public void DeviceAttached(object USBDevice, object usbdevice)
{
Task.Run(async() =>
{
Parallel.ForEach(await Test.UsbDevices.GetDeviceInfoList(), async(port) =>
{
var portUsb = await Test.UsbDevices.GetUSB(port).ConfigureAwait(false);
if (portUsb == null)
{
return;
}
px4uploader.Uploader up;
try
{
portUsb.BaudRate = 115200;
up = new px4uploader.Uploader(portUsb);
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
return;
}
try
{
up.identify();
var msg = String.Format("Found board type {0} boardrev {1} bl rev {2} fwmax {3} on {4}",
up.board_type,
up.board_rev, up.bl_rev, up.fw_maxsize, port);
log.Info(msg);
up.close();
//this.InvokeIfRequired(() => lbl_status.Text = msg);
detectedport = port;
detectedboardid = up.board_type;
}
catch (Exception)
{
Console.WriteLine("Not There..");
up.close();
}
});
});
}
public Uploader(string port, int baudrate)
{
self = this;
if (port.StartsWith("/"))
if (!File.Exists(port))
throw new Exception("No such device");
this.port = new SerialPort(port, baudrate);
this.port.ReadTimeout = 50;
this.port.WriteTimeout = 50;
try
{
Console.Write("open");
if (port.StartsWith("/"))
if (!File.Exists(port))
throw new Exception("No such device");
this.port.Open();
this.port.Write("reboot -b\r");
Console.WriteLine("..done");
}
catch (Exception ex)
{
try
{
this.port.Close();
}
catch { }
try
{
this.Dispose();
GC.Collect();
}
catch { }
throw ex;
}
}
/// <summary>
/// upload to vrbrain standalone
/// </summary>
/// <param name="filename"></param>
public bool UploadVRBRAIN(string filename)
{
px4uploader.Uploader up;
updateProgress(0, "Reading Hex File");
px4uploader.Firmware fw;
try
{
fw = px4uploader.Firmware.ProcessFirmware(filename);
}
catch (Exception ex)
{
CustomMessageBox.Show(Strings.ErrorFirmwareFile + "\n\n" + ex.ToString(), Strings.ERROR);
return(false);
}
try
{
// check if we are seeing heartbeats
MainV2.comPort.BaseStream.Open();
MainV2.comPort.giveComport = true;
BoardDetect.boards board = BoardDetect.DetectBoard(MainV2.comPortName);
if (MainV2.comPort.getHeartBeat().Length > 0)
{
MainV2.comPort.doReboot(true);
MainV2.comPort.Close();
//specific action for VRBRAIN4 board that needs to be manually disconnected before uploading
if (board == BoardDetect.boards.vrbrainv40)
{
CustomMessageBox.Show("VRBRAIN 4 detected. Please unplug the board, and then press OK and plug back in.\n");
}
}
else
{
MainV2.comPort.BaseStream.Close();
CustomMessageBox.Show("Please unplug the board, and then press OK and plug back in.\nMission Planner will look for 30 seconds to find the board");
}
}
catch (Exception ex)
{
log.Error(ex);
CustomMessageBox.Show("Please unplug the board, and then press OK and plug back in.\nMission Planner will look for 30 seconds to find the board");
}
DateTime DEADLINE = DateTime.Now.AddSeconds(30);
updateProgress(0, "Scanning comports");
while (DateTime.Now < DEADLINE)
{
string[] allports = SerialPort.GetPortNames();
foreach (string port in allports)
{
log.Info(DateTime.Now.Millisecond + " Trying Port " + port);
updateProgress(-1, "Connecting");
try
{
up = new px4uploader.Uploader(port, 115200);
}
catch (Exception ex)
{
//System.Threading.Thread.Sleep(50);
Console.WriteLine(ex.Message);
continue;
}
try
{
up.identify();
updateProgress(-1, "Identify");
log.InfoFormat("Found board type {0} boardrev {1} bl rev {2} fwmax {3} on {4}", up.board_type, up.board_rev, up.bl_rev, up.fw_maxsize, port);
}
catch (Exception)
{
Console.WriteLine("Not There..");
//Console.WriteLine(ex.Message);
up.close();
continue;
}
up.skipotp = true;
try
{
up.currentChecksum(fw);
}
catch
{
up.__reboot();
up.close();
CustomMessageBox.Show("No need to upload. already on the board");
return(true);
}
try
{
up.ProgressEvent += new px4uploader.Uploader.ProgressEventHandler(up_ProgressEvent);
up.LogEvent += new px4uploader.Uploader.LogEventHandler(up_LogEvent);
updateProgress(0, "Upload");
up.upload(fw);
updateProgress(100, "Upload Done");
}
catch (Exception ex)
{
updateProgress(0, "ERROR: " + ex.Message);
log.Info(ex);
Console.WriteLine(ex.ToString());
return(false);
}
finally
{
up.close();
}
if (up.board_type == 1140 || up.board_type == 1145 || up.board_type == 1150 || up.board_type == 1151 || up.board_type == 1152 || up.board_type == 1210 || up.board_type == 1351 || up.board_type == 1352 || up.board_type == 1411 || up.board_type == 1520)
{//VR boards have no tone alarm
if (up.board_type == 1140)
{
CustomMessageBox.Show("Upload complete! Please unplug and reconnect board.");
}
else
{
CustomMessageBox.Show("Upload complete!");
}
}
else
{
// wait for IO firmware upgrade and boot to a mavlink state
CustomMessageBox.Show("Please wait for the musical tones to finish before clicking OK");
}
return(true);
}
}
updateProgress(0, "ERROR: No Response from board");
return(false);
}
/// <summary>
/// upload to vrbrain standalone
/// </summary>
/// <param name="filename"></param>
public bool UploadVRBRAIN(string filename, BoardDetect.boards board)
{
px4uploader.Uploader up;
updateProgress(0, "Reading Hex File");
px4uploader.Firmware fw;
try
{
fw = px4uploader.Firmware.ProcessFirmware(filename);
}
catch (Exception ex)
{
CustomMessageBox.Show(Strings.ErrorFirmwareFile + "\n\n" + ex.ToString(), Strings.ERROR);
return false;
}
try
{
// check if we are seeing heartbeats
MainV2.comPort.BaseStream.Open();
MainV2.comPort.giveComport = true;
if (MainV2.comPort.getHeartBeat().Length > 0)
{
MainV2.comPort.doReboot(true);
MainV2.comPort.Close();
//specific action for VRBRAIN4 board that needs to be manually disconnected before uploading
if (board == BoardDetect.boards.vrbrainv40)
{
CustomMessageBox.Show(
"VRBRAIN 4 detected. Please unplug the board, and then press OK and plug back in.\n");
}
}
else
{
MainV2.comPort.BaseStream.Close();
CustomMessageBox.Show(Strings.PleaseUnplugTheBoardAnd);
}
}
catch (Exception ex)
{
log.Error(ex);
CustomMessageBox.Show(Strings.PleaseUnplugTheBoardAnd);
}
DateTime DEADLINE = DateTime.Now.AddSeconds(30);
updateProgress(0, "Scanning comports");
while (DateTime.Now < DEADLINE)
{
string[] allports = SerialPort.GetPortNames();
foreach (string port in allports)
{
log.Info(DateTime.Now.Millisecond + " Trying Port " + port);
updateProgress(-1, "Connecting");
try
{
up = new px4uploader.Uploader(port, 115200);
}
catch (Exception ex)
{
//System.Threading.Thread.Sleep(50);
Console.WriteLine(ex.Message);
continue;
}
try
{
up.identify();
updateProgress(-1, "Identify");
log.InfoFormat("Found board type {0} boardrev {1} bl rev {2} fwmax {3} on {4}", up.board_type,
up.board_rev, up.bl_rev, up.fw_maxsize, port);
}
catch (Exception)
{
Console.WriteLine("Not There..");
//Console.WriteLine(ex.Message);
up.close();
continue;
}
up.skipotp = true;
try
{
up.currentChecksum(fw);
}
catch
{
up.__reboot();
up.close();
CustomMessageBox.Show(Strings.NoNeedToUpload);
return true;
}
try
{
up.ProgressEvent += new px4uploader.Uploader.ProgressEventHandler(up_ProgressEvent);
up.LogEvent += new px4uploader.Uploader.LogEventHandler(up_LogEvent);
updateProgress(0, "Upload");
up.upload(fw);
updateProgress(100, "Upload Done");
}
catch (Exception ex)
{
updateProgress(0, "ERROR: " + ex.Message);
log.Info(ex);
Console.WriteLine(ex.ToString());
return false;
}
finally
{
up.close();
}
if (up.board_type == 1140 || up.board_type == 1145 || up.board_type == 1150 || up.board_type == 1151 ||
up.board_type == 1152 || up.board_type == 1210 || up.board_type == 1351 || up.board_type == 1352 ||
up.board_type == 1411 || up.board_type == 1520)
{
//VR boards have no tone alarm
if (up.board_type == 1140)
CustomMessageBox.Show("Upload complete! Please unplug and reconnect board.");
else
CustomMessageBox.Show("Upload complete!");
}
else
{
// wait for IO firmware upgrade and boot to a mavlink state
CustomMessageBox.Show(Strings.PleaseWaitForTheMusicalTones);
}
return true;
}
}
updateProgress(0, "ERROR: No Response from board");
return false;
}
public void UploadPX4(string filename)
{
DateTime DEADLINE = DateTime.Now.AddSeconds(30);
Uploader up;
px4uploader.Firmware fw = px4uploader.Firmware.ProcessFirmware(filename);
CustomMessageBox.Show("Press reset the board, and then press OK within 5 seconds.\nMission Planner will look for 30 seconds to find the board");
while (DateTime.Now < DEADLINE)
{
string port = MainV2.comPortName;
Console.WriteLine(DateTime.Now.Millisecond + " Trying Port " + port);
lbl_status.Text = "Connecting";
Application.DoEvents();
try
{
up = new Uploader(port, 115200);
}
catch (Exception ex)
{
//System.Threading.Thread.Sleep(50);
Console.WriteLine(ex.Message);
continue;
}
try
{
up.identify();
lbl_status.Text = "Identify";
Application.DoEvents();
Console.WriteLine("Found board type {0} boardrev {1} bl rev {2} fwmax {3} on {4}", up.board_type, up.board_rev, up.bl_rev, up.fw_maxsize, port);
up.currentChecksum(fw);
}
catch (Exception)
{
Console.WriteLine("Not There..");
//Console.WriteLine(ex.Message);
up.close();
continue;
}
try
{
up.ProgressEvent += new Uploader.ProgressEventHandler(up_ProgressEvent);
up.LogEvent += new Uploader.LogEventHandler(up_LogEvent);
progress.Value = 0;
Application.DoEvents();
up.upload(fw);
lbl_status.Text = "Done";
Application.DoEvents();
}
catch (Exception ex)
{
lbl_status.Text = "ERROR: " + ex.Message;
Application.DoEvents();
Console.WriteLine(ex.ToString());
}
up.close();
break;
}
CustomMessageBox.Show("Please unplug, and plug back in your px4, before you try connecting");
}
/// <summary>
/// upload to px4 standalone
/// </summary>
/// <param name="filename"></param>
public bool UploadPX4(string filename)
{
Uploader up;
updateProgress(0, "Reading Hex File");
px4uploader.Firmware fw;
try
{
fw = px4uploader.Firmware.ProcessFirmware(filename);
}
catch (Exception ex)
{
CustomMessageBox.Show("Error loading firmware file\n\n" + ex.ToString(), "Error");
return false;
}
try
{
// check if we are seeing heartbeats
MainV2.comPort.BaseStream.Open();
MainV2.comPort.giveComport = true;
if (MainV2.comPort.getHeartBeat().Length > 0)
{
MainV2.comPort.doReboot(true);
MainV2.comPort.Close();
}
else
{
MainV2.comPort.BaseStream.Close();
CustomMessageBox.Show("Please unplug the board, and then press OK and plug back in.\nMission Planner will look for 30 seconds to find the board");
}
}
catch (Exception ex)
{
log.Error(ex);
CustomMessageBox.Show("Please unplug the board, and then press OK and plug back in.\nMission Planner will look for 30 seconds to find the board");
}
DateTime DEADLINE = DateTime.Now.AddSeconds(30);
updateProgress(0, "Scanning comports");
while (DateTime.Now < DEADLINE)
{
string[] allports = SerialPort.GetPortNames();
foreach (string port in allports)
{
log.Info(DateTime.Now.Millisecond + " Trying Port " + port);
updateProgress(-1, "Connecting");
try
{
up = new Uploader(port, 115200);
}
catch (Exception ex)
{
//System.Threading.Thread.Sleep(50);
Console.WriteLine(ex.Message);
continue;
}
try
{
up.identify();
updateProgress(-1, "Identify");
log.InfoFormat("Found board type {0} boardrev {1} bl rev {2} fwmax {3} on {4}", up.board_type, up.board_rev, up.bl_rev, up.fw_maxsize, port);
}
catch (Exception)
{
Console.WriteLine("Not There..");
//Console.WriteLine(ex.Message);
up.close();
continue;
}
try
{
up.currentChecksum(fw);
}
catch
{
up.__reboot();
up.close();
CustomMessageBox.Show("No need to upload. already on the board");
return true;
}
try
{
up.ProgressEvent += new Uploader.ProgressEventHandler(up_ProgressEvent);
up.LogEvent += new Uploader.LogEventHandler(up_LogEvent);
updateProgress(0, "Upload");
up.upload(fw);
updateProgress(100, "Upload Done");
}
catch (Exception ex)
{
updateProgress(0, "ERROR: " + ex.Message);
log.Info(ex);
Console.WriteLine(ex.ToString());
return false;
}
finally
{
up.close();
}
// wait for IO firmware upgrade and boot to a mavlink state
CustomMessageBox.Show("Please wait for the musical tones to finish before clicking OK");
return true;
}
}
updateProgress(0, "ERROR: No Responce from board");
return false;
}
/// <summary>
/// upload to px4 standalone
/// </summary>
/// <param name="filename"></param>
public bool UploadPX4(string filename)
{
Uploader up;
updateProgress(0, "Reading Hex File");
px4uploader.Firmware fw;
try
{
fw = px4uploader.Firmware.ProcessFirmware(filename);
}
catch (Exception ex)
{
CustomMessageBox.Show(Strings.ErrorFirmwareFile + "\n\n" + ex.ToString(), Strings.ERROR);
return false;
}
try
{
// check if we are seeing heartbeats
MainV2.comPort.BaseStream.Open();
MainV2.comPort.giveComport = true;
BoardDetect.boards board = BoardDetect.DetectBoard(MainV2.comPortName);
if (MainV2.comPort.getHeartBeat().Length > 0)
{
MainV2.comPort.doReboot(true);
MainV2.comPort.Close();
//specific action for VRBRAIN4 board that needs to be manually disconnected before uploading
if (board == BoardDetect.boards.vrbrainv40)
{
CustomMessageBox.Show("VRBRAIN 4 detected. Please unplug the board then press OK and plug back in.\n");
}
}
else
{
MainV2.comPort.BaseStream.Close();
CustomMessageBox.Show("Please unplug the board, and then press OK and plug back in.\nMission Planner will look for 30 seconds to find the board");
}
}
catch (Exception ex)
{
log.Error(ex);
CustomMessageBox.Show("Please unplug the board, and then press OK and plug back in.\nMission Planner will look for 30 seconds to find the board");
}
DateTime DEADLINE = DateTime.Now.AddSeconds(30);
updateProgress(0, "Scanning comports");
while (DateTime.Now < DEADLINE)
{
string[] allports = SerialPort.GetPortNames();
foreach (string port in allports)
{
log.Info(DateTime.Now.Millisecond + " Trying Port " + port);
updateProgress(-1, "Connecting");
try
{
up = new Uploader(port, 115200);
}
catch (Exception ex)
{
//System.Threading.Thread.Sleep(50);
Console.WriteLine(ex.Message);
continue;
}
try
{
up.identify();
updateProgress(-1, "Identify");
log.InfoFormat("Found board type {0} boardrev {1} bl rev {2} fwmax {3} on {4}", up.board_type, up.board_rev, up.bl_rev, up.fw_maxsize, port);
up.ProgressEvent += new Uploader.ProgressEventHandler(up_ProgressEvent);
up.LogEvent += new Uploader.LogEventHandler(up_LogEvent);
}
catch (Exception)
{
Console.WriteLine("Not There..");
//Console.WriteLine(ex.Message);
up.close();
continue;
}
// test if pausing here stops - System.TimeoutException: The write timed out.
System.Threading.Thread.Sleep(500);
try
{
up.verifyotp();
if (up.libre)
{
MissionPlanner.Utilities.Tracking.AddEvent("FWUpload", "verifyotp", "libre", "");
}
else
{
MissionPlanner.Utilities.Tracking.AddEvent("FWUpload", "verifyotp", "Pass", "");
}
}
catch (Org.BouncyCastle.Security.InvalidKeyException ex)
{
MissionPlanner.Utilities.Tracking.AddEvent("FWUpload", "verifyotp","InvalidKeyException","");
log.Error(ex);
CustomMessageBox.Show("You are using unsupported hardware.\nThis board does not contain a valid certificate of authenticity.\nPlease contact your hardware vendor about signing your hardware.", "Invalid Cert");
up.skipotp = true;
}
catch (FormatException ex)
{
MissionPlanner.Utilities.Tracking.AddEvent("FWUpload", "verifyotp", "FormatException", "");
log.Error(ex);
CustomMessageBox.Show("You are using unsupported hardware.\nThis board does not contain a valid certificate of authenticity.\nPlease contact your hardware vendor about signing your hardware.", "Invalid Cert");
up.skipotp = true;
}
catch (IOException ex)
{
MissionPlanner.Utilities.Tracking.AddEvent("FWUpload", "verifyotp", "IOException", "");
log.Error(ex);
CustomMessageBox.Show("lost communication with the board.", "lost comms");
up.close();
return false;
}
catch (TimeoutException ex)
{
MissionPlanner.Utilities.Tracking.AddEvent("FWUpload", "verifyotp", "TimeoutException", "");
log.Error(ex);
CustomMessageBox.Show("lost communication with the board.", "lost comms");
up.close();
return false;
}
catch (Exception ex)
{
MissionPlanner.Utilities.Tracking.AddEvent("FWUpload", "verifyotp", "Exception", "");
log.Error(ex);
CustomMessageBox.Show("lost communication with the board. " + ex.ToString(), "lost comms");
up.close();
return false;
}
try
{
up.currentChecksum(fw);
}
catch (IOException ex)
{
log.Error(ex);
CustomMessageBox.Show("lost communication with the board.", "lost comms");
up.close();
return false;
}
catch
{
up.__reboot();
up.close();
CustomMessageBox.Show("No need to upload. already on the board");
return true;
}
try
{
updateProgress(0, "Upload");
up.upload(fw);
updateProgress(100, "Upload Done");
}
catch (Exception ex)
{
updateProgress(0, "ERROR: " + ex.Message);
log.Info(ex);
Console.WriteLine(ex.ToString());
return false;
}
finally
{
up.close();
}
// wait for IO firmware upgrade and boot to a mavlink state
CustomMessageBox.Show("Please wait for the musical tones to finish before clicking OK");
return true;
}
}
updateProgress(0, "ERROR: No Response from board");
return false;
}
/// <summary>
/// upload to px4 standalone
/// </summary>
/// <param name="filename"></param>
public bool UploadPX4(string filename)
{
DateTime DEADLINE = DateTime.Now.AddSeconds(30);
Uploader up;
px4uploader.Firmware fw = px4uploader.Firmware.ProcessFirmware(filename);
CustomMessageBox.Show("Press reset the board, and then press OK within 5 seconds.\nMission Planner will look for 30 seconds to find the board");
while (DateTime.Now < DEADLINE)
{
string[] allports = SerialPort.GetPortNames();
foreach (string port in allports)
{
Console.WriteLine(DateTime.Now.Millisecond + " Trying Port " + port);
updateProgress(-1, "Connecting");
try
{
up = new Uploader(port, 115200);
}
catch (Exception ex)
{
//System.Threading.Thread.Sleep(50);
Console.WriteLine(ex.Message);
continue;
}
try
{
up.identify();
updateProgress(-1, "Identify");
Console.WriteLine("Found board type {0} boardrev {1} bl rev {2} fwmax {3} on {4}", up.board_type, up.board_rev, up.bl_rev, up.fw_maxsize, port);
up.currentChecksum(fw);
}
catch (Exception)
{
Console.WriteLine("Not There..");
//Console.WriteLine(ex.Message);
up.close();
continue;
}
try
{
up.ProgressEvent += new Uploader.ProgressEventHandler(up_ProgressEvent);
up.LogEvent += new Uploader.LogEventHandler(up_LogEvent);
updateProgress(0, "Upload");
up.upload(fw);
updateProgress(100, "Upload Done");
}
catch (Exception ex)
{
updateProgress(0, "ERROR: " + ex.Message);
Console.WriteLine(ex.ToString());
}
up.close();
CustomMessageBox.Show("Please unplug, and plug back in your px4, before you try connecting");
return true;
}
}
return false;
}
public static bool Uploader(string fn)
{
Firmware fw;
Uploader up;
fw = Firmware.ProcessFirmware(fn);
Console.WriteLine("Loaded firmware for {0},{1} waiting for the bootloader...", fw.board_id, fw.board_revision);
while (true)
{
string[] ports = GetPortNames();
//ports = new string[] { "COM9"};
foreach (string port in ports)
{
if (!port.StartsWith("COM") && !port.Contains("APM") && !port.Contains("ACM") && !port.Contains("usb"))
{
continue;
}
Console.WriteLine(DateTime.Now.Millisecond + " Trying Port " + port);
try
{
up = new Uploader(port, 115200);
}
catch (Exception ex)
{
//System.Threading.Thread.Sleep(50);
Console.WriteLine(DateTime.Now.Millisecond + " " + ex.Message);
continue;
}
try
{
up.identify();
Console.WriteLine("Found board type {0} boardrev {1} bl rev {2} fwmax {3} on {4}", up.board_type, up.board_rev, up.bl_rev, up.fw_maxsize, port);
}
catch (Exception)
{
try
{
//System.Threading.ThreadPool.QueueUserWorkItem(up.__mavlinkreboot);
}
catch {
//up.close();
}
Console.WriteLine(DateTime.Now.Millisecond + " " + "Not There..");
//Console.WriteLine(ex.Message);
try
{
up.close();
}
catch { }
continue;
}
try
{
up.currentChecksum(fw);
}
catch (Exception ex) { Console.WriteLine("No need to upload. already on the board" + ex.ToString()); up.close(); return(true); }
try
{
up.upload(fw);
}
catch (Exception ex)
{
Console.WriteLine(ex.ToString());
}
up.close();
return(true);
}
}
}
private void FWUpload(object?a)
{
try
{
Tuple <int, string> passin = (Tuple <int, string>)a;
var index = passin.Item1;
var portname = passin.Item2;
var tryupload = true;
lock (ports)
if (ports.Contains(portname))
{
tryupload = false;
}
if (tryupload)
{
var fw = Firmware.ProcessFirmware(_args[0]);
Uploader up = null;
try
{
up = new px4uploader.Uploader(new SerialPort(portname, 115200));
}
catch
{
}
if (up != null)
{
up.ProgressEvent += completed =>
{
/* this.BeginInvoke(new Action(() =>
* {
* textBox1.AppendText(portname + " " + (int)completed + "\r\n");
* }));*/
};
bool flashit = false;
bool validcomms = false;
try
{
up.identify();
validcomms = true;
up.currentChecksum(fw);
flashit = true;
}
catch (Exception ex)
{
AppendLine(ex.Message);
}
if (flashit)
{
this.BeginInvoke(new Action(() => { textBox1.AppendText(portname + " Flashing fw\r\n"); }));
up.upload(fw);
}
else
{
this.BeginInvoke(new Action(() => { textBox1.AppendText(portname + " reboot\r\n"); }));
up.__reboot();
}
lock (ports)
ports.Add(portname);
up.close();
this.BeginInvoke(new Action(() => { textBox1.AppendText(portname + " Done fw\r\n"); }));
if (validcomms)
{
return;
}
}
}
var mav = new MAVLinkInterface();
mav.BaseStream = new SerialPort((string)portname, 115200);
var bldone = false;
mav.OnPacketReceived += (sender, message) =>
{
if (message.msgid == (ulong)MAVLink.MAVLINK_MSG_ID.STATUSTEXT)
{
if (ASCIIEncoding.ASCII.GetString(message.ToStructure <MAVLink.mavlink_statustext_t>().text).Trim().Contains("Bootloader up-to-date") ||
ASCIIEncoding.ASCII.GetString(message.ToStructure <MAVLink.mavlink_statustext_t>().text).Trim().Contains("Flash OK"))
{
bldone = true;
}
DisplayText(message);
}
};
try
{
mav.BaseStream.Open();
mav.getHeartBeat();
mav.doCommand(MAVLink.MAV_CMD.FLASH_BOOTLOADER, 0, 0, 0, 0, 290876, 0, 0, false);
mav.getHeartBeat();
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
mav.Close();
this.BeginInvoke(new Action(() =>
{
textBox1.AppendText(portname + " Done bl " + (bldone ? "OK" : "FAIL") + "\r\n");
}));
}
catch (Exception ex)
{
AppendLine(ex.Message);
}
}
catch (Exception ex)
{
AppendLine(ex.Message);
}
}
/// <summary>
/// upload to px4 standalone
/// </summary>
/// <param name="filename"></param>
public bool UploadPX4(string filename)
{
Uploader up;
updateProgress(0, "Reading Hex File");
px4uploader.Firmware fw = px4uploader.Firmware.ProcessFirmware(filename);
try
{
// MainV2.comPort.BaseStream.Open();
// if (MainV2.comPort.BaseStream.IsOpen)
{
// MainV2.comPort.doReboot(true);
// MainV2.comPort.Close();
}
// else
{
CustomMessageBox.Show("Please unplug the board, and then press OK and plug back in.\nMission Planner will look for 30 seconds to find the board");
}
}
catch {
// MainV2.comPort.Close();
}
DateTime DEADLINE = DateTime.Now.AddSeconds(30);
updateProgress(0, "Scanning comports");
while (DateTime.Now < DEADLINE)
{
string[] allports = SerialPort.GetPortNames();
foreach (string port in allports)
{
log.Info(DateTime.Now.Millisecond + " Trying Port " + port);
updateProgress(-1, "Connecting");
try
{
up = new Uploader(port, 115200);
}
catch (Exception ex)
{
//System.Threading.Thread.Sleep(50);
Console.WriteLine(ex.Message);
continue;
}
try
{
up.identify();
updateProgress(-1, "Identify");
log.InfoFormat("Found board type {0} boardrev {1} bl rev {2} fwmax {3} on {4}", up.board_type, up.board_rev, up.bl_rev, up.fw_maxsize, port);
}
catch (Exception)
{
Console.WriteLine("Not There..");
//Console.WriteLine(ex.Message);
up.close();
continue;
}
try
{
up.currentChecksum(fw);
}
catch {
CustomMessageBox.Show("No need to upload. already on the board");
break;
}
try
{
up.ProgressEvent += new Uploader.ProgressEventHandler(up_ProgressEvent);
up.LogEvent += new Uploader.LogEventHandler(up_LogEvent);
updateProgress(0, "Upload");
up.upload(fw);
updateProgress(100, "Upload Done");
}
catch (Exception ex)
{
updateProgress(0, "ERROR: " + ex.Message);
log.Info(ex);
Console.WriteLine(ex.ToString());
}
up.close();
CustomMessageBox.Show("Please unplug, and plug back in your px4, before you try connecting");
return true;
}
}
updateProgress(0, "ERROR: No Responce from board");
return false;
}
private void BUT_sn_Click(object sender, EventArgs e)
{
px4uploader.Uploader up;
CustomMessageBox.Show("Please unplug press ok, and plug board in", "px4");
DateTime DEADLINE = DateTime.Now.AddSeconds(30);
while (DateTime.Now < DEADLINE)
{
string[] allports = SerialPort.GetPortNames();
foreach (string port in allports)
{
Console.WriteLine(DateTime.Now.Millisecond + " Trying Port " + port);
try
{
up = new Uploader(port, 115200);
}
catch (Exception ex)
{
//System.Threading.Thread.Sleep(50);
Console.WriteLine(ex.Message);
continue;
}
try
{
up.identify();
Console.WriteLine("Found board type {0} boardrev {1} bl rev {2} fwmax {3} on {4}", up.board_type,
up.board_rev, up.bl_rev, up.fw_maxsize, port);
byte[] sn = up.__get_sn();
StringBuilder sb = new StringBuilder();
Console.Write("SN: ");
for (int s = 0; s < sn.Length; s += 1)
{
Console.Write(sn[s].ToString("X2"));
sb.Append(sn[s].ToString("X2"));
}
txtboardsn.Text = sb.ToString();
up.close();
CustomMessageBox.Show("Done");
return;
}
catch (Exception)
{
Console.WriteLine("Not There..");
//Console.WriteLine(ex.Message);
up.close();
continue;
}
}
}
}
public static bool Uploader(string fn)
{
Firmware fw;
Uploader up;
fw = Firmware.ProcessFirmware(fn);
Console.WriteLine("Loaded firmware for {0},{1} waiting for the bootloader...", fw.board_id, fw.board_revision);
while (true)
{
string[] ports = GetPortNames();
//ports = new string[] { "COM9"};
foreach (string port in ports)
{
if (!port.StartsWith("COM") && !port.Contains("APM") && !port.Contains("ACM") && !port.Contains("usb"))
continue;
Console.WriteLine(DateTime.Now.Millisecond + " Trying Port "+port);
try
{
up = new Uploader(port, 115200);
}
catch ( Exception ex)
{
//System.Threading.Thread.Sleep(50);
Console.WriteLine(DateTime.Now.Millisecond + " " +ex.Message);
continue;
}
try
{
up.identify();
Console.WriteLine("Found board type {0} boardrev {1} bl rev {2} fwmax {3} on {4}", up.board_type, up.board_rev,up.bl_rev,up.fw_maxsize, port);
}
catch ( Exception)
{
try
{
//System.Threading.ThreadPool.QueueUserWorkItem(up.__mavlinkreboot);
}
catch {
//up.close();
}
Console.WriteLine(DateTime.Now.Millisecond + " " + "Not There..");
//Console.WriteLine(ex.Message);
try
{
up.close();
}
catch { }
continue;
}
try
{
up.verifyotp();
}
catch { up.close(); return false; }
try
{
up.currentChecksum(fw);
}
catch (Exception ex) { Console.WriteLine("No need to upload. already on the board" + ex.ToString()); up.close(); return true; }
try
{
up.upload(fw);
}
catch (Exception ex)
{
Console.WriteLine(ex.ToString());
}
up.close();
return true;
}
}
}
private void FWUpload(object a)
{
Tuple <int, string> passin = (Tuple <int, string>)a;
var index = passin.Item1;
var portname = passin.Item2;
Console.WriteLine("Thread start for " + portname);
try
{
if (!portstatus.ContainsKey(portname))
{
portstatus[portname] = "";
}
{
Uploader up = null;
try
{
up = new px4uploader.Uploader(new SerialPort(portname, 115200));
}
catch
{
}
if (up != null)
{
up.ProgressEvent += completed =>
{
/* this.BeginInvoke(new Action(() =>
* {
* textBox1.AppendText(portname + " " + (int)completed + "\r\n");
* }));*/
};
bool flashit = false;
bool validcomms = false;
Firmware fw = null;
try
{
up.identify();
validcomms = true;
portstatus[portname] += "BL ";
UpdateTextBox();
fw = Firmware.ProcessFirmware(_args[0]);
up.currentChecksum(fw);
fw.board_id = up.board_type;
flashit = true;
portstatus[portname] += "CS ";
UpdateTextBox();
}
catch (Exception ex)
{
if (ex.Message.Contains("Same Firmware"))
{
portstatus[portname] += "BLUPD OK ";
}
else
{
portstatus[portname] += "BLEX ";
}
UpdateTextBox();
}
if (flashit)
{
DateTime ts = DateTime.Now;
up.ProgressEvent += completed =>
{
if (ts.Second != DateTime.Now.Second)
{
Console.WriteLine("{0}: {1}", portname, completed);
ts = DateTime.Now;
}
};
up.upload(fw);
portstatus[portname] += "BLUPD OK ";
UpdateTextBox();
}
else
{
up.__reboot();
UpdateTextBox();
}
up.close();
if (validcomms)
{
return;
}
}
}
var ports = getPortByVPidInt(txt_vid.Text, txt_pid.Text, txt_int.Text);
if (!ports.Contains(portname))
{
portstatus[portname] += "NOTML OK ";
UpdateTextBox();
return;
}
var mav = new MAVLinkInterface();
mav.BaseStream = new SerialPort((string)portname, 115200);
var bldone = false;
mav.OnPacketReceived += (sender, message) =>
{
if (message.msgid == (ulong)MAVLink.MAVLINK_MSG_ID.STATUSTEXT)
{
if (ASCIIEncoding.ASCII.GetString(message.ToStructure <MAVLink.mavlink_statustext_t>().text).Trim().Contains("Bootloader up-to-date") ||
ASCIIEncoding.ASCII.GetString(message.ToStructure <MAVLink.mavlink_statustext_t>().text).Trim().Contains("Flash OK"))
{
bldone = true;
portstatus[portname] += ASCIIEncoding.ASCII
.GetString(message.ToStructure <MAVLink.mavlink_statustext_t>().text).Trim()
.TrimEnd(new char[] { '\0', '\r', '\n' });
UpdateTextBox();
}
//DisplayText(message);
}
};
try
{
mav.BaseStream.Open();
mav.getHeartBeat();
mav.doCommand(MAVLink.MAV_CMD.FLASH_BOOTLOADER, 0, 0, 0, 0, 290876, 0, 0, false);
mav.getHeartBeat();
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
if (!bldone)
{
mav.getHeartBeat();
}
mav.Close();
if (bldone)
{
portstatus[portname] += "MLBLUPD OK";
}
UpdateTextBox();
}
catch (Exception ex)
{
portstatus[portname] += "MLEX ";
UpdateTextBox();
}
}
catch (Exception ex)
{
portstatus[portname] += "EX!! ";
UpdateTextBox();
}
UpdateTextBox();
}
protected override void WndProc(ref Message m)
{
switch (m.Msg)
{
case WM_CREATE:
try
{
DEV_BROADCAST_DEVICEINTERFACE devBroadcastDeviceInterface = new DEV_BROADCAST_DEVICEINTERFACE();
IntPtr devBroadcastDeviceInterfaceBuffer;
IntPtr deviceNotificationHandle = IntPtr.Zero;
Int32 size = 0;
// frmMy is the form that will receive device-change messages.
size = Marshal.SizeOf(devBroadcastDeviceInterface);
devBroadcastDeviceInterface.dbcc_size = size;
devBroadcastDeviceInterface.dbcc_devicetype = DBT_DEVTYP_DEVICEINTERFACE;
devBroadcastDeviceInterface.dbcc_reserved = 0;
devBroadcastDeviceInterface.dbcc_classguid = GUID_DEVINTERFACE_USB_DEVICE.ToByteArray();
devBroadcastDeviceInterfaceBuffer = Marshal.AllocHGlobal(size);
Marshal.StructureToPtr(devBroadcastDeviceInterface, devBroadcastDeviceInterfaceBuffer, true);
deviceNotificationHandle = NativeMethods.RegisterDeviceNotification(this.Handle,
devBroadcastDeviceInterfaceBuffer, DEVICE_NOTIFY_WINDOW_HANDLE);
}
catch
{
}
break;
case WM_DEVICECHANGE:
// The WParam value identifies what is occurring.
WM_DEVICECHANGE_enum n = (WM_DEVICECHANGE_enum)m.WParam;
var l = m.LParam;
if (n == WM_DEVICECHANGE_enum.DBT_DEVICEREMOVEPENDING)
{
Console.WriteLine("DBT_DEVICEREMOVEPENDING");
}
if (n == WM_DEVICECHANGE_enum.DBT_DEVNODES_CHANGED)
{
Console.WriteLine("DBT_DEVNODES_CHANGED");
// DoScan();
}
if (n == WM_DEVICECHANGE_enum.DBT_DEVICEARRIVAL)
{
Console.WriteLine(((WM_DEVICECHANGE_enum)n).ToString());
DEV_BROADCAST_HDR hdr = new DEV_BROADCAST_HDR();
Marshal.PtrToStructure(m.LParam, hdr);
try
{
switch (hdr.dbch_devicetype)
{
case DBT_DEVTYP_DEVICEINTERFACE:
DEV_BROADCAST_DEVICEINTERFACE inter = new DEV_BROADCAST_DEVICEINTERFACE();
Marshal.PtrToStructure(m.LParam, inter);
var devname = GetDeviceName(inter);
Console.WriteLine("Interface {0} {1}", inter.dbcc_name, devname);
break;
case DBT_DEVTYP_PORT:
DEV_BROADCAST_PORT prt = new DEV_BROADCAST_PORT();
Marshal.PtrToStructure(m.LParam, prt);
Console.WriteLine("port {0}", prt.dbcp_name);
Uploader up = null;
try
{
up = new px4uploader.Uploader(new SerialPort(prt.dbcp_name, 115200));
up.identify();
up.close();
}
catch
{
}
break;
}
}
catch
{
}
//string port = Marshal.PtrToStringAuto((IntPtr)((long)m.LParam + 12));
//Console.WriteLine("Added port {0}",port);
}
Console.WriteLine("Device Change {0} {1} {2}", m.Msg, (WM_DEVICECHANGE_enum)m.WParam, m.LParam);
if (DeviceChanged != null)
{
try
{
DeviceChanged((WM_DEVICECHANGE_enum)m.WParam);
}
catch
{
}
}
break;
default:
//Console.WriteLine(m.ToString());
break;
}
base.WndProc(ref m);
}
