Merge pull request #3242 from PX4/master_uavcan_travis

Move uavcan bin files to ROMFS based on naming convention

.travis.yml

@@ -102,9 +102,8 @@ script:
   - echo 'Building UAVCAN node firmware..' && git clone https://github.com/thiemar/vectorcontrol
   - cd vectorcontrol
   - BOARD=s2740vc_1_0 make && BOARD=px4esc_1_6 make
+  - ../Tools/uavcan_copy.sh
   - cd ..
-  - mkdir -p ROMFS/px4fmu_common/uavcan/fw/com.thiemar.s2740vc-v1/1.0/
-  - mkdir -p ROMFS/px4fmu_common/uavcan/fw/org.pixhawk.px4esc-v1/1.0/
   - echo 'Building NuttX px4fmu-v1 Firmware..' && make px4fmu-v1_default
   - echo 'Building NuttX px4fmu-v2 Firmware..' && make px4fmu-v2_default
   - echo 'Building NuttX px4fmu-v4 Firmware..' && make px4fmu-v4_default

Tools/uavcan_copy.sh

@@ -0,0 +1,34 @@
+#!/bin/bash
+UAVCANFW=../ROMFS/px4fmu_common/uavcan/fw
+ROMFS_REFIX=_
+echo Removing : $UAVCANFW
+rm -fr $UAVCANFW
+for f in $(find firmware -type f -name "*.*.bin")
+do
+  UAVCAN_NAME=$(echo $f | cut -d"/" -f2 | cut -d. -f1-4 | cut -d- -f1-2)
+  UAVCAN_HW=$(echo $f cut -d/ -f2 | cut -d. -f1-4 | cut -d- -f3)
+  DST=${ROMFS_REFIX}$(echo $f | cut -d. -f3-7 | cut -d- -f1,2,3).$(echo $f | cut -d. -f6,7)
+  # deal with legacy non conforming naming
+  if [[ ${DST:(-7)} == bin.bin ]]
+  then
+    echo " WARNING: Improper name format!!!!!!!!! $f see should be <uavcan_name>-<HW_MAJOR>.<HW_MINOR)-<HW_MAJOR>.<HW_MINOR).<git hash[8]>.bin"
+    DST=${DST%????}
+  fi
+  echo Processing file: $f Length:${#DST}
+  if [ ${#DST} -le 28 ]
+  then
+    if [ -d "${UAVCANFW}/${UAVCAN_NAME}/${UAVCAN_HW}" ]
+    then
+      echo " ERROR: name colision directory ${UAVCANFW}/${UAVCAN_NAME}/${UAVCAN_HW} exits!"
+      exit 2
+    fi
+    echo " Creating Directory ${UAVCANFW}/${UAVCAN_NAME}/${UAVCAN_HW}"
+    mkdir -p ${UAVCANFW}/${UAVCAN_NAME}/${UAVCAN_HW}
+    echo " Copying $f to ${UAVCANFW}/${UAVCAN_NAME}/${UAVCAN_HW}/${DST}"
+    cp $f ${UAVCANFW}/${UAVCAN_NAME}/${UAVCAN_HW}/${DST}
+  else
+    echo " ERROR: $DST is ${#DST} charaters and needs to be less than or equal to 28"
+    exit 1
+  fi
+done
+exit 0

src/modules/uavcan/uavcan_servers.cpp

@@ -886,16 +886,19 @@ void UavcanServers::unpackFwFromROMFS(const char* sd_path, const char* romfs_pat
 
 		/fs/microsd/fw
 		-	/c
-		-	-	/1a2b3c4d.bin			cache file (copy of /fs/microsd/fw/org.pixhawk.nodename-v1/1.1/1a2b3c4d.bin)
-		-	/org.pixhawk.nodename-v1	device directory for org.pixhawk.nodename-v1
-		-	-	/1.0					version directory for hardware 1.0
-		-	-	/1.1					version directory for hardware 1.1
-		-	-	-	/1a2b3c4d.bin		firmware file for org.pixhawk.nodename-v1 nodes, hardware version 1.1
-		-	/com.example.othernode-v3	device directory for com.example.othernode-v3
-		-	-	/1.0					version directory for hardawre 1.0
-		-	-	-	/deadbeef.bin		firmware file for com.example.othernode-v3, hardware version 1.0
+			-	/nodename-v1-1.0.25d0137d.bin		cache file (copy of /fs/microsd/fw/org.pixhawk.nodename-v1/1.1/nodename-v1-1.0.25d0137d.bin)
+			-	/othernode-v3-1.6.25d0137d.bin		cache file (copy of /fs/microsd/fw/com.example.othernode-v3/1.6/othernode-v3-1.6.25d0137d.bin)
+		-	/org.pixhawk.nodename-v1				device directory for org.pixhawk.nodename-v1
+		-	-	/1.0								version directory for hardware 1.0
+		-	-	/1.1								version directory for hardware 1.1
+		-	-	-	/nodename-v1-1.0.25d0137d.bin	firmware file for org.pixhawk.nodename-v1 nodes, hardware version 1.1
+		-	/com.example.othernode-v3				device directory for com.example.othernode-v3
+		-	-	/1.0								version directory for hardawre 1.0
+		-	-	-	/othernode-v3-1.6.25d0137d.bin	firmware file for com.example.othernode-v3, hardware version 1.6
 
 	The ROMFS directory structure is the same, but located at /etc/uavcan/fw
+	Files located there are prefixed with _ to identify them a comming from the rom
+	file system.
 
 	We iterate over all device directories in the ROMFS base directory, and create
 	corresponding device directories on the SD card if they don't already exist.
@@ -903,9 +906,12 @@ void UavcanServers::unpackFwFromROMFS(const char* sd_path, const char* romfs_pat
 	In each device directory, we iterate over each version directory and create a
 	corresponding version directory on the SD card if it doesn't already exist.
 
-	In each version directory, we remove any files with a name starting with "romfs_"
+	In each version directory, we remove any files with a name starting with "_"
 	in the corresponding directory on the SD card that don't match the bundled firmware
 	filename; if the directory is empty after that process, we copy the bundled firmware.
+
+	todo:This code would benefit from the use of strcat.
+
 	*/
 	const size_t maxlen = UAVCAN_MAX_PATH_LENGTH;
 	const size_t sd_path_len = strlen(sd_path);
@@ -1037,7 +1043,7 @@ void UavcanServers::unpackFwFromROMFS(const char* sd_path, const char* romfs_pat
 						continue;
 					}
 
-					if (!memcmp(&fw_dirent->d_name[sizeof(UAVCAN_ROMFS_FW_PREFIX) - 1], src_fw_dirent->d_name, fw_len)) {
+					if (!memcmp(&fw_dirent->d_name, src_fw_dirent->d_name, fw_len)) {
 						/*
 						 * Exact match between SD card filename and ROMFS filename; must be the same version
 						 * so don't bother deleting and rewriting it.
@@ -1045,17 +1051,16 @@ void UavcanServers::unpackFwFromROMFS(const char* sd_path, const char* romfs_pat
 						copy_fw = false;
 					} else if (!memcmp(fw_dirent->d_name, UAVCAN_ROMFS_FW_PREFIX, sizeof(UAVCAN_ROMFS_FW_PREFIX) - 1)) {
 						size_t fw_len = strlen(fw_dirent->d_name);
-						size_t dstpath_fw_len = dstpath_ver_len + sizeof(UAVCAN_ROMFS_FW_PREFIX) + fw_len;
+						size_t dstpath_fw_len = dstpath_ver_len + fw_len;
 						if (dstpath_fw_len > maxlen) {
 							// sizeof(prefix) includes trailing NUL, cancelling out the +1 for the path separator
-							warnx("unlink: path '%s/%s%s' too long", dstpath, UAVCAN_ROMFS_FW_PREFIX, fw_dirent->d_name);
+							warnx("unlink: path '%s/%s' too long", dstpath, fw_dirent->d_name);
 						} else {
-							// File name starts with "romfs_", delete it.
+							// File name starts with "_", delete it.
 							dstpath[dstpath_ver_len] = '/';
 							memcpy(&dstpath[dstpath_ver_len + 1], fw_dirent->d_name, fw_len + 1);
 							unlink(dstpath);
-
-							warnx("unlink: removed '%s/%s%s'", dstpath, UAVCAN_ROMFS_FW_PREFIX, fw_dirent->d_name);
+							warnx("unlink: removed '%s'", dstpath);
 						}
 					} else {
 						// User file, don't copy firmware
@@ -1068,20 +1073,19 @@ void UavcanServers::unpackFwFromROMFS(const char* sd_path, const char* romfs_pat
 			// If we need to, copy the file from ROMFS to the SD card
 			if (copy_fw) {
 				size_t srcpath_fw_len = srcpath_ver_len + 1 + fw_len;
-				size_t dstpath_fw_len = dstpath_ver_len + sizeof(UAVCAN_ROMFS_FW_PREFIX) + fw_len;
+				size_t dstpath_fw_len = dstpath_ver_len + fw_len;
 
 				if (srcpath_fw_len > maxlen) {
 					warnx("copy: srcpath '%s/%s' too long", srcpath, src_fw_dirent->d_name);
 				} else if (dstpath_fw_len > maxlen) {
-					warnx("copy: dstpath '%s/%s%s' too long", dstpath, UAVCAN_ROMFS_FW_PREFIX, src_fw_dirent->d_name);
+					warnx("copy: dstpath '%s/%s' too long", dstpath, src_fw_dirent->d_name);
 				} else {
 					// All OK, make the paths and copy the file
 					srcpath[srcpath_ver_len] = '/';
 					memcpy(&srcpath[srcpath_ver_len + 1], src_fw_dirent->d_name, fw_len + 1);
 
 					dstpath[dstpath_ver_len] = '/';
-					memcpy(&dstpath[dstpath_ver_len + 1], UAVCAN_ROMFS_FW_PREFIX, sizeof(UAVCAN_ROMFS_FW_PREFIX));
-					memcpy(&dstpath[dstpath_ver_len + sizeof(UAVCAN_ROMFS_FW_PREFIX)], src_fw_dirent->d_name, fw_len + 1);
+					memcpy(&dstpath[dstpath_ver_len +1], src_fw_dirent->d_name, fw_len + 1);
 
 					rv = copyFw(dstpath, srcpath);
 					if (rv != 0) {

src/modules/uavcan/uavcan_servers.hpp

@@ -70,7 +70,7 @@
 #define UAVCAN_NODE_DB_PATH     "/fs/microsd/uavcan.db"
 #define UAVCAN_FIRMWARE_PATH    "/fs/microsd/fw"
 #define UAVCAN_ROMFS_FW_PATH "/etc/uavcan/fw"
-#define UAVCAN_ROMFS_FW_PREFIX "romfs_"
+#define UAVCAN_ROMFS_FW_PREFIX "_"
 #define UAVCAN_MAX_PATH_LENGTH (128 + 40)
 #define UAVCAN_LOG_FILE         UAVCAN_NODE_DB_PATH"/trace.log"