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Commit 97a56c90 authored by Don Gagne's avatar Don Gagne
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Pull parameter meta data out of firmware file 

Also updated parser for new xml format
parent 9deb2a2f
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Inline Side-by-side
Showing with 161 additions and 109 deletions
src/AutoPilotPlugins/PX4/PX4ParameterFacts.cc
View file @ 97a56c90
......@@ -29,6 +29,8 @@
#include "QGCLoggingCategory.h"
#include <QFile>
#include <QFileInfo>
#include <QDir>
#include <QDebug>
QGC_LOGGING_CATEGORY(PX4ParameterFactsMetaDataLog, "PX4ParameterFactsMetaDataLog")
......@@ -42,63 +44,6 @@ PX4ParameterFacts::PX4ParameterFacts(UASInterface* uas, QObject* parent) :
Q_ASSERT(uas);
}
/// Parse the Parameter element of parameter xml meta data
/// @param[in] xml stream reader
/// @param[in] group fact group associated with this Param element
/// @return Returns the meta data object for this parameter
FactMetaData* PX4ParameterFacts::_parseParameter(QXmlStreamReader& xml, const QString& group)
{
Q_UNUSED(group);
QString name = xml.attributes().value("name").toString();
QString type = xml.attributes().value("type").toString();
qCDebug(PX4ParameterFactsMetaDataLog) << "Parsed parameter: " << name << type;
Q_ASSERT(!name.isEmpty());
Q_ASSERT(!type.isEmpty());
FactMetaData* metaData = new FactMetaData();
Q_CHECK_PTR(metaData);
metaData->group = group;
// Convert type from string to FactMetaData::ValueType_t
struct String2Type {
const char* strType;
FactMetaData::ValueType_t type;
};
static const struct String2Type rgString2Type[] = {
{ "FLOAT", FactMetaData::valueTypeFloat },
{ "INT32", FactMetaData::valueTypeInt32 },
};
static const size_t crgString2Type = sizeof(rgString2Type) / sizeof(rgString2Type[0]);
bool found = false;
for (size_t i=0; i<crgString2Type; i++) {
const struct String2Type* info = &rgString2Type[i];
if (type == info->strType) {
found = true;
metaData->type = info->type;
break;
}
}
Q_UNUSED(found);
Q_ASSERT(found);
_initMetaData(metaData);
// FIXME: Change to change the parameter build scheme in Firmware to get rid of ifdef dup problem
if (!_mapParameterName2FactMetaData.contains(name)) {
_mapParameterName2FactMetaData[name] = metaData;
}
return metaData;
}
/// This will fill in missing meta data such as range info
void PX4ParameterFacts::_initMetaData(FactMetaData* metaData)
{
......@@ -163,6 +108,7 @@ QVariant PX4ParameterFacts::_stringToTypedVariant(const QString& string, FactMet
case FactMetaData::valueTypeInt32:
convertOk = var.convert(QVariant::Int);
if (!failOk) {
qDebug() << string;
Q_ASSERT(convertOk);
}
break;
......@@ -170,6 +116,7 @@ QVariant PX4ParameterFacts::_stringToTypedVariant(const QString& string, FactMet
case FactMetaData::valueTypeDouble:
convertOk = var.convert(QVariant::Double);
if (!failOk) {
qDebug() << string;
Q_ASSERT(convertOk);
}
break;
......@@ -191,9 +138,16 @@ void PX4ParameterFacts::loadParameterFactMetaData(void)
qCDebug(PX4ParameterFactsMetaDataLog) << "Loading PX4 parameter fact meta data";
Q_ASSERT(_mapParameterName2FactMetaData.count() == 0);
QFile xmlFile(":/AutoPilotPlugins/PX4/ParameterFactMetaData.xml");
// First look for meta data that comes from a firmware download. Fall back to resource if not there.
QSettings settings;
QDir parameterDir = QFileInfo(settings.fileName()).dir();
QString parameterFilename = parameterDir.filePath("PX4ParameterFactMetaData.xml");
if (!QFile(parameterFilename).exists()) {
parameterFilename = ":/AutoPilotPlugins/PX4/ParameterFactMetaData.xml";
}
QFile xmlFile(parameterFilename);
Q_ASSERT(xmlFile.exists());
bool success = xmlFile.open(QIODevice::ReadOnly);
......@@ -215,7 +169,49 @@ void PX4ParameterFacts::loadParameterFactMetaData(void)
factGroup = xml.attributes().value("name").toString();
qCDebug(PX4ParameterFactsMetaDataLog) << "Found group: " << factGroup;
} else if (elementName == "parameter") {
metaData = _parseParameter(xml, factGroup);
metaData = new FactMetaData();
Q_CHECK_PTR(metaData);
metaData->group = factGroup;
} else if (elementName == "code") {
Q_ASSERT(metaData);
QString name = xml.readElementText();
qCDebug(PX4ParameterFactsMetaDataLog) << "Found parameter: " << name;
// FIXME: Change the parameter build scheme in Firmware to get rid of ifdef dup problem
if (!_mapParameterName2FactMetaData.contains(name)) {
_mapParameterName2FactMetaData[name] = metaData;
}
} else if (elementName == "type") {
Q_ASSERT(metaData);
QString type = xml.readElementText();
// Convert type from string to FactMetaData::ValueType_t
struct String2Type {
const char* strType;
FactMetaData::ValueType_t type;
};
static const struct String2Type rgString2Type[] = {
{ "FLOAT", FactMetaData::valueTypeFloat },
{ "INT32", FactMetaData::valueTypeInt32 },
};
static const size_t crgString2Type = sizeof(rgString2Type) / sizeof(rgString2Type[0]);
bool found = false;
for (size_t i=0; i<crgString2Type; i++) {
const struct String2Type* info = &rgString2Type[i];
if (type == info->strType) {
found = true;
metaData->type = info->type;
break;
}
}
Q_UNUSED(found);
Q_ASSERT(found);
qCDebug(PX4ParameterFactsMetaDataLog) << "Type:" << type << metaData->type;
_initMetaData(metaData);
} else if (elementName == "short_desc") {
Q_ASSERT(metaData);
QString text = xml.readElementText();
......
src/AutoPilotPlugins/PX4/PX4ParameterFacts.h
View file @ 97a56c90
......@@ -59,7 +59,6 @@ private:
virtual void _addMetaDataToFact(Fact* fact);
// Class methods
static FactMetaData* _parseParameter(QXmlStreamReader& xml, const QString& group);
static void _initMetaData(FactMetaData* metaData);
static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool failOk = false);
......
src/VehicleSetup/FirmwareUpgradeController.cc
View file @ 97a56c90
......@@ -344,55 +344,51 @@ void FirmwareUpgradeController::_downloadFinished(void)
return;
}
_imageSize = px4Json.value(QString("image_size")).toInt();
if (_imageSize == 0) {
_appendStatusLog(tr("Image size of 0 in .px4 file %1").arg(downloadFilename));
_cancel();
return;
// Decompress the parameter xml and save to file
QByteArray decompressedBytes;
bool success = _decompressJsonValue(px4Json, // JSON object
bytes, // Raw bytes of JSON document
"parameter_xml_size", // key which holds byte size
"parameter_xml", // key which holds compress bytes
decompressedBytes); // Returned decompressed bytes
if (success) {
QSettings settings;
QDir parameterDir = QFileInfo(settings.fileName()).dir();
QString parameterFilename = parameterDir.filePath("PX4ParameterFactMetaData.xml");
qDebug() << parameterFilename;
QFile parameterFile(parameterFilename);
if (parameterFile.open(QIODevice::WriteOnly | QIODevice::Truncate)) {
qint64 bytesWritten = parameterFile.write(decompressedBytes);
if (bytesWritten != decompressedBytes.count()) {
_appendStatusLog(tr("Write failed for parameter meta data file, error: %1").arg(parameterFile.errorString()));
parameterFile.close();
QFile::remove(parameterFilename);
} else {
parameterFile.close();
}
} else {
_appendStatusLog(tr("Unable to open parameter meta data file %1 for writing, error: %2").arg(parameterFilename).arg(parameterFile.errorString()));
}
}
qDebug() << "Image size from px4:" << _imageSize;
// Convert image from base-64 and decompress
// XXX Qt's JSON string handling is terribly broken, strings
// with some length (18K / 25K) are just weirdly cut.
// The code below works around this by manually 'parsing'
// for the image string. Since its compressed / checksummed
// this should be fine.
QStringList list = QString(bytes).split("\"image\": \"");
list = list.last().split("\"");
// FIXME: Save NYI
// Convert String to QByteArray and unzip it
QByteArray raw;
// Store image size
raw.append((unsigned char)((_imageSize >> 24) & 0xFF));
raw.append((unsigned char)((_imageSize >> 16) & 0xFF));
raw.append((unsigned char)((_imageSize >> 8) & 0xFF));
raw.append((unsigned char)((_imageSize >> 0) & 0xFF));
QByteArray raw64 = list.first().toUtf8();
raw.append(QByteArray::fromBase64(raw64));
QByteArray uncompressed = qUncompress(raw);
QByteArray b = uncompressed;
if (b.count() == 0) {
_appendStatusLog(tr("Firmware file has 0 length image"));
_cancel();
return;
}
if (b.count() != (int)_imageSize) {
_appendStatusLog(tr("Image size for decompressed image does not match stored image size: Expected(%1) Actual(%2)").arg(_imageSize).arg(b.count()));
// Decompress the image and save to file
_imageSize = px4Json.value(QString("image_size")).toInt();
success = _decompressJsonValue(px4Json, // JSON object
bytes, // Raw bytes of JSON document
"image_size", // key which holds byte size
"image", // key which holds compress bytes
decompressedBytes); // Returned decompressed bytes
if (!success) {
_cancel();
return;
}
// Pad image to 4-byte boundary
while ((b.count() % 4) != 0) {
b.append(static_cast<char>(static_cast<unsigned char>(0xFF)));
while ((decompressedBytes.count() % 4) != 0) {
decompressedBytes.append(static_cast<char>(static_cast<unsigned char>(0xFF)));
}
// Store decompressed image file in same location as original download file
......@@ -406,8 +402,8 @@ void FirmwareUpgradeController::_downloadFinished(void)
return;
}
qint64 bytesWritten = decompressFile.write(b);
if (bytesWritten != b.count()) {
qint64 bytesWritten = decompressFile.write(decompressedBytes);
if (bytesWritten != decompressedBytes.count()) {
_appendStatusLog(tr("Write failed for decompressed image file, error: %1").arg(decompressFile.errorString()));
_cancel();
return;
......@@ -459,6 +455,65 @@ void FirmwareUpgradeController::_downloadFinished(void)
_erase();
}
/// Decompress a set of bytes stored in a Json document.
bool FirmwareUpgradeController::_decompressJsonValue(const QJsonObject& jsonObject, ///< JSON object
const QByteArray& jsonDocBytes, ///< Raw bytes of JSON document
const QString& sizeKey, ///< key which holds byte size
const QString& bytesKey, ///< key which holds compress bytes
QByteArray& decompressedBytes) ///< Returned decompressed bytes
{
// Validate decompressed size key
if (!jsonObject.contains(sizeKey)) {
_appendStatusLog(QString("Firmware file missing %1 key").arg(sizeKey));
return false;
}
int decompressedSize = jsonObject.value(QString(sizeKey)).toInt();
if (decompressedSize == 0) {
_appendStatusLog(QString("Firmware file has invalid decompressed size for %1").arg(sizeKey));
return false;
}
// XXX Qt's JSON string handling is terribly broken, strings
// with some length (18K / 25K) are just weirdly cut.
// The code below works around this by manually 'parsing'
// for the image string. Since its compressed / checksummed
// this should be fine.
QStringList parts = QString(jsonDocBytes).split(QString("\"%1\": \"").arg(bytesKey));
if (parts.count() == 1) {
_appendStatusLog(QString("Could not find compressed bytes for %1 in Firmware file").arg(bytesKey));
return false;
}
parts = parts.last().split("\"");
if (parts.count() == 1) {
_appendStatusLog(QString("Incorrectly formed compressed bytes section for %1 in Firmware file").arg(bytesKey));
return false;
}
// Store decompressed size as first four bytes. This is required by qUncompress routine.
QByteArray raw;
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));
QByteArray raw64 = parts.first().toUtf8();
raw.append(QByteArray::fromBase64(raw64));
decompressedBytes = qUncompress(raw);
if (decompressedBytes.count() == 0) {
_appendStatusLog(QString("Firmware file has 0 length %1").arg(bytesKey));
return false;
}
if (decompressedBytes.count() != decompressedSize) {
_appendStatusLog(QString("Size for decompressed %1 does not match stored size: Expected(%1) Actual(%2)").arg(decompressedSize).arg(decompressedBytes.count()));
return false;
}
_appendStatusLog(QString("Succesfully decompressed %1").arg(bytesKey));
return true;
}
/// @brief Called when an error occurs during download
void FirmwareUpgradeController::_downloadError(QNetworkReply::NetworkError code)
{
......
src/VehicleSetup/FirmwareUpgradeController.h
View file @ 97a56c90
......@@ -105,12 +105,14 @@ private:
void _findBootloader(void);
void _cancel(void);
void _getFirmwareFile(void);
void _downloadFirmware(void);
void _erase(void);
void _appendStatusLog(const QString& text);
bool _decompressJsonValue(const QJsonObject& jsonObject,
const QByteArray& jsonDocBytes,
const QString& sizeKey,
const QString& bytesKey,
QByteArray& decompressedBytes);
QString _portName;
QString _portDescription;
......
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