static void Main(string[] args)
{
Console.CancelKeyPress += Console_CancelKeyPress;
if (args.Length < 2)
{
Console.WriteLine("usage: UAVCANFlasher com1 flow-crc.bin");
Console.WriteLine("this program will flash the firmware to every connected uavcan node. DONT connect devices that its not intended for");
Console.ReadKey();
return;
}
var portname = args[0];
var firmware_name = args[1];
var port = new MissionPlanner.Comms.SerialPort(args[0], 115200);
port.Open();
if (!File.Exists(firmware_name))
{
Console.WriteLine("firmware file not found");
Console.ReadKey();
return;
}
MAVLinkInterface mav = new MAVLinkInterface();
mav.BaseStream = port;
mav.getHeartBeat();
try
{
mav.GetParam((byte)mav.sysidcurrent, (byte)mav.compidcurrent, "CAN_SLCAN_TIMOUT");
mav.GetParam((byte)mav.sysidcurrent, (byte)mav.compidcurrent, "CAN_SLCAN_SERNUM");
mav.setParam("CAN_SLCAN_TIMOUT", 2, true);
mav.setParam("CAN_SLCAN_SERNUM", 0, true); // usb
}
catch { }
DroneCAN.DroneCAN can = new DroneCAN.DroneCAN();
can.SourceNode = 127;
//can.Update();
// updater
var firmware_namebytes = ASCIIEncoding.ASCII.GetBytes(Path.GetFileName(firmware_name.ToLower()));
ulong firmware_crc = ulong.MaxValue;
Exception exception = null;
Dictionary <int, DateTime> lastseenDateTimes = new Dictionary <int, DateTime>();
DroneCAN.DroneCAN.MessageRecievedDel updatedelegate = (frame, msg, transferID) =>
{
if (frame.IsServiceMsg && frame.SvcDestinationNode != can.SourceNode)
{
return;
}
if (frame.SourceNode == 0)
{
return;
}
lastseenDateTimes[frame.SourceNode] = DateTime.Now;
if (msg.GetType() == typeof(DroneCAN.DroneCAN.uavcan_protocol_file_BeginFirmwareUpdate_res))
{
var bfures = msg as DroneCAN.DroneCAN.uavcan_protocol_file_BeginFirmwareUpdate_res;
if (bfures.error != 0)
{
exception = new Exception(frame.SourceNode + " Begin Firmware Update returned an error");
}
}
else if (msg.GetType() == typeof(DroneCAN.DroneCAN.uavcan_protocol_GetNodeInfo_res))
{
var gnires = msg as DroneCAN.DroneCAN.uavcan_protocol_GetNodeInfo_res;
Console.WriteLine("GetNodeInfo: seen '{0}' from {1}",
ASCIIEncoding.ASCII.GetString(gnires.name).TrimEnd('\0'), frame.SourceNode);
if (firmware_crc != gnires.software_version.image_crc || firmware_crc == ulong.MaxValue)
{
if (gnires.status.mode != DroneCAN.DroneCAN.uavcan_protocol_NodeStatus.UAVCAN_PROTOCOL_NODESTATUS_MODE_SOFTWARE_UPDATE)
{
Console.WriteLine("Update node " + frame.SourceNode);
var req_msg =
new DroneCAN.DroneCAN.uavcan_protocol_file_BeginFirmwareUpdate_req()
{
image_file_remote_path = new DroneCAN.DroneCAN.uavcan_protocol_file_Path()
{
path = firmware_namebytes
},
source_node_id = can.SourceNode
};
req_msg.image_file_remote_path.path_len = (byte)firmware_namebytes.Length;
var slcan = can.PackageMessageSLCAN(frame.SourceNode, frame.Priority, transferID, req_msg);
can.WriteToStreamSLCAN(slcan);
}
else
{
//exception = new Exception("already in update mode");
return;
}
}
else
{
Console.WriteLine(frame.SourceNode + " CRC matchs");
}
}
};
can.MessageReceived += updatedelegate;
// getfile crc
using (var stream = File.OpenRead(firmware_name))
{
string app_descriptor_fmt = "<8cQI";
var SHARED_APP_DESCRIPTOR_SIGNATURES = new byte[][] {
new byte[] { 0xd7, 0xe4, 0xf7, 0xba, 0xd0, 0x0f, 0x9b, 0xee },
new byte[] { 0x40, 0xa2, 0xe4, 0xf1, 0x64, 0x68, 0x91, 0x06 }
};
var app_descriptor_len = 8 * 1 + 8 + 4;
var location = GetPatternPositions(stream, SHARED_APP_DESCRIPTOR_SIGNATURES[0]);
stream.Seek(0, SeekOrigin.Begin);
var location2 = GetPatternPositions(stream, SHARED_APP_DESCRIPTOR_SIGNATURES[1]);
if (location.Count > 0 || location2.Count > 0)
{
var offset = location.Count > 0 ? location[0] : location2[0];
stream.Seek(offset, SeekOrigin.Begin);
byte[] buf = new byte[app_descriptor_len];
stream.Read(buf, 0, app_descriptor_len);
firmware_crc = BitConverter.ToUInt64(buf, 8);
}
}
can.NodeAdded += (id, status) =>
{
Console.WriteLine(id + " Node status seen");
// get node info
DroneCAN.DroneCAN.uavcan_protocol_GetNodeInfo_req gnireq = new DroneCAN.DroneCAN.uavcan_protocol_GetNodeInfo_req()
{
};
var slcan = can.PackageMessageSLCAN((byte)id, 30, 0, gnireq);
can.WriteToStreamSLCAN(slcan);
};
DroneCAN.DroneCAN.uavcan_protocol_NodeStatus node;
can.FileSendComplete += (id, file) =>
{
Console.WriteLine(id + " File send complete " + file);
can.NodeList.TryRemove(id, out node);
lastseenDateTimes.Remove(id);
};
can.StartSLCAN(port.BaseStream);
can.ServeFile(args[1]);
can.SetupFileServer();
can.SetupDynamicNodeAllocator();
Console.WriteLine("Ready.. " + portname + " -> " + firmware_name);
run = true;
while (run)
{
Thread.Sleep(100);
foreach (var lastseenDateTime in lastseenDateTimes.ToArray())
{
if (lastseenDateTime.Value.AddSeconds(3) < DateTime.Now)
{
can.NodeList.TryRemove(lastseenDateTime.Key, out node);
lastseenDateTimes.Remove(lastseenDateTime.Key);
Console.WriteLine(lastseenDateTime.Key + " Remove old node - 3 seconds of no data");
}
}
if (exception != null)
{
Console.WriteLine(exception.ToString());
exception = null;
}
}
}
private void menu_passthrough_Click(object sender, EventArgs e)
{
if (listener != null)
{
menu_passthrough.Checked = false;
listener.Stop();
CustomMessageBox.Show("Stop", "Disabled forwarding");
listener = null;
return;
}
var port = 500;
if (InputBox.Show("Enter TCP Port", "Enter TCP Port", ref port) == DialogResult.OK)
{
menu_passthrough.Checked = true;
Task.Run(() =>
{
try
{
listener = new TcpListener(IPAddress.Any, port);
listener.Start();
int tcpbps = 0;
int rtcmbps = 0;
int combps = 0;
int second = 0;
while (true)
{
var client = listener.AcceptTcpClient();
client.NoDelay = true;
var st = client.GetStream();
DroneCAN.DroneCAN.MessageRecievedDel mrd = (frame, msg, id) =>
{
combps += frame.SizeofEntireMsg;
if (frame.MsgTypeID == DroneCAN.DroneCAN.uavcan_equipment_gnss_RTCMStream.UAVCAN_EQUIPMENT_GNSS_RTCMSTREAM_DT_ID)
{
var data = msg as DroneCAN.DroneCAN.uavcan_equipment_gnss_RTCMStream;
try
{
rtcmbps += data.data_len;
st.Write(data.data, 0, data.data_len);
st.Flush();
}
catch
{
client = null;
}
}
if (frame.MsgTypeID == DroneCAN.DroneCAN.ardupilot_gnss_MovingBaselineData.ARDUPILOT_GNSS_MOVINGBASELINEDATA_DT_ID)
{
var data = msg as DroneCAN.DroneCAN.ardupilot_gnss_MovingBaselineData;
try
{
rtcmbps += data.data_len;
st.Write(data.data, 0, data.data_len);
st.Flush();
}
catch
{
client = null;
}
}
};
can.MessageReceived -= mrd;
can.MessageReceived += mrd;
try
{
while (true)
{
if (client.Available > 0)
{
var toread = Math.Min(client.Available, 128);
byte[] buffer = new byte[toread];
var read = st.Read(buffer, 0, toread);
foreach (var b in buffer)
{
Console.Write("0x{0:X} ", b);
}
Console.WriteLine();
tcpbps += read;
var slcan = can.PackageMessageSLCAN(0, 30, 0,
new DroneCAN.DroneCAN.uavcan_equipment_gnss_RTCMStream()
{
protocol_id = 3, data = buffer, data_len = (byte)read
});
can.WriteToStreamSLCAN(slcan);
}
Thread.Sleep(1);
if (second != DateTime.Now.Second)
{
Console.WriteLine("tcp:{0} can:{1} data:{2} avail:{3}", tcpbps, combps, rtcmbps,
client.Available);
tcpbps = combps = rtcmbps = 0;
second = DateTime.Now.Second;
}
}
}
catch (Exception ex)
{
can.MessageReceived -= mrd;
Console.WriteLine(ex);
}
}
}
catch (Exception exception)
{
CustomMessageBox.Show(Strings.ERROR, "Forwarder problem " + exception.ToString());
if (listener != null)
{
listener.Stop();
}
listener = null;
this.InvokeIfRequired(() => { menu_passthrough.Checked = true; });
}
});
}
}