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/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
/// @file
/// @brief PX4 Firmware Upgrade operations which occur on a separate thread.
/// @author Don Gagne <don@thegagnes.com>
#include "PX4FirmwareUpgradeThread.h"
#include "Bootloader.h"
#include "QGCLoggingCategory.h"
#include "QGC.h"
#include <QTimer>
#include <QDebug>
#include <QSerialPort>
PX4FirmwareUpgradeThreadWorker::PX4FirmwareUpgradeThreadWorker(PX4FirmwareUpgradeThreadController* controller) :
_controller(controller),
_bootloader(NULL),
_bootloaderPort(NULL),
_timerRetry(NULL),
_foundBoard(false),
_findBoardFirstAttempt(true)
{
Q_ASSERT(_controller);
connect(_controller, &PX4FirmwareUpgradeThreadController::_initThreadWorker, this, &PX4FirmwareUpgradeThreadWorker::_init);
connect(_controller, &PX4FirmwareUpgradeThreadController::_startFindBoardLoopOnThread, this, &PX4FirmwareUpgradeThreadWorker::_startFindBoardLoop);
connect(_controller, &PX4FirmwareUpgradeThreadController::_flashOnThread, this, &PX4FirmwareUpgradeThreadWorker::_flash);
connect(_controller, &PX4FirmwareUpgradeThreadController::_rebootOnThread, this, &PX4FirmwareUpgradeThreadWorker::_reboot);
connect(_controller, &PX4FirmwareUpgradeThreadController::_cancel, this, &PX4FirmwareUpgradeThreadWorker::_cancel);
}
PX4FirmwareUpgradeThreadWorker::~PX4FirmwareUpgradeThreadWorker()
{
if (_bootloaderPort) {
// deleteLater so delete happens on correct thread
_bootloaderPort->deleteLater();
}
}
/// @brief Initializes the PX4FirmwareUpgradeThreadWorker with the various child objects which must be created
/// on the worker thread.
void PX4FirmwareUpgradeThreadWorker::_init(void)
{
// We create the timers here so that they are on the right thread
Q_ASSERT(_timerRetry == NULL);
_timerRetry = new QTimer(this);
Q_CHECK_PTR(_timerRetry);
_timerRetry->setSingleShot(true);
_timerRetry->setInterval(_retryTimeout);
connect(_timerRetry, &QTimer::timeout, this, &PX4FirmwareUpgradeThreadWorker::_findBoardOnce);
Q_ASSERT(_bootloader == NULL);
_bootloader = new Bootloader(this);
connect(_bootloader, &Bootloader::updateProgress, this, &PX4FirmwareUpgradeThreadWorker::_updateProgress);
}
void PX4FirmwareUpgradeThreadWorker::_cancel(void)
{
if (_bootloaderPort) {
_bootloaderPort->close();
_bootloaderPort->deleteLater();
_bootloaderPort = NULL;
}
}
void PX4FirmwareUpgradeThreadWorker::_startFindBoardLoop(void)
{
_foundBoard = false;
_findBoardFirstAttempt = true;
_findBoardOnce();
}
void PX4FirmwareUpgradeThreadWorker::_findBoardOnce(void)
{
qCDebug(FirmwareUpgradeVerboseLog) << "_findBoardOnce";
QGCSerialPortInfo portInfo;
QGCSerialPortInfo::BoardType_t boardType;
QString boardName;
if (_findBoardFromPorts(portInfo, boardType, boardName)) {
if (!_foundBoard) {
_foundBoard = true;
_foundBoardPortInfo = portInfo;
emit foundBoard(_findBoardFirstAttempt, portInfo, boardType, boardName);
if (!_findBoardFirstAttempt) {
if (boardType == QGCSerialPortInfo::BoardTypeSiKRadio) {
_3drRadioForceBootloader(portInfo);
return;
} else {
_findBootloader(portInfo, false /* radio mode */, true /* errorOnNotFound */);
return;
}
}
}
} else {
if (_foundBoard) {
_foundBoard = false;
qCDebug(FirmwareUpgradeLog) << "Board gone";
emit boardGone();
} else if (_findBoardFirstAttempt) {
emit noBoardFound();
}
}
_findBoardFirstAttempt = false;
_timerRetry->start();
}
bool PX4FirmwareUpgradeThreadWorker::_findBoardFromPorts(QGCSerialPortInfo& portInfo, QGCSerialPortInfo::BoardType_t& boardType, QString& boardName)
{
foreach (QGCSerialPortInfo info, QGCSerialPortInfo::availablePorts()) {
info.getBoardInfo(boardType, boardName);
qCDebug(FirmwareUpgradeVerboseLog) << "Serial Port --------------";
qCDebug(FirmwareUpgradeVerboseLog) << "\tboard type" << boardType;
qCDebug(FirmwareUpgradeVerboseLog) << "\tboard name" << boardName;
qCDebug(FirmwareUpgradeVerboseLog) << "\tport name:" << info.portName();
qCDebug(FirmwareUpgradeVerboseLog) << "\tdescription:" << info.description();
qCDebug(FirmwareUpgradeVerboseLog) << "\tsystem location:" << info.systemLocation();
qCDebug(FirmwareUpgradeVerboseLog) << "\tvendor ID:" << info.vendorIdentifier();
qCDebug(FirmwareUpgradeVerboseLog) << "\tproduct ID:" << info.productIdentifier();
if (info.canFlash()) {
portInfo = info;
return true;
}
}
return false;
}
void PX4FirmwareUpgradeThreadWorker::_3drRadioForceBootloader(const QGCSerialPortInfo& portInfo)
{
// First make sure we can't get the bootloader
if (_findBootloader(portInfo, true /* radio Mode */, false /* errorOnNotFound */)) {
return;
}
// Couldn't find the bootloader. We'll need to reboot the radio into bootloader.
QSerialPort port(portInfo);
port.setBaudRate(QSerialPort::Baud57600);
emit status("Putting radio into command mode");
// Wait a little while for the USB port to initialize. 3DR Radio boot is really slow.
QGC::SLEEP::msleep(2000);
port.open(QIODevice::ReadWrite);
if (!port.isOpen()) {
emit error(QString("Unable to open port: %1 error: %2").arg(portInfo.systemLocation()).arg(port.errorString()));
return;
}
// Put radio into command mode
QGC::SLEEP::msleep(2000);
port.write("+++", 3);
if (!port.waitForReadyRead(1500)) {
emit error("Unable to put radio into command mode");
return;
}
QByteArray bytes = port.readAll();
if (!bytes.contains("OK")) {
qCDebug(FirmwareUpgradeLog) << bytes;
emit error("Unable to put radio into command mode");
return;
}
emit status("Rebooting radio to bootloader");
port.write("AT&UPDATE\r\n");
if (!port.waitForBytesWritten(1500)) {
emit error("Unable to reboot radio (bytes written)");
return;
}
if (!port.waitForReadyRead(1500)) {
emit error("Unable to reboot radio (ready read)");
return;
}
port.close();
QGC::SLEEP::msleep(2000);
// The bootloader should be waiting for us now
_findBootloader(portInfo, true /* radio mode */, true /* errorOnNotFound */);
}
bool PX4FirmwareUpgradeThreadWorker::_findBootloader(const QGCSerialPortInfo& portInfo, bool radioMode, bool errorOnNotFound)
{
qCDebug(FirmwareUpgradeLog) << "_findBootloader" << portInfo.systemLocation();
uint32_t bootloaderVersion = 0;
uint32_t boardID;
uint32_t flashSize = 0;
_bootloaderPort = new QextSerialPort(QextSerialPort::Polling);
if (radioMode) {
_bootloaderPort->setBaudRate(BAUD115200);
}
// Wait a little while for the USB port to initialize.
bool openFailed = true;
for (int i=0; i<10; i++) {
if (_bootloader->open(_bootloaderPort, portInfo.systemLocation())) {
openFailed = false;
break;
} else {
QGC::SLEEP::msleep(100);
}
}
if (radioMode) {
QGC::SLEEP::msleep(2000);
}
if (openFailed) {
qCDebug(FirmwareUpgradeLog) << "Bootloader open port failed:" << _bootloader->errorString();
if (errorOnNotFound) {
emit error(_bootloader->errorString());
}
_bootloaderPort->deleteLater();
_bootloaderPort = NULL;
return false;
}
if (_bootloader->sync(_bootloaderPort)) {
bool success;
if (radioMode) {
success = _bootloader->get3DRRadioBoardId(_bootloaderPort, boardID);
} else {
success = _bootloader->getPX4BoardInfo(_bootloaderPort, bootloaderVersion, boardID, flashSize);
}
if (success) {
qCDebug(FirmwareUpgradeLog) << "Found bootloader";
emit foundBootloader(bootloaderVersion, boardID, flashSize);
return true;
}
}
_bootloaderPort->close();
_bootloaderPort->deleteLater();
_bootloaderPort = NULL;
qCDebug(FirmwareUpgradeLog) << "Bootloader error:" << _bootloader->errorString();
if (errorOnNotFound) {
emit error(_bootloader->errorString());
}
return false;
}
void PX4FirmwareUpgradeThreadWorker::_reboot(void)
{
if (_bootloaderPort) {
if (_bootloaderPort->isOpen()) {
_bootloader->reboot(_bootloaderPort);
}
_bootloaderPort->deleteLater();
_bootloaderPort = NULL;
}
}
void PX4FirmwareUpgradeThreadWorker::_flash(void)
{
qCDebug(FirmwareUpgradeLog) << "PX4FirmwareUpgradeThreadWorker::_flash";
if (_erase()) {
emit status("Programming new version...");
if (_bootloader->program(_bootloaderPort, _controller->image())) {
qCDebug(FirmwareUpgradeLog) << "Program complete";
emit status("Program complete");
} else {
_bootloaderPort->deleteLater();
_bootloaderPort = NULL;
qCDebug(FirmwareUpgradeLog) << "Program failed:" << _bootloader->errorString();
emit error(_bootloader->errorString());
return;
}
emit status("Verifying program...");
if (_bootloader->verify(_bootloaderPort, _controller->image())) {
qCDebug(FirmwareUpgradeLog) << "Verify complete";
emit status("Verify complete");
} else {
qCDebug(FirmwareUpgradeLog) << "Verify failed:" << _bootloader->errorString();
emit error(_bootloader->errorString());
return;
}
}
emit _reboot();
emit flashComplete();
}
bool PX4FirmwareUpgradeThreadWorker::_erase(void)
{
qCDebug(FirmwareUpgradeLog) << "PX4FirmwareUpgradeThreadWorker::_erase";
emit eraseStarted();
emit status("Erasing previous program...");
if (_bootloader->erase(_bootloaderPort)) {
qCDebug(FirmwareUpgradeLog) << "Erase complete";
emit status("Erase complete");
emit eraseComplete();
return true;
} else {
qCDebug(FirmwareUpgradeLog) << "Erase failed:" << _bootloader->errorString();
emit error(_bootloader->errorString());
return false;
}
}
PX4FirmwareUpgradeThreadController::PX4FirmwareUpgradeThreadController(QObject* parent) :
QObject(parent)
{
_worker = new PX4FirmwareUpgradeThreadWorker(this);
Q_CHECK_PTR(_worker);
_workerThread = new QThread(this);
Q_CHECK_PTR(_workerThread);
_worker->moveToThread(_workerThread);
connect(_worker, &PX4FirmwareUpgradeThreadWorker::updateProgress, this, &PX4FirmwareUpgradeThreadController::_updateProgress);
connect(_worker, &PX4FirmwareUpgradeThreadWorker::foundBoard, this, &PX4FirmwareUpgradeThreadController::_foundBoard);
connect(_worker, &PX4FirmwareUpgradeThreadWorker::noBoardFound, this, &PX4FirmwareUpgradeThreadController::_noBoardFound);
connect(_worker, &PX4FirmwareUpgradeThreadWorker::boardGone, this, &PX4FirmwareUpgradeThreadController::_boardGone);
connect(_worker, &PX4FirmwareUpgradeThreadWorker::foundBootloader, this, &PX4FirmwareUpgradeThreadController::_foundBootloader);
connect(_worker, &PX4FirmwareUpgradeThreadWorker::bootloaderSyncFailed, this, &PX4FirmwareUpgradeThreadController::_bootloaderSyncFailed);
connect(_worker, &PX4FirmwareUpgradeThreadWorker::error, this, &PX4FirmwareUpgradeThreadController::_error);
connect(_worker, &PX4FirmwareUpgradeThreadWorker::status, this, &PX4FirmwareUpgradeThreadController::_status);
connect(_worker, &PX4FirmwareUpgradeThreadWorker::eraseStarted, this, &PX4FirmwareUpgradeThreadController::_eraseStarted);
connect(_worker, &PX4FirmwareUpgradeThreadWorker::eraseComplete, this, &PX4FirmwareUpgradeThreadController::_eraseComplete);
connect(_worker, &PX4FirmwareUpgradeThreadWorker::flashComplete, this, &PX4FirmwareUpgradeThreadController::_flashComplete);
_workerThread->start();
emit _initThreadWorker();
}
PX4FirmwareUpgradeThreadController::~PX4FirmwareUpgradeThreadController()
{
_workerThread->quit();
_workerThread->wait();
delete _workerThread;
}
void PX4FirmwareUpgradeThreadController::startFindBoardLoop(void)
{
qCDebug(FirmwareUpgradeLog) << "PX4FirmwareUpgradeThreadController::findBoard";
emit _startFindBoardLoopOnThread();
}
void PX4FirmwareUpgradeThreadController::cancel(void)
{
qCDebug(FirmwareUpgradeLog) << "PX4FirmwareUpgradeThreadController::cancel";
emit _cancel();
}
void PX4FirmwareUpgradeThreadController::flash(const FirmwareImage* image)
{
_image = image;
emit _flashOnThread();
}