static async Task <int> Main(string[] args)
{
if (args.Length > 1)
{
Console.Error.WriteLine("Too many arguments");
return(1);
}
if (args.Length < 1)
{
Console.Error.WriteLine("Missing firmware file argument");
return(1);
}
var fwFile = args[0];
byte[] fwData = null;
Console.Write("Reading firmware file... ");
try {
fwData = File.ReadAllBytes(fwFile);
Firmware.Validate(fwData);
Console.WriteLine("OK.");
}
catch (Exception ex) {
Console.Error.WriteLine(ex.Message);
return(1);
}
Console.Write("Searching for NXTs... ");
var findFwDevicesTask = Samba.FindAllAsync();
var findNxtUsbDevicesTask = NxtDevice.FindAllUsbAsync();
var fwDevices = (await findFwDevicesTask).ToList();
var nxtDevices = (await findNxtUsbDevicesTask).ToList();
var totalCount = fwDevices.Count + nxtDevices.Count;
if (totalCount == 0)
{
Console.Error.WriteLine("None found.");
return(1);
}
Console.WriteLine("OK.");
var message = $"Finished flashing {{0}} of {totalCount}";
using (var progressBar = new ProgressBar(totalCount, string.Format(message, 0))) {
async Task rebootToFirmwareMode(NxtDevice device)
{
using (var childProgressBar = progressBar.Spawn(1, "Starting firmware loader...")) {
try {
using (var nxt = await device.ConnectAsync()) {
if (await nxt.SendCommandAsync(SystemCommand.Boot()))
{
// TODO: search for firmware device
}
else
{
// TODO: error message
}
}
}
catch {
}
}
}
await Task.WhenAll(nxtDevices.Select(d => rebootToFirmwareMode(d)));
async Task loadFirmware(Samba device)
{
var childProgressBar = new ProgressHelper(progressBar, $"NXT on {device.PortName}");
try {
using (await device.OpenAsync()) {
// Write the firmware to flash memory
await device.FlashAsync(fwData, childProgressBar);
childProgressBar.ReportSuccess();
// reboot NXT
await device.GoAsync(0x00100000);
}
}
catch (Exception ex) {
childProgressBar.ReportError(ex.Message);
}
// hmm... possible race condition with progressBar.CurrentTick
progressBar.Tick(string.Format(message, progressBar.CurrentTick + 1));
}
await Task.WhenAll(fwDevices.Select(d => loadFirmware(d)));
}
return(0);
}