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Commit a4c014ad authored by Gus Grubba's avatar Gus Grubba Committed by Gus Grubba
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If APM firmware type is disabled, skip all the firmware uploading stuff as well. 

Also cleaning up annoying c++14 warnings.
parent 0ed5e50f
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Showing with 46 additions and 22 deletions
src/VehicleSetup/FirmwareUpgradeController.cc
View file @ a4c014ad
......@@ -36,20 +36,20 @@ struct FirmwareToUrlElement_t {
uint qHash(const FirmwareUpgradeController::FirmwareIdentifier& firmwareId)
{
return ( firmwareId.autopilotStackType |
return static_cast<uint>(( firmwareId.autopilotStackType |
(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.
FirmwareUpgradeController::FirmwareUpgradeController(void)
: _singleFirmwareURL(qgcApp()->toolbox()->corePlugin()->options()->firmwareUpgradeSingleURL())
, _singleFirmwareMode(!_singleFirmwareURL.isEmpty())
, _downloadManager(NULL)
, _downloadNetworkReply(NULL)
, _statusLog(NULL)
, _downloadManager(nullptr)
, _downloadNetworkReply(nullptr)
, _statusLog(nullptr)
, _selectedFirmwareType(StableFirmware)
, _image(NULL)
, _image(nullptr)
{
_threadController = new PX4FirmwareUpgradeThreadController(this);
Q_CHECK_PTR(_threadController);
......@@ -129,7 +129,7 @@ void FirmwareUpgradeController::cancel(void)
void FirmwareUpgradeController::_foundBoard(bool firstAttempt, const QSerialPortInfo& info, int boardType, QString boardName)
{
_foundBoardInfo = info;
_foundBoardType = (QGCSerialPortInfo::BoardType_t)boardType;
_foundBoardType = static_cast<QGCSerialPortInfo::BoardType_t>(boardType);
_foundBoardTypeName = boardName;
_startFlashWhenBootloaderFound = false;
......@@ -164,9 +164,9 @@ void FirmwareUpgradeController::_boardGone(void)
void FirmwareUpgradeController::_foundBootloader(int bootloaderVersion, int boardID, int flashSize)
{
_bootloaderFound = true;
_bootloaderVersion = bootloaderVersion;
_bootloaderBoardID = boardID;
_bootloaderBoardFlashSize = flashSize;
_bootloaderVersion = static_cast<uint32_t>(bootloaderVersion);
_bootloaderBoardID = static_cast<uint32_t>(boardID);
_bootloaderBoardFlashSize = static_cast<uint32_t>(flashSize);
_appendStatusLog(tr("Connected to bootloader:"));
_appendStatusLog(tr(" Version: %1").arg(_bootloaderVersion));
......@@ -196,6 +196,7 @@ 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"},
......@@ -207,6 +208,7 @@ void FirmwareUpgradeController::_initFirmwareHash()
{ 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 //////////////////////////////////////////////////
......@@ -214,6 +216,7 @@ 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"},
......@@ -229,6 +232,7 @@ void FirmwareUpgradeController::_initFirmwareHash()
{ 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[] = {
......@@ -260,7 +264,9 @@ void FirmwareUpgradeController::_initFirmwareHash()
/////////////////////////////// px4flow firmwares ///////////////////////////////////////
FirmwareToUrlElement_t rgPX4FLowFirmwareArray[] = {
{ PX4FlowPX4, StableFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Flow/master/px4flow.px4" },
#if !defined(NO_ARDUPILOT_DIALECT)
{ PX4FlowAPM, StableFirmware, DefaultVehicleFirmware, "http://firmware.ardupilot.org/Tools/PX4Flow/px4flow-klt-latest.px4" },
#endif
};
/////////////////////////////// 3dr radio firmwares ///////////////////////////////////////
......@@ -286,52 +292,66 @@ void FirmwareUpgradeController::_initFirmwareHash()
px4MapFirmwareTypeToDir[BetaFirmware] = QStringLiteral("beta");
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
foreach (const FirmwareType_t& firmwareType, px4MapFirmwareTypeToDir.keys()) {
......@@ -343,6 +363,7 @@ void FirmwareUpgradeController::_initFirmwareHash()
_rgPX4FMUV2Firmware.insert (FirmwareIdentifier(AutoPilotStackPX4, firmwareType, DefaultVehicleFirmware), px4Url.arg(dir).arg("v2"));
}
#if !defined(NO_ARDUPILOT_DIALECT)
// ArduPilot Firmwares
foreach (const FirmwareType_t& firmwareType, apmMapFirmwareTypeToDir.keys()) {
QString firmwareTypeDir = apmMapFirmwareTypeToDir[firmwareType];
......@@ -357,7 +378,9 @@ void FirmwareUpgradeController::_initFirmwareHash()
_rgPX4FMUV2Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg(px4Dir).arg(filename).arg("2"));
}
}
#endif
#if !defined(NO_ARDUPILOT_DIALECT)
// ArduPilot ChibiOS Firmwares
foreach (const FirmwareType_t& firmwareType, apmMapFirmwareTypeToDir.keys()) {
QString firmwareTypeDir = apmMapFirmwareTypeToDir[firmwareType];
......@@ -372,6 +395,7 @@ void FirmwareUpgradeController::_initFirmwareHash()
_rgPX4FMUV2Firmware.insert (FirmwareIdentifier(AutoPilotStackAPM, firmwareType, vehicleType), apmChibiOSUrl.arg(vehicleTypeDir).arg(firmwareTypeDir).arg("2").arg(fmuDir).arg(filename));
}
}
#endif
int size = sizeof(rgAeroCoreFirmwareArray)/sizeof(rgAeroCoreFirmwareArray[0]);
for (int i = 0; i < size; i++) {
......@@ -467,14 +491,14 @@ QHash<FirmwareUpgradeController::FirmwareIdentifier, QString>* FirmwareUpgradeCo
case Bootloader::boardID3DRRadio:
return &_rg3DRRadioFirmware;
default:
return NULL;
return nullptr;
}
}
/// @brief Prompts the user to select a firmware file if needed and moves the state machine to the next state.
void FirmwareUpgradeController::_getFirmwareFile(FirmwareIdentifier firmwareId)
{
QHash<FirmwareIdentifier, QString>* prgFirmware = _firmwareHashForBoardId(_bootloaderBoardID);
QHash<FirmwareIdentifier, QString>* prgFirmware = _firmwareHashForBoardId(static_cast<int>(_bootloaderBoardID));
if (!prgFirmware && firmwareId.firmwareType != CustomFirmware) {
_errorCancel(tr("Attempting to flash an unknown board type, you must select 'Custom firmware file'"));
......@@ -482,9 +506,9 @@ void FirmwareUpgradeController::_getFirmwareFile(FirmwareIdentifier firmwareId)
}
if (firmwareId.firmwareType == CustomFirmware) {
_firmwareFilename = QGCQFileDialog::getOpenFileName(NULL, // Parent to main window
tr("Select Firmware File"), // Dialog Caption
QStandardPaths::writableLocation(QStandardPaths::DocumentsLocation), // Initial directory
_firmwareFilename = QGCQFileDialog::getOpenFileName(nullptr, // Parent to main window
tr("Select Firmware File"), // Dialog Caption
QStandardPaths::writableLocation(QStandardPaths::DocumentsLocation), // Initial directory
tr("Firmware Files (*.px4 *.bin *.ihx)")); // File filter
} else {
if (prgFirmware->contains(firmwareId)) {
......@@ -522,7 +546,7 @@ void FirmwareUpgradeController::_firmwareDownloadProgress(qint64 curr, qint64 to
{
// Take care of cases where 0 / 0 is emitted as error return value
if (total > 0) {
_progressBar->setProperty("value", (float)curr / (float)total);
_progressBar->setProperty("value", static_cast<float>(curr) / static_cast<float>(total));
}
}
......@@ -583,7 +607,7 @@ QString FirmwareUpgradeController::firmwareTypeAsString(FirmwareType_t type) con
void FirmwareUpgradeController::_flashComplete(void)
{
delete _image;
_image = NULL;
_image = nullptr;
_appendStatusLog(tr("Upgrade complete"), true);
_appendStatusLog("------------------------------------------", false);
......@@ -594,7 +618,7 @@ void FirmwareUpgradeController::_flashComplete(void)
void FirmwareUpgradeController::_error(const QString& errorString)
{
delete _image;
_image = NULL;
_image = nullptr;
_errorCancel(QString("Error: %1").arg(errorString));
}
......@@ -609,7 +633,7 @@ void FirmwareUpgradeController::_updateProgress(int curr, int total)
{
// Take care of cases where 0 / 0 is emitted as error return value
if (total > 0) {
_progressBar->setProperty("value", (float)curr / (float)total);
_progressBar->setProperty("value", static_cast<float>(curr) / static_cast<float>(total));
}
}
......@@ -617,7 +641,7 @@ void FirmwareUpgradeController::_updateProgress(int curr, int total)
void FirmwareUpgradeController::_eraseProgressTick(void)
{
_eraseTickCount++;
_progressBar->setProperty("value", (float)(_eraseTickCount*_eraseTickMsec) / (float)_eraseTotalMsec);
_progressBar->setProperty("value", static_cast<float>(_eraseTickCount*_eraseTickMsec) / static_cast<float>(_eraseTotalMsec));
}
/// Appends the specified text to the status log area in the ui
......@@ -666,7 +690,7 @@ void FirmwareUpgradeController::_loadAPMVersions(uint32_t bootloaderBoardID)
{
_apmVersionMap.clear();
QHash<FirmwareIdentifier, QString>* prgFirmware = _firmwareHashForBoardId(bootloaderBoardID);
QHash<FirmwareIdentifier, QString>* prgFirmware = _firmwareHashForBoardId(static_cast<int>(bootloaderBoardID));
foreach (FirmwareIdentifier firmwareId, prgFirmware->keys()) {
if (firmwareId.autopilotStackType == AutoPilotStackAPM) {
......@@ -706,7 +730,7 @@ void FirmwareUpgradeController::_apmVersionDownloadFinished(QString remoteFile,
// In order to determine the firmware and vehicle type for this file we find the matching entry in the firmware list
QHash<FirmwareIdentifier, QString>* prgFirmware = _firmwareHashForBoardId(_bootloaderBoardID);
QHash<FirmwareIdentifier, QString>* prgFirmware = _firmwareHashForBoardId(static_cast<int>(_bootloaderBoardID));
QString remotePath = QFileInfo(remoteFile).path();
foreach (FirmwareIdentifier firmwareId, prgFirmware->keys()) {
......
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