@ -7,11 +7,6 @@
* *
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */ * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
/// @file
/// @brief PX4 Firmware Upgrade UI
/// @author Don Gagne <don@thegagnes.com>
# include "FirmwareUpgradeController.h" # include "FirmwareUpgradeController.h"
# include "Bootloader.h" # include "Bootloader.h"
# include "QGCQFileDialog.h" # include "QGCQFileDialog.h"
@ -19,6 +14,8 @@
# include "QGCFileDownload.h" # include "QGCFileDownload.h"
# include "QGCOptions.h" # include "QGCOptions.h"
# include "QGCCorePlugin.h" # include "QGCCorePlugin.h"
# include "FirmwareUpgradeSettings.h"
# include "SettingsManager.h"
# include <QStandardPaths> # include <QStandardPaths>
# include <QRegularExpression> # include <QRegularExpression>
@ -27,31 +24,57 @@
# include <QJsonArray> # include <QJsonArray>
# include <QNetworkProxy> # include <QNetworkProxy>
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 { struct FirmwareToUrlElement_t {
FirmwareUpgradeController : : AutoPilotStackType_t stackType ; FirmwareUpgradeController : : AutoPilotStackType_t stackType ;
FirmwareUpgradeController : : FirmwareType_t firmwareType ; FirmwareUpgradeController : : FirmwareBuild Type_t firmwareType ;
FirmwareUpgradeController : : FirmwareVehicleType_t vehicleType ; FirmwareUpgradeController : : FirmwareVehicleType_t vehicleType ;
QString url ; QString url ;
} ; } ;
uint qHash ( const FirmwareUpgradeController : : FirmwareIdentifier & firmwareId ) uint qHash ( const FirmwareUpgradeController : : FirmwareIdentifier & firmwareId )
{ {
return static_cast < uint > ( ( firmwareId . autopilotStackType | return static_cast < uint > ( ( firmwareId . autopilotStackType |
( firmwareId . firmwareType < < 8 ) | ( firmwareId . firmwareType < < 8 ) |
( firmwareId . firmwareVehicleType < < 16 ) ) ) ; ( firmwareId . firmwareVehicleType < < 16 ) ) ) ;
} }
/// @Brief Constructs a new FirmwareUpgradeController Widget. This widget is used within the PX4VehicleConfig set of screens.
/// @Brief Constructs a new FirmwareUpgradeController Widget. This widget is used within the PX4VehicleConfig set of screens.
FirmwareUpgradeController : : FirmwareUpgradeController ( void ) FirmwareUpgradeController : : FirmwareUpgradeController ( void )
: _singleFirmwareURL ( qgcApp ( ) - > toolbox ( ) - > corePlugin ( ) - > options ( ) - > firmwareUpgradeSingleURL ( ) ) : _singleFirmwareURL ( qgcApp ( ) - > toolbox ( ) - > corePlugin ( ) - > options ( ) - > firmwareUpgradeSingleURL ( ) )
, _singleFirmwareMode ( ! _singleFirmwareURL . isEmpty ( ) ) , _singleFirmwareMode ( ! _singleFirmwareURL . isEmpty ( ) )
, _downloadingFirmwareList ( false )
, _downloadManager ( nullptr ) , _downloadManager ( nullptr )
, _downloadNetworkReply ( nullptr ) , _downloadNetworkReply ( nullptr )
, _statusLog ( nullptr ) , _statusLog ( nullptr )
, _selectedFirmwareType ( StableFirmware ) , _selectedFirmwareBuild Type ( StableFirmware )
, _image ( nullptr ) , _image ( nullptr )
, _apmBoardDescriptionReplaceText ( " <APMBoardDescription> " ) , _apmBoardDescriptionReplaceText ( " <APMBoardDescription> " )
, _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 ) ; _threadController = new PX4FirmwareUpgradeThreadController ( this ) ;
Q_CHECK_PTR ( _threadController ) ; Q_CHECK_PTR ( _threadController ) ;
@ -70,8 +93,12 @@ FirmwareUpgradeController::FirmwareUpgradeController(void)
connect ( & _eraseTimer , & QTimer : : timeout , this , & FirmwareUpgradeController : : _eraseProgressTick ) ; connect ( & _eraseTimer , & QTimer : : timeout , this , & FirmwareUpgradeController : : _eraseProgressTick ) ;
connect ( _apmChibiOSSetting , & Fact : : rawValueChanged , this , & FirmwareUpgradeController : : _buildAPMFirmwareNames ) ;
connect ( _apmVehicleTypeSetting , & Fact : : rawValueChanged , this , & FirmwareUpgradeController : : _buildAPMFirmwareNames ) ;
_initFirmwareHash ( ) ; _initFirmwareHash ( ) ;
_determinePX4StableVersion ( ) ; _determinePX4StableVersion ( ) ;
_downloadArduPilotManifest ( ) ;
} }
FirmwareUpgradeController : : ~ FirmwareUpgradeController ( ) FirmwareUpgradeController : : ~ FirmwareUpgradeController ( )
@ -97,7 +124,7 @@ void FirmwareUpgradeController::startBoardSearch(void)
} }
void FirmwareUpgradeController : : flash ( AutoPilotStackType_t stackType , void FirmwareUpgradeController : : flash ( AutoPilotStackType_t stackType ,
FirmwareType_t firmwareType , FirmwareBuild Type_t firmwareType ,
FirmwareVehicleType_t vehicleType ) FirmwareVehicleType_t vehicleType )
{ {
qCDebug ( FirmwareUpgradeLog ) < < " _flash stackType:firmwareType:vehicleType " < < stackType < < firmwareType < < 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
// We haven't found the bootloader yet. Need to wait until then to flash
_startFlashWhenBootloaderFound = true ; _startFlashWhenBootloaderFound = true ;
_startFlashWhenBootloaderFoundFirmwareIdentity = firmwareId ; _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 ) ; flash ( firmwareId . autopilotStackType , firmwareId . firmwareType , firmwareId . firmwareVehicleType ) ;
} }
void FirmwareUpgradeController : : flashSingleFirmwareMode ( FirmwareType_t firmwareType ) void FirmwareUpgradeController : : flashSingleFirmwareMode ( FirmwareBuild Type_t firmwareType )
{ {
flash ( SingleFirmwareMode , firmwareType , DefaultVehicleFirmware ) ; flash ( SingleFirmwareMode , firmwareType , DefaultVehicleFirmware ) ;
} }
@ -129,9 +168,12 @@ void FirmwareUpgradeController::cancel(void)
void FirmwareUpgradeController : : _foundBoard ( bool firstAttempt , const QSerialPortInfo & info , int boardType , QString boardName ) void FirmwareUpgradeController : : _foundBoard ( bool firstAttempt , const QSerialPortInfo & info , int boardType , QString boardName )
{ {
_foundBoardInfo = info ; _foundBoardInfo = info ;
_foundBoardType = static_cast < QGCSerialPortInfo : : BoardType_t > ( boardType ) ; _foundBoardType = static_cast < QGCSerialPortInfo : : BoardType_t > ( boardType ) ;
_foundBoardTypeName = boardName ; _foundBoardTypeName = boardName ;
qDebug ( ) < < info . manufacturer ( ) < < info . description ( ) ;
_startFlashWhenBootloaderFound = false ; _startFlashWhenBootloaderFound = false ;
if ( _foundBoardType = = QGCSerialPortInfo : : BoardTypeSiKRadio ) { if ( _foundBoardType = = QGCSerialPortInfo : : BoardTypeSiKRadio ) {
@ -178,7 +220,9 @@ void FirmwareUpgradeController::_foundBootloader(int bootloaderVersion, int boar
flash ( _startFlashWhenBootloaderFoundFirmwareIdentity ) ; 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 , 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 , 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 " } , { 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 //////////////////////////////////////////////////
//////////////////////////////////// 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 , 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 , 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 " } , { 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 //////////////////////////////////////////////////
//////////////////////////////////// MindPXFMUV2 firmwares //////////////////////////////////////////////////
FirmwareToUrlElement_t rgMindPXFMUV2FirmwareArray [ ] = { 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 " } { 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 #if 0
Example URLs for PX4 and ArduPilot Example URLs for PX4 and ArduPilot
@ -298,77 +312,14 @@ void FirmwareUpgradeController::_initFirmwareHash()
# endif # endif
QString px4Url ( " http://px4-travis.s3.amazonaws.com/Firmware/%1/px4fmu-%2_default.px4 " ) ; 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 < FirmwareType_t , QString > px4MapFirmwareTypeToDir ; QMap < FirmwareBuildType_t , QString > px4MapFirmwareTypeToDir ;
px4MapFirmwareTypeToDir [ StableFirmware ] = QStringLiteral ( " stable " ) ; px4MapFirmwareTypeToDir [ StableFirmware ] = QStringLiteral ( " stable " ) ;
px4MapFirmwareTypeToDir [ BetaFirmware ] = QStringLiteral ( " beta " ) ; px4MapFirmwareTypeToDir [ BetaFirmware ] = QStringLiteral ( " beta " ) ;
px4MapFirmwareTypeToDir [ DeveloperFirmware ] = QStringLiteral ( " master " ) ; px4MapFirmwareTypeToDir [ DeveloperFirmware ] = QStringLiteral ( " master " ) ;
# if !defined(NO_ARDUPILOT_DIALECT)
QMap < FirmwareVehicleType_t , QString > 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 < FirmwareVehicleType_t , QString > 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 < FirmwareType_t , QString > apmMapFirmwareTypeToDir ;
apmMapFirmwareTypeToDir [ StableFirmware ] = QStringLiteral ( " stable " ) ;
apmMapFirmwareTypeToDir [ BetaFirmware ] = QStringLiteral ( " beta " ) ;
apmMapFirmwareTypeToDir [ DeveloperFirmware ] = QStringLiteral ( " latest " ) ;
# endif
# if !defined(NO_ARDUPILOT_DIALECT)
QMap < FirmwareVehicleType_t , QString > 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 < FirmwareVehicleType_t , QString > 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 < FirmwareVehicleType_t , QString > apmChibiOSMapVehicleTypeToFmuDir ;
apmChibiOSMapVehicleTypeToFmuDir [ CopterChibiOSFirmware ] = QString ( ) ;
apmChibiOSMapVehicleTypeToFmuDir [ HeliChibiOSFirmware ] = QStringLiteral ( " -heli " ) ;
apmChibiOSMapVehicleTypeToFmuDir [ PlaneChibiOSFirmware ] = QString ( ) ;
apmChibiOSMapVehicleTypeToFmuDir [ RoverChibiOSFirmware ] = QString ( ) ;
apmChibiOSMapVehicleTypeToFmuDir [ SubChibiOSFirmware ] = QString ( ) ;
# endif
# if !defined(NO_ARDUPILOT_DIALECT)
QMap < FirmwareVehicleType_t , QString > 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
// PX4 Firmwares
for ( const FirmwareType_t & firmwareType : px4MapFirmwareTypeToDir . keys ( ) ) { for ( const FirmwareBuildType_t & firmwareType : px4MapFirmwareTypeToDir . keys ( ) ) {
QString dir = px4MapFirmwareTypeToDir [ firmwareType ] ; QString dir = px4MapFirmwareTypeToDir [ firmwareType ] ;
_rgFMUV5Firmware . insert ( FirmwareIdentifier ( AutoPilotStackPX4 , firmwareType , DefaultVehicleFirmware ) , px4Url . arg ( dir ) . arg ( " v5 " ) ) ; _rgFMUV5Firmware . insert ( FirmwareIdentifier ( AutoPilotStackPX4 , firmwareType , DefaultVehicleFirmware ) , px4Url . arg ( dir ) . arg ( " v5 " ) ) ;
_rgFMUV4PROFirmware . insert ( FirmwareIdentifier ( AutoPilotStackPX4 , firmwareType , DefaultVehicleFirmware ) , px4Url . arg ( dir ) . arg ( " v4pro " ) ) ; _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 " ) ) ; _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 ] ) ; int size = sizeof ( rgAeroCoreFirmwareArray ) / sizeof ( rgAeroCoreFirmwareArray [ 0 ] ) ;
for ( int i = 0 ; i < size ; i + + ) { for ( int i = 0 ; i < size ; i + + ) {
const FirmwareToUrlElement_t & element = rgAeroCoreFirmwareArray [ i ] ; const FirmwareToUrlElement_t & element = rgAeroCoreFirmwareArray [ i ] ;
@ -550,24 +458,6 @@ QHash<FirmwareUpgradeController::FirmwareIdentifier, QString>* FirmwareUpgradeCo
break ; 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 ; return & _rgFirmwareDynamic ;
} }
@ -659,7 +549,7 @@ void FirmwareUpgradeController::_firmwareDownloadError(QString errorMsg)
} }
/// @brief returns firmware type as a string
/// @brief returns firmware type as a string
QString FirmwareUpgradeController : : firmwareTypeAsString ( FirmwareType_t type ) const QString FirmwareUpgradeController : : firmwareTypeAsString ( FirmwareBuild Type_t type ) const
{ {
switch ( type ) { switch ( type ) {
case StableFirmware : case StableFirmware :
@ -757,119 +647,62 @@ void FirmwareUpgradeController::_eraseComplete(void)
_eraseTimer . stop ( ) ; _eraseTimer . stop ( ) ;
} }
void FirmwareUpgradeController : : _loadAPMVersions ( uint32_t bootloaderBoardID ) void FirmwareUpgradeController : : setSelectedFirmwareBuildType ( FirmwareBuildType_t firmwareType )
{ {
_apmVersionMap . clear ( ) ; _selectedFirmwareBuildType = firmwareType ;
emit selectedFirmwareBuildTypeChanged ( _selectedFirmwareBuildType ) ;
QHash < FirmwareIdentifier , QString > * prgFirmware = _firmwareHashForBoardId ( static_cast < int > ( bootloaderBoardID ) ) ; _buildAPMFirmwareNames ( ) ;
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 ) ;
}
}
} }
void FirmwareUpgradeController : : _apmVersionDownloadFinished ( QString remoteFile , QString localFile ) void FirmwareUpgradeController : : _buildAPMFirmwareNames ( void )
{ {
qCDebug ( FirmwareUpgradeLog ) < < " Download complete " < < remoteFile < < localFile ; qCDebug ( FirmwareUpgradeLog ) < < " _buildAPMFirmwareNames " ;
// Now read the version file and pull out the version string
QFile versionFile ( localFile ) ; bool chibios = _apmChibiOSSetting - > rawValue ( ) . toInt ( ) = = 0 ;
versionFile . open ( QIODevice : : ReadOnly | QIODevice : : Text ) ; FirmwareVehicleType_t vehicleType = static_cast < FirmwareVehicleType_t > ( _apmVehicleTypeSetting - > rawValue ( ) . toInt ( ) ) ;
QTextStream stream ( & versionFile ) ;
QString versionContents = stream . readAll ( ) ;
QString version ; _apmFirmwareNames . clear ( ) ;
QRegularExpression re ( " APMVERSION: (.*) $ " ) ; _apmFirmwareUrls . clear ( ) ;
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 ;
}
// 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 < FirmwareIdentifier , QString > * prgFirmware = _firmwareHashForBoardId ( static_cast < int > ( _bootloaderBoardID ) ) ; // Do a final filter on fmuv2/fmuv3
if ( match & & _bootloaderBoardID = = Bootloader : : boardIDPX4FMUV3 ) {
match = ! firmwareInfo . fmuv2 ;
}
QString remotePath = QFileInfo ( remoteFile ) . path ( ) ; if ( match ) {
for ( FirmwareIdentifier firmwareId : prgFirmware - > keys ( ) ) { _apmFirmwareNames . append ( firmwareInfo . friendlyName ) ;
if ( remotePath = = QFileInfo ( ( * prgFirmware ) [ firmwareId ] ) . path ( ) ) { _apmFirmwareUrls . append ( firmwareInfo . url ) ;
qCDebug ( FirmwareUpgradeLog ) < < " Adding version to map, version:firwmareType:vehicleType " < < version < < firmwareId . firmwareType < < firmwareId . firmwareVehicleType ;
_apmVersionMap [ firmwareId . firmwareType ] [ firmwareId . firmwareVehicleType ] = version ;
} }
} }
emit apmAvailableVersionsChanged ( ) ; if ( _apmFirmwareNames . count ( ) > 1 ) {
sender ( ) - > deleteLater ( ) ; _apmFirmwareNames . prepend ( tr ( " Choose board type " ) ) ;
} _apmFirmwareUrls . prepend ( QString ( ) ) ;
void FirmwareUpgradeController : : setSelectedFirmwareType ( FirmwareType_t firmwareType )
{
_selectedFirmwareType = firmwareType ;
emit selectedFirmwareTypeChanged ( _selectedFirmwareType ) ;
emit apmAvailableVersionsChanged ( ) ;
}
QStringList FirmwareUpgradeController : : apmAvailableVersions ( void )
{
QStringList list ;
QList < FirmwareVehicleType_t > 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 ;
}
} }
return list ; emit apmFirmwareNamesChanged ( ) ;
} }
FirmwareUpgradeController : : FirmwareVehicleType_t FirmwareUpgradeController : : vehicleTypeFromVers ionIndex ( int index ) FirmwareUpgradeController : : FirmwareVehicleType_t FirmwareUpgradeController : : vehicleTypeFromFirmwareSelectionIndex ( int index )
{ {
if ( index < 0 | | index > = _apmVehicleTypeFromCurrentVersionList . count ( ) ) { if ( index < 0 | | index > = _apmVehicleTypeFromCurrentVersionList . count ( ) ) {
qWarning ( ) < < " Invalid index, index:count " < < 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 ; 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 < rgFirmware . count ( ) ; i + + ) {
const QJsonObject & firmwareJson = rgFirmware [ i ] . toObject ( ) ;
FirmwareVehicleType_t firmwareVehicleType = _manifestMavTypeToFirmwareVehicleType ( firmwareJson [ _manifestMavTypeJsonKey ] . toString ( ) ) ;
FirmwareBuildType_t firmwareBuildType = _manifestMavFirmwareVersionTypeToFirmwareBuildType ( firmwareJson [ _manifestMavFirmwareVersionTypeJsonKey ] . toString ( ) ) ;
QString format = firmwareJson [ _manifestFormatJsonKey ] . toString ( ) ;
QString platform = firmwareJson [ _manifestPlatformKey ] . toString ( ) ;
if ( firmwareVehicleType ! = DefaultVehicleFirmware & & firmwareBuildType ! = CustomFirmware & & ( format = = QStringLiteral ( " apj " ) | | format = = QStringLiteral ( " px4 " ) ) ) {
if ( platform . contains ( " -heli " ) & & firmwareVehicleType ! = HeliFirmware ) {
continue ;
}
_rgManifestFirmwareInfo . append ( ManifestFirmwareInfo_t ( ) ) ;
ManifestFirmwareInfo_t & firmwareInfo = _rgManifestFirmwareInfo . last ( ) ;
firmwareInfo . boardId = static_cast < uint32_t > ( 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 < bootloaderArray . count ( ) ; j + + ) {
firmwareInfo . rgBootloaderPortString . append ( bootloaderArray [ j ] . toString ( ) ) ;
}
QJsonArray usbidArray = firmwareJson [ _manifestUSBIDJsonKey ] . toArray ( ) ;
for ( int j = 0 ; j < usbidArray . count ( ) ; j + + ) {
QStringList vidpid = usbidArray [ j ] . toString ( ) . split ( ' / ' ) ;
QString vid = vidpid [ 0 ] ;
QString pid = vidpid [ 1 ] ;
bool ok ;
firmwareInfo . rgVID . append ( vid . right ( vid . count ( ) - 2 ) . toInt ( & ok , 16 ) ) ;
firmwareInfo . rgPID . append ( pid . right ( pid . count ( ) - 2 ) . toInt ( & ok , 16 ) ) ;
}
QString brandName = firmwareJson [ _manifestBrandNameKey ] . toString ( ) ;
firmwareInfo . friendlyName = QStringLiteral ( " %1 - %2 " ) . arg ( brandName . isEmpty ( ) ? platform : brandName ) . arg ( firmwareInfo . version ) ;
}
}
if ( _bootloaderFound ) {
_buildAPMFirmwareNames ( ) ;
}
_downloadingFirmwareList = false ;
emit downloadingFirmwareListChanged ( false ) ;
}
void FirmwareUpgradeController : : _ardupilotManifestDownloadError ( QString errorMsg )
{
qCWarning ( FirmwareUpgradeLog ) < < " ArduPilot Manifest download failed " < < errorMsg ;
}
FirmwareUpgradeController : : FirmwareBuildType_t FirmwareUpgradeController : : _manifestMavFirmwareVersionTypeToFirmwareBuildType ( const QString & manifestMavFirmwareVersionType )
{
if ( _manifestMavFirmwareVersionTypeToFirmwareBuildTypeMap . contains ( manifestMavFirmwareVersionType ) ) {
return _manifestMavFirmwareVersionTypeToFirmwareBuildTypeMap [ manifestMavFirmwareVersionType ] ;
} else {
return CustomFirmware ;
}
}
FirmwareUpgradeController : : FirmwareVehicleType_t FirmwareUpgradeController : : _manifestMavTypeToFirmwareVehicleType ( const QString & manifestMavType )
{
if ( _manifestMavTypeToFirmwareVehicleTypeMap . contains ( manifestMavType ) ) {
return _manifestMavTypeToFirmwareVehicleTypeMap [ manifestMavType ] ;
} else {
return DefaultVehicleFirmware ;
}
}
Don Gagne
6 years ago
committed by
GitHub