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px4_autopilot/apps/system/install/install.c

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/****************************************************************************
* apps/system/install/install.c
*
* Copyright (C) 2011 Uros Platise. All rights reserved.
* Author: Uros Platise <uros.platise@isotel.eu>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <nuttx/config.h>
#include <nuttx/progmem.h>
#include <sys/stat.h>
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <errno.h>
/****************************************************************************
* Definitions
****************************************************************************/
#define ACTION_INSTALL 0x01
#define ACTION_REMOVE 0x00
#define ACTION_REINSTALL 0x03
#define ACTION_INSUFPARAM 0x80
#define INSTALL_PROGRAMBLOCKSIZE 1024
/****************************************************************************
* Private data
****************************************************************************/
const char *install_help =
"Installs XIP program into flash and creates a start-up script in the\n"
"destination directory.\n\n"
"Usage:\t%s [options] source-file.xip destination-directory\n\n"
"Example:\n\t%s --stack 1024 /sdcard/demo.xip /usr/bin\n\n"
"Options:\n"
"\t--stack <required_stack_space>\n"
"\t--priority <priority>\n"
"\t--remove <dest-file>\tRemoves installed application\n"
"\t--force\t\t\tReplaces existing installation\n"
"\t--start <page>\t\tInstalls application at or after <page>\n"
"\t--margin <pages>\tLeave some free space after the kernel (default 16)\n";
const char *install_script_text =
"# XIP stacksize=%x priority=%x size=%x\n";
const char *install_script_exec =
"exec 0x%x\n";
/****************************************************************************
* Private functions
****************************************************************************/
int install_getstartpage(int startpage, int pagemargin, int desiredsize)
{
uint16_t page = 0, stpage = 0xFFFF;
uint16_t pagesize = 0;
int maxlen = -1;
int maxlen_start = 0xFFFF;
int status;
for (status=0, page=0; status >= 0; page++) {
status = up_progmem_ispageerased(page);
pagesize = up_progmem_pagesize(page);
/* Is this beginning of new free space section */
if (status == 0) {
if (stpage == 0xFFFF) stpage = page;
}
else if (status != 0) {
if (stpage != 0xFFFF) {
if ( (page - stpage) > maxlen) {
if (maxlen==-1) { /* First time found sth? */
stpage += pagemargin;
maxlen = 0;
}
if(stpage < startpage)
stpage = startpage;
if (page > stpage) {
maxlen = page - stpage;
maxlen_start = stpage;
}
if (maxlen*pagesize >= desiredsize) {
/* printf("Found page at %d ... %d\n", stpage, page); */
return maxlen_start*pagesize;
}
}
stpage = 0xFFFF;
}
}
}
/* Requested space is not available */
return -1;
}
int install_programflash(int startaddr, const char *source)
{
int status;
int count;
int totalsize = 0;
char *buf;
FILE *fp;
if ( (buf = malloc(INSTALL_PROGRAMBLOCKSIZE)) == NULL )
return -errno;
if ( (fp=fopen(source, "r")) ) {
do {
count = fread(buf, 1, INSTALL_PROGRAMBLOCKSIZE, fp);
if ( (status = up_progmem_write(startaddr, buf, count)) < 0) {
totalsize = status;
break;
}
startaddr += count;
totalsize += count;
}
while(count);
}
else totalsize = -errno;
fclose(fp);
free(buf);
return totalsize;
}
void install_getscriptname(char *scriptname, const char *progname, const char *destdir)
{
const char * progonly;
/* I.e. as /usr/bin */
strcpy(scriptname, destdir);
/* extract from i.e. /sdcard/demo -> /demo, together with / */
progonly = strrchr(progname, '/');
strcat(scriptname, progonly);
}
int install_getprogsize(const char *progname)
{
struct stat fileinfo;
if ( stat(progname, &fileinfo) < 0 )
return -1;
return fileinfo.st_size;
}
int install_alreadyexists(const char *scriptname)
{
FILE *fp;
if ( (fp=fopen(scriptname, "r"))==NULL )
return 0;
fclose(fp);
return 1;
}
int install_createscript(int addr, int stacksize, int progsize,
int priority, const char *scriptname)
{
FILE *fp;
if ( (fp=fopen(scriptname, "w+"))==NULL )
return -errno;
fprintf(fp, install_script_text, stacksize, priority, progsize);
fprintf(fp, install_script_exec, addr);
fflush(fp);
fclose(fp);
return 0;
}
int install_getlasthexvalue(FILE *fp, char delimiter)
{
char buf[128];
char *p;
if (fgets(buf, 127, fp)) {
if ( (p = strrchr(buf, delimiter)) ) {
return strtol(p+1, NULL, 16);
}
}
return -1;
}
int install_remove(const char *scriptname)
{
FILE *fp;
int progsize, addr, freedsize;
uint16_t page;
int status = 0;
/* Parse script */
if ( (fp=fopen(scriptname, "r")) ) {
progsize = install_getlasthexvalue(fp,'=');
addr = install_getlasthexvalue(fp,' ');
freedsize = progsize;
}
else return -errno;
fclose(fp);
/* Remove pages */
if (progsize <= 0 || addr <= 0)
return -EIO;
do {
if ((page = up_progmem_getpage(addr)) < 0) {
status = -page;
break;
}
if ( up_progmem_erasepage(page) < 0) {
status = -page;
break;
}
addr += up_progmem_pagesize(page);
progsize -= up_progmem_pagesize(page);
} while(progsize > 0);
if (status < 0) return status;
/* Remove script file */
if (unlink(scriptname) < 0) return -errno;
return freedsize;
}
/****************************************************************************
* Start
****************************************************************************/
int install_main(int argc, char *argv[])
{
int i;
int progsize;
int scrsta;
int stacksize = 4096;
int priority = SCHED_PRIORITY_DEFAULT;
int pagemargin = 16;
int startpage = 0;
int startaddr = 0;
int action = ACTION_INSTALL;
char scriptname[128];
/* Supported? */
if ( !up_progmem_isuniform() ) {
fprintf(stderr, "Error: install supports uniform organization only.\n");
return -1;
}
/* Parse arguments */
for (i=1; i<argc; i++) {
if (argv[i][0]=='-' && argv[i][1]=='-' && i<=argc) {
if (strcmp(argv[i]+2, "stack")==0) {
stacksize = atoi(argv[++i]);
}
else if (strcmp(argv[i]+2, "priority")==0) {
priority = atoi(argv[++i]);
}
else if (strcmp(argv[i]+2, "start")==0) {
startpage = atoi(argv[++i]);
}
else if (strcmp(argv[i]+2, "margin")==0) {
pagemargin = atoi(argv[++i]);
}
else if (strcmp(argv[i]+2, "remove")==0) {
action = ACTION_REMOVE;
}
else if (strcmp(argv[i]+2, "force")==0) {
action = ACTION_REINSTALL;
}
else fprintf(stderr, "Unknown option: %s\n", argv[i]);
}
else break;
}
/* Do the job */
switch(action & 1) {
case ACTION_REMOVE:
if (i > argc-1) {
action = ACTION_INSUFPARAM;
break; /* are there sufficient parameters */
}
if ( (scrsta=install_remove(argv[i])) < 0) {
fprintf(stderr, "Could not remove program: %s\n", strerror(-scrsta) );
return -1;
}
printf("Removed %s and freed %d bytes\n", argv[i], scrsta);
return 0;
case ACTION_INSTALL:
if (i > argc-2) {
action = ACTION_INSUFPARAM;
break; /* are there sufficient parameters */
}
install_getscriptname(scriptname, argv[i], argv[i+1]);
// script-exists?
if (install_alreadyexists(scriptname)==1) {
if (action != ACTION_REINSTALL) {
fprintf(stderr, "Program with that name already exists.\n");
return -EEXIST;
}
if ( (scrsta=install_remove(scriptname)) < 0) {
fprintf(stderr, "Could not remove program: %s\n", strerror(-scrsta) );
return -1;
}
printf("Replacing %s\n", scriptname);
}
startaddr = install_getstartpage(startpage, pagemargin, install_getprogsize(argv[i]) );
if (startpage < 0) {
fprintf(stderr, "Not enough memory\n");
return -ENOMEM;
}
if ( (progsize = install_programflash(startaddr, argv[i])) <= 0) {
fprintf(stderr, "Error writing program memory: %s\n"
"Note: Flash pages are not released, so you may try again and program will be\n"
" written in other pages.\n", strerror(-progsize) );
return -EIO;
}
if ( (scrsta = install_createscript(startaddr, stacksize, progsize,
priority, scriptname)) < 0) {
fprintf(stderr, "Error writing program script at %s: %s\n",
argv[i+1], strerror(-scrsta) );
return -EIO;
}
printf("Installed application of size %d bytes to program memory [%xh - %xh].\n",
progsize, startaddr, startaddr + progsize);
return 0;
}
fprintf(stderr, install_help, argv[0], argv[0]);
return -1;
}