #endif }; //////////////////////////////////// AUAVX2_1 firmwares ////////////////////////////////////////////////// @@ -217,23 +248,6 @@ void FirmwareUpgradeController::_initFirmwareHash() { AutoPilotStackPX4, StableFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/auav-x21_default.px4"}, { AutoPilotStackPX4, BetaFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/auav-x21_default.px4"}, { AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/auav-x21_default.px4"}, - #if !defined(NO_ARDUPILOT_DIALECT) - { AutoPilotStackAPM, StableFirmware, CopterFirmware, "http://firmware.ardupilot.org/Copter/stable/PX4/ArduCopter-v3.px4"}, - { AutoPilotStackAPM, StableFirmware, HeliFirmware, "http://firmware.ardupilot.org/Copter/stable/PX4-heli/ArduCopter-v3.px4"}, - { AutoPilotStackAPM, StableFirmware, PlaneFirmware, "http://firmware.ardupilot.org/Plane/stable/PX4/ArduPlane-v2.px4"}, - { AutoPilotStackAPM, StableFirmware, RoverFirmware, "http://firmware.ardupilot.org/Rover/stable/PX4/APMrover2-v2.px4"}, - { AutoPilotStackAPM, StableFirmware, SubFirmware, "http://firmware.ardupilot.org/Sub/stable/PX4/ArduSub-v2.px4"}, - { AutoPilotStackAPM, BetaFirmware, CopterFirmware, "http://firmware.ardupilot.org/Copter/beta/PX4/ArduCopter-v3.px4"}, - { AutoPilotStackAPM, BetaFirmware, HeliFirmware, "http://firmware.ardupilot.org/Copter/beta/PX4-heli/ArduCopter-v3.px4"}, - { AutoPilotStackAPM, BetaFirmware, PlaneFirmware, "http://firmware.ardupilot.org/Plane/beta/PX4/ArduPlane-v3.px4"}, - { AutoPilotStackAPM, BetaFirmware, RoverFirmware, "http://firmware.ardupilot.org/Rover/beta/PX4/APMrover2-v3.px4"}, - { AutoPilotStackAPM, BetaFirmware, SubFirmware, "http://firmware.ardupilot.org/Sub/beta/PX4/ArduSub-v3.px4"}, - { AutoPilotStackAPM, DeveloperFirmware, CopterFirmware, "http://firmware.ardupilot.org/Copter/latest/PX4/ArduCopter-v3.px4"}, - { AutoPilotStackAPM, DeveloperFirmware, HeliFirmware, "http://firmware.ardupilot.org/Copter/latest/PX4-heli/ArduCopter-v3.px4"}, - { AutoPilotStackAPM, DeveloperFirmware, PlaneFirmware, "http://firmware.ardupilot.org/Plane/latest/PX4/ArduPlane-v3.px4"}, - { AutoPilotStackAPM, DeveloperFirmware, RoverFirmware, "http://firmware.ardupilot.org/Rover/latest/PX4/APMrover2-v3.px4"}, - { AutoPilotStackAPM, DeveloperFirmware, SubFirmware, "http://firmware.ardupilot.org/Sub/latest/PX4/ArduSub-v3.px4"} - #endif }; //////////////////////////////////// MindPXFMUV2 firmwares ////////////////////////////////////////////////// FirmwareToUrlElement_t rgMindPXFMUV2FirmwareArray[] = { @@ -288,7 +302,7 @@ void FirmwareUpgradeController::_initFirmwareHash() { ThreeDRRadio, StableFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/SiK/stable/radio~hm_trp.ihx"} }; - // We build the maps for PX4 and ArduPilot firmwares dynamically using the data below + // We build the maps for PX4 firmwares dynamically using the data below #if 0 Example URLs for PX4 and ArduPilot @@ -298,77 +312,14 @@ void FirmwareUpgradeController::_initFirmwareHash() #endif QString px4Url ("http://px4-travis.s3.amazonaws.com/Firmware/%1/px4fmu-%2_default.px4"); - QString apmUrl ("http://firmware.ardupilot.org/%1/%2/%3/%4-v%5.px4"); - QString apmChibiOSUrl ("http://firmware.ardupilot.org/%1/%2/fmuv%3%4/%5.apj"); - QMap px4MapFirmwareTypeToDir; + QMap px4MapFirmwareTypeToDir; px4MapFirmwareTypeToDir[StableFirmware] = QStringLiteral("stable"); px4MapFirmwareTypeToDir[BetaFirmware] = QStringLiteral("beta"); px4MapFirmwareTypeToDir[DeveloperFirmware] = QStringLiteral("master"); -#if !defined(NO_ARDUPILOT_DIALECT) - QMap apmMapVehicleTypeToDir; - apmMapVehicleTypeToDir[CopterFirmware] = QStringLiteral("Copter"); - apmMapVehicleTypeToDir[HeliFirmware] = QStringLiteral("Copter"); - apmMapVehicleTypeToDir[PlaneFirmware] = QStringLiteral("Plane"); - apmMapVehicleTypeToDir[RoverFirmware] = QStringLiteral("Rover"); - apmMapVehicleTypeToDir[SubFirmware] = QStringLiteral("Sub"); -#endif - -#if !defined(NO_ARDUPILOT_DIALECT) - QMap apmChibiOSMapVehicleTypeToDir; - apmChibiOSMapVehicleTypeToDir[CopterChibiOSFirmware] = QStringLiteral("Copter"); - apmChibiOSMapVehicleTypeToDir[HeliChibiOSFirmware] = QStringLiteral("Copter"); - apmChibiOSMapVehicleTypeToDir[PlaneChibiOSFirmware] = QStringLiteral("Plane"); - apmChibiOSMapVehicleTypeToDir[RoverChibiOSFirmware] = QStringLiteral("Rover"); - apmChibiOSMapVehicleTypeToDir[SubChibiOSFirmware] = QStringLiteral("Sub"); -#endif - -#if !defined(NO_ARDUPILOT_DIALECT) - QMap apmMapFirmwareTypeToDir; - apmMapFirmwareTypeToDir[StableFirmware] = QStringLiteral("stable"); - apmMapFirmwareTypeToDir[BetaFirmware] = QStringLiteral("beta"); - apmMapFirmwareTypeToDir[DeveloperFirmware] = QStringLiteral("latest"); -#endif - -#if !defined(NO_ARDUPILOT_DIALECT) - QMap apmMapVehicleTypeToPX4Dir; - apmMapVehicleTypeToPX4Dir[CopterFirmware] = QStringLiteral("PX4"); - apmMapVehicleTypeToPX4Dir[HeliFirmware] = QStringLiteral("PX4-heli"); - apmMapVehicleTypeToPX4Dir[PlaneFirmware] = QStringLiteral("PX4"); - apmMapVehicleTypeToPX4Dir[RoverFirmware] = QStringLiteral("PX4"); - apmMapVehicleTypeToPX4Dir[SubFirmware] = QStringLiteral("PX4"); -#endif - -#if !defined(NO_ARDUPILOT_DIALECT) - QMap apmMapVehicleTypeToFilename; - apmMapVehicleTypeToFilename[CopterFirmware] = QStringLiteral("ArduCopter"); - apmMapVehicleTypeToFilename[HeliFirmware] = QStringLiteral("ArduCopter"); - apmMapVehicleTypeToFilename[PlaneFirmware] = QStringLiteral("ArduPlane"); - apmMapVehicleTypeToFilename[RoverFirmware] = QStringLiteral("APMrover2"); - apmMapVehicleTypeToFilename[SubFirmware] = QStringLiteral("ArduSub"); -#endif - -#if !defined(NO_ARDUPILOT_DIALECT) - QMap apmChibiOSMapVehicleTypeToFmuDir; - apmChibiOSMapVehicleTypeToFmuDir[CopterChibiOSFirmware] = QString(); - apmChibiOSMapVehicleTypeToFmuDir[HeliChibiOSFirmware] = QStringLiteral("-heli"); - apmChibiOSMapVehicleTypeToFmuDir[PlaneChibiOSFirmware] = QString(); - apmChibiOSMapVehicleTypeToFmuDir[RoverChibiOSFirmware] = QString(); - apmChibiOSMapVehicleTypeToFmuDir[SubChibiOSFirmware] = QString(); -#endif - -#if !defined(NO_ARDUPILOT_DIALECT) - QMap apmChibiOSMapVehicleTypeToFilename; - apmChibiOSMapVehicleTypeToFilename[CopterChibiOSFirmware] = QStringLiteral("arducopter"); - apmChibiOSMapVehicleTypeToFilename[HeliChibiOSFirmware] = QStringLiteral("arducopter-heli"); - apmChibiOSMapVehicleTypeToFilename[PlaneChibiOSFirmware] = QStringLiteral("arduplane"); - apmChibiOSMapVehicleTypeToFilename[RoverChibiOSFirmware] = QStringLiteral("ardurover"); - apmChibiOSMapVehicleTypeToFilename[SubChibiOSFirmware] = QStringLiteral("ardusub"); -#endif - // PX4 Firmwares - for (const FirmwareType_t& firmwareType: px4MapFirmwareTypeToDir.keys()) { + for (const FirmwareBuildType_t& firmwareType: px4MapFirmwareTypeToDir.keys()) { QString dir = px4MapFirmwareTypeToDir[firmwareType]; _rgFMUV5Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v5")); _rgFMUV4PROFirmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v4pro")); @@ -377,49 +328,6 @@ void FirmwareUpgradeController::_initFirmwareHash() _rgPX4FMUV2Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v2")); } -#if !defined(NO_ARDUPILOT_DIALECT) - // ArduPilot non-ChibiOS Firmwares for direct board id to fmu mappings - for (const FirmwareType_t& firmwareType: apmMapFirmwareTypeToDir.keys()) { - QString firmwareTypeDir = apmMapFirmwareTypeToDir[firmwareType]; - for (const FirmwareVehicleType_t& vehicleType: apmMapVehicleTypeToDir.keys()) { - QString vehicleTypeDir = apmMapVehicleTypeToDir[vehicleType]; - QString px4Dir = apmMapVehicleTypeToPX4Dir[vehicleType]; - QString filename = apmMapVehicleTypeToFilename[vehicleType]; - _rgFMUV5Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("5")); - _rgFMUV4Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("4")); - _rgFMUV3Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("3")); - _rgPX4FMUV2Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("2")); - } - } - - // ArduPilot ChibiOS Firmwares for direct board id to fmu mappings. Used when bootloader is not new ArduPilot bootloader. - for (const FirmwareType_t& firmwareType: apmMapFirmwareTypeToDir.keys()) { - QString firmwareTypeDir = apmMapFirmwareTypeToDir[firmwareType]; - for (const FirmwareVehicleType_t& vehicleType: apmChibiOSMapVehicleTypeToDir.keys()) { - QString vehicleTypeDir = apmChibiOSMapVehicleTypeToDir[vehicleType]; - QString fmuDir = apmChibiOSMapVehicleTypeToFmuDir[vehicleType]; - QString filename = apmChibiOSMapVehicleTypeToFilename[vehicleType]; - _rgFMUV5Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("5").arg(fmuDir).arg(filename)); - _rgFMUV4Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("4").arg(fmuDir).arg(filename)); - _rgFMUV3Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("3").arg(fmuDir).arg(filename)); - _rgPX4FMUV2Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("2").arg(fmuDir).arg(filename)); - } - } - - // ArduPilot ChibiOS Firmwares when board id is an unknown type but follows ArduPilot port info naming conventions. - // This is only used if the board is using the new ArduPilot bootloader port naming scheme. - for (const FirmwareType_t& firmwareType: apmMapFirmwareTypeToDir.keys()) { - QString firmwareTypeDir = apmMapFirmwareTypeToDir[firmwareType]; - for (const FirmwareVehicleType_t& vehicleType: apmChibiOSMapVehicleTypeToDir.keys()) { - QString namedURL("http://firmware.ardupilot.org/%1/%2/%3%4/%5.apj"); - QString vehicleTypeDir = apmChibiOSMapVehicleTypeToDir[vehicleType]; - QString fmuDir = apmChibiOSMapVehicleTypeToFmuDir[vehicleType]; - QString filename = apmChibiOSMapVehicleTypeToFilename[vehicleType]; - _rgAPMChibiosReplaceNamedBoardFirmware.insert(FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), namedURL.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(_apmBoardDescriptionReplaceText).arg(fmuDir).arg(filename)); - } - } -#endif - int size = sizeof(rgAeroCoreFirmwareArray)/sizeof(rgAeroCoreFirmwareArray[0]); for (int i = 0; i < size; i++) { const FirmwareToUrlElement_t& element = rgAeroCoreFirmwareArray[i]; @@ -550,24 +458,6 @@ QHash* FirmwareUpgradeCo break; } - // Check for ArduPilot ChibiOS bootloader - QStringList rgManufacturers = { QStringLiteral("ArduPilot"), QStringLiteral("Hex/ProfiCNC"), QStringLiteral("Holybro") }; - QString apmDescriptionSuffix("-BL"); - if (rgManufacturers.contains(_foundBoardInfo.manufacturer()) && _foundBoardInfo.description().endsWith(apmDescriptionSuffix)) { - // Board ios using a ChibiOS bootloader. Prefer naming scheme from that over board ids for ArduPilot entries. - - // First remove the ChibiOS by board id entries from the list - for (const FirmwareIdentifier& firmwareId: _rgAPMChibiosReplaceNamedBoardFirmware.keys()) { - _rgFirmwareDynamic.remove(firmwareId); - } - - // Now add the ChibiOS by board description entries to the list - for (const FirmwareIdentifier& firmwareId: _rgAPMChibiosReplaceNamedBoardFirmware.keys()) { - QString namedUrl = _rgAPMChibiosReplaceNamedBoardFirmware[firmwareId]; - _rgFirmwareDynamic.insert(firmwareId, namedUrl.replace(_apmBoardDescriptionReplaceText, _foundBoardInfo.description().left(_foundBoardInfo.description().length() - apmDescriptionSuffix.length()))); - } - } - return &_rgFirmwareDynamic; } @@ -659,7 +549,7 @@ void FirmwareUpgradeController::_firmwareDownloadError(QString errorMsg) } /// @brief returns firmware type as a string -QString FirmwareUpgradeController::firmwareTypeAsString(FirmwareType_t type) const +QString FirmwareUpgradeController::firmwareTypeAsString(FirmwareBuildType_t type) const { switch (type) { case StableFirmware: @@ -757,119 +647,62 @@ void FirmwareUpgradeController::_eraseComplete(void) _eraseTimer.stop(); } -void FirmwareUpgradeController::_loadAPMVersions(uint32_t bootloaderBoardID) +void FirmwareUpgradeController::setSelectedFirmwareBuildType(FirmwareBuildType_t firmwareType) { - _apmVersionMap.clear(); - - QHash* prgFirmware = _firmwareHashForBoardId(static_cast(bootloaderBoardID)); - - for (FirmwareIdentifier firmwareId: prgFirmware->keys()) { - if (firmwareId.autopilotStackType == AutoPilotStackAPM) { - QString versionFile = QFileInfo(prgFirmware->value(firmwareId)).path() + "/git-version.txt"; - - qCDebug(FirmwareUpgradeLog) << "Downloading" << versionFile; - QGCFileDownload* downloader = new QGCFileDownload(this); - connect(downloader, &QGCFileDownload::downloadFinished, this, &FirmwareUpgradeController::_apmVersionDownloadFinished); - downloader->download(versionFile); - } - } + _selectedFirmwareBuildType = firmwareType; + emit selectedFirmwareBuildTypeChanged(_selectedFirmwareBuildType); + _buildAPMFirmwareNames(); } -void FirmwareUpgradeController::_apmVersionDownloadFinished(QString remoteFile, QString localFile) +void FirmwareUpgradeController::_buildAPMFirmwareNames(void) { - qCDebug(FirmwareUpgradeLog) << "Download complete" << remoteFile << localFile; - - // Now read the version file and pull out the version string + qCDebug(FirmwareUpgradeLog) << "_buildAPMFirmwareNames"; - QFile versionFile(localFile); - versionFile.open(QIODevice::ReadOnly | QIODevice::Text); - QTextStream stream(&versionFile); - QString versionContents = stream.readAll(); + bool chibios = _apmChibiOSSetting->rawValue().toInt() == 0; + FirmwareVehicleType_t vehicleType = static_cast(_apmVehicleTypeSetting->rawValue().toInt()); - QString version; - QRegularExpression re("APMVERSION: (.*)$"); - QRegularExpressionMatch match = re.match(versionContents); - if (match.hasMatch()) { - version = match.captured(1); - } - - if (version.isEmpty()) { - qWarning() << "Unable to parse version info from file" << remoteFile; - sender()->deleteLater(); - return; - } + _apmFirmwareNames.clear(); + _apmFirmwareUrls.clear(); - // In order to determine the firmware and vehicle type for this file we find the matching entry in the firmware list + QString apmDescriptionSuffix("-BL"); + bool bootloaderMatch = _foundBoardInfo.description().endsWith(apmDescriptionSuffix); + + for (const ManifestFirmwareInfo_t& firmwareInfo: _rgManifestFirmwareInfo) { + bool match = false; + if (firmwareInfo.firmwareBuildType == _selectedFirmwareBuildType && firmwareInfo.chibios == chibios && firmwareInfo.vehicleType == vehicleType) { + if (bootloaderMatch) { + if (firmwareInfo.rgBootloaderPortString.contains(_foundBoardInfo.description())) { + qCDebug(FirmwareUpgradeLog) << "Bootloader match:" << firmwareInfo.friendlyName << _foundBoardInfo.description() << firmwareInfo.rgBootloaderPortString << firmwareInfo.url << firmwareInfo.vehicleType; + match = true; + } + } else { + if (firmwareInfo.rgVID.contains(_foundBoardInfo.vendorIdentifier()) && firmwareInfo.rgPID.contains(_foundBoardInfo.productIdentifier())) { + qCDebug(FirmwareUpgradeLog) << "Fallback match:" << firmwareInfo.friendlyName << _foundBoardInfo.vendorIdentifier() << _foundBoardInfo.productIdentifier() << _bootloaderBoardID << firmwareInfo.url << firmwareInfo.vehicleType; + match = true; + } + } + } - QHash* prgFirmware = _firmwareHashForBoardId(static_cast(_bootloaderBoardID)); + // Do a final filter on fmuv2/fmuv3 + if (match && _bootloaderBoardID == Bootloader::boardIDPX4FMUV3) { + match = !firmwareInfo.fmuv2; + } - QString remotePath = QFileInfo(remoteFile).path(); - for (FirmwareIdentifier firmwareId: prgFirmware->keys()) { - if (remotePath == QFileInfo((*prgFirmware)[firmwareId]).path()) { - qCDebug(FirmwareUpgradeLog) << "Adding version to map, version:firwmareType:vehicleType" << version << firmwareId.firmwareType << firmwareId.firmwareVehicleType; - _apmVersionMap[firmwareId.firmwareType][firmwareId.firmwareVehicleType] = version; + if (match) { + _apmFirmwareNames.append(firmwareInfo.friendlyName); + _apmFirmwareUrls.append(firmwareInfo.url); } } - emit apmAvailableVersionsChanged(); - sender()->deleteLater(); -} - -void FirmwareUpgradeController::setSelectedFirmwareType(FirmwareType_t firmwareType) -{ - _selectedFirmwareType = firmwareType; - emit selectedFirmwareTypeChanged(_selectedFirmwareType); - emit apmAvailableVersionsChanged(); -} - -QStringList FirmwareUpgradeController::apmAvailableVersions(void) -{ - QStringList list; - QList vehicleTypes; - - // This allows us to force the order of the combo box display - vehicleTypes << CopterChibiOSFirmware << HeliChibiOSFirmware << PlaneChibiOSFirmware << RoverChibiOSFirmware << SubChibiOSFirmware << CopterFirmware << HeliFirmware << PlaneFirmware << RoverFirmware << SubFirmware; - - _apmVehicleTypeFromCurrentVersionList.clear(); - - for (FirmwareVehicleType_t vehicleType: vehicleTypes) { - if (_apmVersionMap[_selectedFirmwareType].contains(vehicleType)) { - QString version; - - switch (vehicleType) { - case CopterFirmware: - version = tr("NuttX - MultiRotor:"); - break; - case HeliFirmware: - version = tr("NuttX - Heli:"); - break; - case CopterChibiOSFirmware: - version = tr("ChibiOS- MultiRotor:"); - break; - case HeliChibiOSFirmware: - version = tr("ChibiOS - Heli:"); - break; - case PlaneChibiOSFirmware: - case RoverChibiOSFirmware: - case SubChibiOSFirmware: - version = tr("ChibiOS - "); - break; - default: - version = tr("NuttX - "); - break; - } - - version += _apmVersionMap[_selectedFirmwareType][vehicleType]; - _apmVehicleTypeFromCurrentVersionList.append(vehicleType); - - list << version; - } + if (_apmFirmwareNames.count() > 1) { + _apmFirmwareNames.prepend(tr("Choose board type")); + _apmFirmwareUrls.prepend(QString()); } - return list; + emit apmFirmwareNamesChanged(); } -FirmwareUpgradeController::FirmwareVehicleType_t FirmwareUpgradeController::vehicleTypeFromVersionIndex(int index) +FirmwareUpgradeController::FirmwareVehicleType_t FirmwareUpgradeController::vehicleTypeFromFirmwareSelectionIndex(int index) { if (index < 0 || index >= _apmVehicleTypeFromCurrentVersionList.count()) { qWarning() << "Invalid index, index:count" << index << _apmVehicleTypeFromCurrentVersionList.count(); @@ -944,3 +777,147 @@ void FirmwareUpgradeController::_px4ReleasesGithubDownloadError(QString errorMsg { qCWarning(FirmwareUpgradeLog) << "PX4 releases github download failed" << errorMsg; } + +void FirmwareUpgradeController::_downloadArduPilotManifest(void) +{ + _downloadingFirmwareList = true; + emit downloadingFirmwareListChanged(true); + + QGCFileDownload* downloader = new QGCFileDownload(this); + connect(downloader, &QGCFileDownload::downloadFinished, this, &FirmwareUpgradeController::_ardupilotManifestDownloadFinished); + connect(downloader, &QGCFileDownload::error, this, &FirmwareUpgradeController::_ardupilotManifestDownloadError); +#if 0 + downloader->download(QStringLiteral("http://firmware.ardupilot.org/manifest.json.gz")); +#else + downloader->download(QStringLiteral("http://firmware.ardupilot.org/manifest.json")); +#endif +} + +void FirmwareUpgradeController::_ardupilotManifestDownloadFinished(QString remoteFile, QString localFile) +{ + Q_UNUSED(remoteFile); + + // Delete the QGCFileDownload object + sender()->deleteLater(); + + qDebug() << "_ardupilotManifestDownloadFinished" << remoteFile << localFile; + +#if 0 + QFile gzipFile(localFile); + if (!gzipFile.open(QIODevice::ReadOnly | QIODevice::Text)) { + qCWarning(FirmwareUpgradeLog) << "Unable to open ArduPilot firmware manifest file" << localFile << gzipFile.errorString(); + QFile::remove(localFile); + return; + } + + // Store decompressed size as first four bytes. This is required by qUncompress routine. + QByteArray raw; + int decompressedSize = 3073444; + raw.append((unsigned char)((decompressedSize >> 24) & 0xFF)); + raw.append((unsigned char)((decompressedSize >> 16) & 0xFF)); + raw.append((unsigned char)((decompressedSize >> 8) & 0xFF)); + raw.append((unsigned char)((decompressedSize >> 0) & 0xFF)); + + raw.append(gzipFile.readAll()); + QByteArray bytes = qUncompress(raw); +#else + + + QFile jsonFile(localFile); + if (!jsonFile.open(QIODevice::ReadOnly | QIODevice::Text)) { + qCWarning(FirmwareUpgradeLog) << "Unable to open ArduPilot firmware manifest file" << localFile << jsonFile.errorString(); + QFile::remove(localFile); + return; + } + QByteArray bytes = jsonFile.readAll(); + jsonFile.close(); +#endif + QFile::remove(localFile); + + QJsonParseError jsonParseError; + QJsonDocument doc = QJsonDocument::fromJson(bytes, &jsonParseError); + if (jsonParseError.error != QJsonParseError::NoError) { + qCWarning(FirmwareUpgradeLog) << "Unable to open ArduPilot manifest json document" << localFile << jsonParseError.errorString(); + } + + + + + QJsonObject json = doc.object(); + QJsonArray rgFirmware = json[_manifestFirmwareJsonKey].toArray(); + + for (int i=0; i(firmwareJson[_manifestBoardIdJsonKey].toInt()); + firmwareInfo.firmwareBuildType = firmwareBuildType; + firmwareInfo.vehicleType = firmwareVehicleType; + firmwareInfo.url = firmwareJson[_manifestUrlJsonKey].toString(); + firmwareInfo.version = firmwareJson[_manifestMavFirmwareVersionJsonKey].toString(); + firmwareInfo.chibios = format == QStringLiteral("apj"); + firmwareInfo.fmuv2 = platform.contains(QStringLiteral("fmuv2")); + + QJsonArray bootloaderArray = firmwareJson[_manifestBootloaderStrJsonKey].toArray(); + for (int j=0; j - -#ifndef FirmwareUpgradeController_H -#define FirmwareUpgradeController_H +#pragma once #include "PX4FirmwareUpgradeThread.h" #include "LinkManager.h" #include "FirmwareImage.h" +#include "Fact.h" #include #include @@ -38,7 +34,7 @@ class FirmwareUpgradeController : public QObject public: typedef enum { - AutoPilotStackPX4, + AutoPilotStackPX4 = 0, AutoPilotStackAPM, PX4FlowPX4, PX4FlowAPM, @@ -47,35 +43,30 @@ public: } AutoPilotStackType_t; typedef enum { - StableFirmware, + StableFirmware = 0, BetaFirmware, DeveloperFirmware, CustomFirmware - } FirmwareType_t; + } FirmwareBuildType_t; typedef enum { - CopterFirmware, + CopterFirmware = 0, HeliFirmware, PlaneFirmware, RoverFirmware, SubFirmware, - CopterChibiOSFirmware, - HeliChibiOSFirmware, - PlaneChibiOSFirmware, - RoverChibiOSFirmware, - SubChibiOSFirmware, DefaultVehicleFirmware } FirmwareVehicleType_t; Q_ENUM(AutoPilotStackType_t) - Q_ENUM(FirmwareType_t) + Q_ENUM(FirmwareBuildType_t) Q_ENUM(FirmwareVehicleType_t) class FirmwareIdentifier { public: FirmwareIdentifier(AutoPilotStackType_t stack = AutoPilotStackPX4, - FirmwareType_t firmware = StableFirmware, + FirmwareBuildType_t firmware = StableFirmware, FirmwareVehicleType_t vehicle = DefaultVehicleFirmware) : autopilotStackType(stack), firmwareType(firmware), firmwareVehicleType(vehicle) {} @@ -88,22 +79,24 @@ public: // members AutoPilotStackType_t autopilotStackType; - FirmwareType_t firmwareType; + FirmwareBuildType_t firmwareType; FirmwareVehicleType_t firmwareVehicleType; }; FirmwareUpgradeController(void); ~FirmwareUpgradeController(); - Q_PROPERTY(QString boardPort READ boardPort NOTIFY boardFound) - Q_PROPERTY(QString boardDescription READ boardDescription NOTIFY boardFound) - Q_PROPERTY(QString boardType MEMBER _foundBoardTypeName NOTIFY boardFound) - Q_PROPERTY(bool pixhawkBoard READ pixhawkBoard NOTIFY boardFound) - Q_PROPERTY(bool px4FlowBoard READ px4FlowBoard NOTIFY boardFound) - Q_PROPERTY(FirmwareType_t selectedFirmwareType READ selectedFirmwareType WRITE setSelectedFirmwareType NOTIFY selectedFirmwareTypeChanged) - Q_PROPERTY(QStringList apmAvailableVersions READ apmAvailableVersions NOTIFY apmAvailableVersionsChanged) - Q_PROPERTY(QString px4StableVersion READ px4StableVersion NOTIFY px4StableVersionChanged) - Q_PROPERTY(QString px4BetaVersion READ px4BetaVersion NOTIFY px4BetaVersionChanged) + Q_PROPERTY(bool downloadingFirmwareList MEMBER _downloadingFirmwareList NOTIFY downloadingFirmwareListChanged) + Q_PROPERTY(QString boardPort READ boardPort NOTIFY boardFound) + Q_PROPERTY(QString boardDescription READ boardDescription NOTIFY boardFound) + Q_PROPERTY(QString boardType MEMBER _foundBoardTypeName NOTIFY boardFound) + Q_PROPERTY(bool pixhawkBoard READ pixhawkBoard NOTIFY boardFound) + Q_PROPERTY(bool px4FlowBoard READ px4FlowBoard NOTIFY boardFound) + Q_PROPERTY(FirmwareBuildType_t selectedFirmwareBuildType READ selectedFirmwareBuildType WRITE setSelectedFirmwareBuildType NOTIFY selectedFirmwareBuildTypeChanged) + Q_PROPERTY(QStringList apmFirmwareNames MEMBER _apmFirmwareNames NOTIFY apmFirmwareNamesChanged) + Q_PROPERTY(QStringList apmFirmwareUrls MEMBER _apmFirmwareUrls NOTIFY apmFirmwareNamesChanged) + Q_PROPERTY(QString px4StableVersion READ px4StableVersion NOTIFY px4StableVersionChanged) + Q_PROPERTY(QString px4BetaVersion READ px4BetaVersion NOTIFY px4BetaVersionChanged) /// TextArea for log output Q_PROPERTY(QQuickItem* statusLog READ statusLog WRITE setStatusLog) @@ -119,13 +112,15 @@ public: /// Called when the firmware type has been selected by the user to continue the flash process. Q_INVOKABLE void flash(AutoPilotStackType_t stackType, - FirmwareType_t firmwareType = StableFirmware, + FirmwareBuildType_t firmwareType = StableFirmware, FirmwareVehicleType_t vehicleType = DefaultVehicleFirmware ); + Q_INVOKABLE void flashFirmwareUrl(QString firmwareUrl); + /// Called to flash when upgrade is running in singleFirmwareMode - Q_INVOKABLE void flashSingleFirmwareMode(FirmwareType_t firmwareType); + Q_INVOKABLE void flashSingleFirmwareMode(FirmwareBuildType_t firmwareType); - Q_INVOKABLE FirmwareVehicleType_t vehicleTypeFromVersionIndex(int index); + Q_INVOKABLE FirmwareVehicleType_t vehicleTypeFromFirmwareSelectionIndex(int index); // overload, not exposed to qml side void flash(const FirmwareIdentifier& firmwareId); @@ -141,28 +136,28 @@ public: QString boardPort(void) { return _foundBoardInfo.portName(); } QString boardDescription(void) { return _foundBoardInfo.description(); } - FirmwareType_t selectedFirmwareType(void) { return _selectedFirmwareType; } - void setSelectedFirmwareType(FirmwareType_t firmwareType); - QString firmwareTypeAsString(FirmwareType_t type) const; + FirmwareBuildType_t selectedFirmwareBuildType(void) { return _selectedFirmwareBuildType; } + void setSelectedFirmwareBuildType(FirmwareBuildType_t firmwareType); + QString firmwareTypeAsString(FirmwareBuildType_t type) const; - QStringList apmAvailableVersions(void); - QString px4StableVersion(void) { return _px4StableVersion; } - QString px4BetaVersion(void) { return _px4BetaVersion; } + QString px4StableVersion (void) { return _px4StableVersion; } + QString px4BetaVersion (void) { return _px4BetaVersion; } bool pixhawkBoard(void) const { return _foundBoardType == QGCSerialPortInfo::BoardTypePixhawk; } bool px4FlowBoard(void) const { return _foundBoardType == QGCSerialPortInfo::BoardTypePX4Flow; } signals: - void boardFound(void); - void noBoardFound(void); - void boardGone(void); - void flashComplete(void); - void flashCancelled(void); - void error(void); - void selectedFirmwareTypeChanged(FirmwareType_t firmwareType); - void apmAvailableVersionsChanged(void); - void px4StableVersionChanged(const QString& px4StableVersion); - void px4BetaVersionChanged(const QString& px4BetaVersion); + void boardFound (void); + void noBoardFound (void); + void boardGone (void); + void flashComplete (void); + void flashCancelled (void); + void error (void); + void selectedFirmwareBuildTypeChanged(FirmwareBuildType_t firmwareType); + void apmFirmwareNamesChanged (void); + void px4StableVersionChanged (const QString& px4StableVersion); + void px4BetaVersionChanged (const QString& px4BetaVersion); + void downloadingFirmwareListChanged (bool downloadingFirmwareList); private slots: void _firmwareDownloadProgress(qint64 curr, qint64 total); @@ -180,22 +175,25 @@ private slots: void _eraseStarted(void); void _eraseComplete(void); void _eraseProgressTick(void); - void _apmVersionDownloadFinished(QString remoteFile, QString localFile); void _px4ReleasesGithubDownloadFinished(QString remoteFile, QString localFile); void _px4ReleasesGithubDownloadError(QString errorMsg); + void _ardupilotManifestDownloadFinished(QString remoteFile, QString localFile); + void _ardupilotManifestDownloadError(QString errorMsg); + void _buildAPMFirmwareNames(void); private: - void _getFirmwareFile(FirmwareIdentifier firmwareId); - void _initFirmwareHash(); - void _downloadFirmware(void); - void _appendStatusLog(const QString& text, bool critical = false); - void _errorCancel(const QString& msg); - void _loadAPMVersions(uint32_t bootloaderBoardID); QHash* _firmwareHashForBoardId(int boardId); - void _determinePX4StableVersion(void); + void _getFirmwareFile(FirmwareIdentifier firmwareId); + void _initFirmwareHash (void); + void _downloadFirmware (void); + void _appendStatusLog (const QString& text, bool critical = false); + void _errorCancel (const QString& msg); + void _determinePX4StableVersion (void); + void _downloadArduPilotManifest (void); QString _singleFirmwareURL; bool _singleFirmwareMode; + bool _downloadingFirmwareList; QString _portName; QString _portDescription; @@ -220,7 +218,7 @@ private: QHash _rgAPMChibiosReplaceNamedBoardFirmware; QHash _rgFirmwareDynamic; - QMap > _apmVersionMap; + QMap > _apmVersionMap; QList _apmVehicleTypeFromCurrentVersionList; /// Information which comes back from the bootloader @@ -259,7 +257,7 @@ private: QGCSerialPortInfo::BoardType_t _foundBoardType; QString _foundBoardTypeName; - FirmwareType_t _selectedFirmwareType; + FirmwareBuildType_t _selectedFirmwareBuildType; FirmwareImage* _image; @@ -267,9 +265,46 @@ private: QString _px4BetaVersion; // Version strange for latest PX4 beta const QString _apmBoardDescriptionReplaceText; + + static const char* _manifestFirmwareJsonKey; + static const char* _manifestBoardIdJsonKey; + static const char* _manifestMavTypeJsonKey; + static const char* _manifestFormatJsonKey; + static const char* _manifestUrlJsonKey; + static const char* _manifestMavFirmwareVersionTypeJsonKey; + static const char* _manifestUSBIDJsonKey; + static const char* _manifestMavFirmwareVersionJsonKey; + static const char* _manifestBootloaderStrJsonKey; + static const char* _manifestLatestKey; + static const char* _manifestPlatformKey; + static const char* _manifestBrandNameKey; + + typedef struct { + uint32_t boardId; + FirmwareBuildType_t firmwareBuildType; + FirmwareVehicleType_t vehicleType; + QString url; + QString version; + QStringList rgBootloaderPortString; + QList rgVID; + QList rgPID; + QString friendlyName; + bool chibios; + bool fmuv2; + } ManifestFirmwareInfo_t; + + + QList _rgManifestFirmwareInfo; + QMap _manifestMavFirmwareVersionTypeToFirmwareBuildTypeMap; + QMap _manifestMavTypeToFirmwareVehicleTypeMap; + QStringList _apmFirmwareNames; + QStringList _apmFirmwareUrls; + Fact* _apmChibiOSSetting; + Fact* _apmVehicleTypeSetting; + + FirmwareBuildType_t _manifestMavFirmwareVersionTypeToFirmwareBuildType (const QString& manifestMavFirmwareVersionType); + FirmwareVehicleType_t _manifestMavTypeToFirmwareVehicleType (const QString& manifestMavType); }; // global hashing function uint qHash(const FirmwareUpgradeController::FirmwareIdentifier& firmwareId); - -#endif