private void pdr_DoWork(IProgressReporterDialogue sender)
{
//if ((int)REL_Type == 99)
{
var fw = new Firmware();
fw.Progress -= fw_Progress1;
fw.Progress += fw_ProgressPDR;
softwares = fw.getFWList(firmwareurl, REL_Type);
foreach (var soft in softwares)
{
if (sender.doWorkArgs.CancelRequested)
{
sender.doWorkArgs.CancelAcknowledged = true;
return;
}
updateDisplayNameInvoke(soft);
}
return;
}
try
{
APFirmware.GetList();
var official = APFirmware.GetRelease(REL_Type);
var before = softwares.ToJSON();
softwares = ConvertToOld(official);
var after = softwares.ToJSON();
}
catch { }
foreach (var soft in softwares)
{
if (sender.doWorkArgs.CancelRequested)
{
sender.doWorkArgs.CancelAcknowledged = true;
return;
}
updateDisplayNameInvoke(soft);
}
}
public Firmware()
{
InitializeComponent();
quad.CommandParameter = APFirmware.MAV_TYPE.Copter;
rover.CommandParameter = APFirmware.MAV_TYPE.GROUND_ROVER;
plane.CommandParameter = APFirmware.MAV_TYPE.FIXED_WING;
sub.CommandParameter = APFirmware.MAV_TYPE.SUBMARINE;
heli.CommandParameter = APFirmware.MAV_TYPE.HELICOPTER;
antennatracker.CommandParameter = APFirmware.MAV_TYPE.ANTENNA_TRACKER;
quad.ImageSource = ImageSource.FromStream(() => Xamarin.Properties.Resources.FW_icons_2013_logos_04.ToMemoryStream());
rover.ImageSource = ImageSource.FromStream(() => Xamarin.Properties.Resources.rover_11.ToMemoryStream());
plane.ImageSource = ImageSource.FromStream(() => Xamarin.Properties.Resources.APM_airframes_001.ToMemoryStream());
sub.ImageSource = ImageSource.FromStream(() => Xamarin.Properties.Resources.sub.ToMemoryStream());
heli.ImageSource = ImageSource.FromStream(() => Xamarin.Properties.Resources.APM_airframes_08.ToMemoryStream());
antennatracker.ImageSource = ImageSource.FromStream(() => Xamarin.Properties.Resources.Antenna_Tracker_01.ToMemoryStream());
Task.Run(() =>
{
APFirmware.GetList();
var options = APFirmware.GetRelease(APFirmware.RELEASE_TYPES.OFFICIAL);
// get max version for each mavtype
options = options.GroupBy(b => b.MavType).Select(a =>
a.Where(b => a.Key == b.MavType && b.MavFirmwareVersion == a.Max(c => c.MavFirmwareVersion))
.FirstOrDefault()).ToList();
UpdateIconName(antennatracker,
options.First(a => a.MavType == APFirmware.MAV_TYPE.ANTENNA_TRACKER.ToString()));
UpdateIconName(heli,
options.First(a => a.MavType == APFirmware.MAV_TYPE.HELICOPTER.ToString()));
UpdateIconName(sub,
options.First(a => a.MavType == APFirmware.MAV_TYPE.SUBMARINE.ToString()));
UpdateIconName(rover,
options.First(a => a.MavType == APFirmware.MAV_TYPE.GROUND_ROVER.ToString()));
UpdateIconName(quad,
options.First(a => a.MavType == APFirmware.MAV_TYPE.Copter.ToString()));
UpdateIconName(plane,
options.First(a => a.MavType == APFirmware.MAV_TYPE.FIXED_WING.ToString()));
SetLoading(false);
});
}
public void Activate()
{
MainV2.instance.DeviceChanged -= Instance_DeviceChanged;
MainV2.instance.DeviceChanged += Instance_DeviceChanged;
this.Enabled = false;
flashdone = false;
Task.Run(() =>
{
APFirmware.GetList("https://firmware.oborne.me/manifest.json.gz");
var options = APFirmware.GetRelease(REL_Type);
// get max version for each mavtype
options = options.GroupBy(b => b.MavType).Select(a =>
a.Where(b => a.Key == b.MavType && b.MavFirmwareVersion == a.Max(c => c.MavFirmwareVersion))
.FirstOrDefault()).ToList();
UpdateIconName(pictureAntennaTracker,
options.First(a => a.MavType == APFirmware.MAV_TYPE.ANTENNA_TRACKER.ToString()));
UpdateIconName(pictureBoxHeli,
options.First(a => a.MavType == APFirmware.MAV_TYPE.HELICOPTER.ToString()));
UpdateIconName(pictureBoxSub,
options.First(a => a.MavType == APFirmware.MAV_TYPE.SUBMARINE.ToString()));
UpdateIconName(pictureBoxRover,
options.First(a => a.MavType == APFirmware.MAV_TYPE.GROUND_ROVER.ToString()));
UpdateIconName(pictureBoxOctaQuad,
options.First(a => a.MavType == APFirmware.MAV_TYPE.Copter.ToString()));
UpdateIconName(pictureBoxOcta, options.First(a => a.MavType == APFirmware.MAV_TYPE.Copter.ToString()));
UpdateIconName(pictureBoxY6, options.First(a => a.MavType == APFirmware.MAV_TYPE.Copter.ToString()));
UpdateIconName(pictureBoxTri, options.First(a => a.MavType == APFirmware.MAV_TYPE.Copter.ToString()));
UpdateIconName(pictureBoxHexa, options.First(a => a.MavType == APFirmware.MAV_TYPE.Copter.ToString()));
UpdateIconName(pictureBoxQuad, options.First(a => a.MavType == APFirmware.MAV_TYPE.Copter.ToString()));
UpdateIconName(pictureBoxPlane,
options.First(a => a.MavType == APFirmware.MAV_TYPE.FIXED_WING.ToString()));
});
}
private void LookForPort(APFirmware.MAV_TYPE mavtype, bool alloptions = false)
{
var ports = Win32DeviceMgmt.GetAllCOMPorts();
if (alloptions)
{
ports.Add(default(ArduPilot.DeviceInfo));
}
foreach (var deviceInfo in ports)
{
long?devid = detectedboardid;
// make best guess at board_id based on usb info
if (!devid.HasValue)
{
devid = APFirmware.GetBoardID(deviceInfo);
}
if (devid.HasValue && devid.Value != 0 || alloptions == true)
{
log.InfoFormat("{0}: {1} - {2}", deviceInfo.name, deviceInfo.description, deviceInfo.board);
var baseurl = "";
// get the options for this device
var fwitems = APFirmware.Manifest.Firmware.Where(a =>
a.BoardId == devid && a.MavType == mavtype.ToString() &&
a.MavFirmwareVersionType == REL_Type.ToString()).ToList();
if (alloptions)
{
fwitems = APFirmware.Manifest.Firmware.ToList();
}
if (fwitems?.Count == 1)
{
baseurl = fwitems[0].Url.ToString();
}
else if (fwitems?.Count > 0)
{
FirmwareSelection fws = new FirmwareSelection(fwitems, deviceInfo);
fws.ShowXamarinControl(550, 400);
baseurl = fws.FinalResult;
if (fws.FinalResult == null)
{
// user canceled
return;
}
}
else
{
CustomMessageBox.Show(Strings.No_firmware_available_for_this_board, Strings.ERROR);
}
var tempfile = Path.GetTempFileName();
try
{
// update to use mirror url
log.Info("Using " + baseurl);
var starttime = DateTime.Now;
// Create a request using a URL that can receive a post.
WebRequest request = WebRequest.Create(baseurl);
if (!String.IsNullOrEmpty(Settings.Instance.UserAgent))
{
((HttpWebRequest)request).UserAgent = Settings.Instance.UserAgent;
}
request.Timeout = 10000;
// Set the Method property of the request to POST.
request.Method = "GET";
// Get the request stream.
Stream dataStream; //= request.GetRequestStream();
// Get the response (using statement is exception safe)
using (WebResponse response = request.GetResponse())
{
// Display the status.
log.Info(((HttpWebResponse)response).StatusDescription);
// Get the stream containing content returned by the server.
using (dataStream = response.GetResponseStream())
{
long bytes = response.ContentLength;
long contlen = bytes;
byte[] buf1 = new byte[1024];
using (FileStream fs = new FileStream(tempfile, FileMode.Create))
{
fw_Progress1(0, Strings.DownloadingFromInternet);
long length = response.ContentLength;
long progress = 0;
dataStream.ReadTimeout = 30000;
while (dataStream.CanRead)
{
try
{
fw_Progress1(length == 0 ? 50 : (int)((progress * 100) / length), Strings.DownloadingFromInternet);
}
catch
{
}
int len = dataStream.Read(buf1, 0, 1024);
if (len == 0)
{
break;
}
progress += len;
bytes -= len;
fs.Write(buf1, 0, len);
}
fs.Close();
}
dataStream.Close();
}
response.Close();
}
var timetook = (DateTime.Now - starttime).TotalMilliseconds;
Tracking.AddTiming("Firmware Download", deviceInfo.board, timetook, deviceInfo.description);
fw_Progress1(100, Strings.DownloadedFromInternet);
log.Info("Downloaded");
}
catch
{
CustomMessageBox.Show(Strings.FailedDownload, Strings.ERROR);
return;
}
MissionPlanner.Utilities.Tracking.AddFW(mavtype.ToString(), deviceInfo.board);
var fw = new Firmware();
fw.Progress += fw_Progress1;
var uploadstarttime = DateTime.Now;
flashdone = true;
fw.UploadFlash(deviceInfo.name, tempfile, BoardDetect.boards.pass);
var uploadtime = (DateTime.Now - uploadstarttime).TotalMilliseconds;
Tracking.AddTiming("Firmware Upload", deviceInfo.board, uploadtime, deviceInfo.description);
return;
}
else
{
CustomMessageBox.Show("Failed to discover board id. Please reconnect via usb and try again.", Strings.ERROR);
return;
}
}
CustomMessageBox.Show("Failed to detect port to upload to", Strings.ERROR);
return;
}
private async Task LookForPort(APFirmware.MAV_TYPE mavtype)
{
var ports = await Test.UsbDevices.GetDeviceInfoList().ConfigureAwait(false);
foreach (var deviceInfo in ports)
{
long?devid = detectedboardid;
// make best guess at board_id based on usb info
if (!devid.HasValue)
{
devid = APFirmware.GetBoardID(deviceInfo);
}
if (devid.HasValue && devid.Value != 0)
{
log.InfoFormat("{0}: {1} - {2}", deviceInfo.name, deviceInfo.description, deviceInfo.board);
var baseurl = "";
// get the options for this device
var fwitems = APFirmware.Manifest.Firmware.Where(a =>
a.BoardId == devid && a.MavType == mavtype.ToString() &&
a.MavFirmwareVersionType == REL_Type.ToString()).ToList();
if (fwitems?.Count == 1)
{
baseurl = fwitems[0].Url.ToString();
await DownloadAndUpload(baseurl).ConfigureAwait(false);
}
else if (fwitems?.Count > 0)
{
FirmwareSelection fws = new FirmwareSelection(fwitems, deviceInfo);
fws.CloseAction += async() =>
{
Navigation.PopModalAsync();
baseurl = fws.FinalResult;
await DownloadAndUpload(baseurl).ConfigureAwait(false);
return;
};
await this.Navigation.PushModalAsync(fws).ConfigureAwait(false);
Debug.WriteLine(fws.FinalResult);
baseurl = fws.FinalResult;
if (fws.FinalResult == null)
{
// user canceled
return;
}
}
else
{
CustomMessageBox.Show(Strings.No_firmware_available_for_this_board, Strings.ERROR);
return;
}
return;
}
else
{
CustomMessageBox.Show("Failed to discover board id. Please reconnect via usb and try again.", Strings.ERROR);
return;
}
}
CustomMessageBox.Show("Failed to detect port to upload to", Strings.ERROR);
return;
}
/// <summary>
/// Try BundlePath first, then arm manifest, then cygwin on server
/// </summary>
/// <param name="filename"></param>
/// <returns></returns>
private async Task <string> CheckandGetSITLImage(string filename)
{
if (BundledPath != "")
{
filename = filename.Replace(".elf", "");
var file = filename;
if (!File.Exists(BundledPath + System.IO.Path.DirectorySeparatorChar + file))
{
string[] checks = new string[] { "{0}", "{0}.exe", "lib{0}.so", "{0}.so", "{0}.elf" };
foreach (var template in checks)
{
file = String.Format(template, filename);
if (File.Exists(BundledPath + System.IO.Path.DirectorySeparatorChar + file))
{
return(BundledPath + System.IO.Path.DirectorySeparatorChar + file);
}
file = file.ToLower();
if (File.Exists(BundledPath + System.IO.Path.DirectorySeparatorChar + file))
{
return(BundledPath + System.IO.Path.DirectorySeparatorChar + file);
}
}
}
return("");
}
if ((RuntimeInformation.OSArchitecture == Architecture.X64 ||
RuntimeInformation.OSArchitecture == Architecture.X86) && RuntimeInformation.IsOSPlatform(OSPlatform.Linux))
{
var type = APFirmware.MAV_TYPE.Copter;
if (filename.ToLower().Contains("copter"))
{
type = APFirmware.MAV_TYPE.Copter;
}
if (filename.ToLower().Contains("plane"))
{
type = APFirmware.MAV_TYPE.FIXED_WING;
}
if (filename.ToLower().Contains("rover"))
{
type = APFirmware.MAV_TYPE.GROUND_ROVER;
}
if (filename.ToLower().Contains("heli"))
{
type = APFirmware.MAV_TYPE.HELICOPTER;
}
var fw = APFirmware.GetOptions(new DeviceInfo()
{
board = "", hardwareid = ""
}, APFirmware.RELEASE_TYPES.OFFICIAL, type);
fw = fw.Where(a => a.Platform == "SITL_x86_64_linux_gnu").ToList();
if (fw.Count > 0)
{
var path = sitldirectory + Path.GetFileNameWithoutExtension(filename);
if (!chk_skipdownload.Checked)
{
Download.getFilefromNet(fw.First().Url.AbsoluteUri, path);
try
{
int _0755 = S_IRUSR | S_IXUSR | S_IWUSR
| S_IRGRP | S_IXGRP
| S_IROTH | S_IXOTH;
chmod(path, _0755);
}
catch (Exception ex)
{
log.Error(ex);
}
}
return(path);
}
}
if (RuntimeInformation.OSArchitecture == Architecture.Arm ||
RuntimeInformation.OSArchitecture == Architecture.Arm64)
{
var type = APFirmware.MAV_TYPE.Copter;
if (filename.ToLower().Contains("copter"))
{
type = APFirmware.MAV_TYPE.Copter;
}
if (filename.ToLower().Contains("plane"))
{
type = APFirmware.MAV_TYPE.FIXED_WING;
}
if (filename.ToLower().Contains("rover"))
{
type = APFirmware.MAV_TYPE.GROUND_ROVER;
}
if (filename.ToLower().Contains("heli"))
{
type = APFirmware.MAV_TYPE.HELICOPTER;
}
var fw = APFirmware.GetOptions(new DeviceInfo()
{
board = "", hardwareid = ""
}, APFirmware.RELEASE_TYPES.OFFICIAL, type);
fw = fw.Where(a => a.Platform == "SITL_arm_linux_gnueabihf").ToList();
if (fw.Count > 0)
{
var path = sitldirectory + Path.GetFileNameWithoutExtension(filename);
if (!chk_skipdownload.Checked)
{
Download.getFilefromNet(fw.First().Url.AbsoluteUri, path);
try {
int _0755 = S_IRUSR | S_IXUSR | S_IWUSR
| S_IRGRP | S_IXGRP
| S_IROTH | S_IXOTH;
chmod(path, _0755);
}
catch (Exception ex)
{
log.Error(ex);
}
}
return(path);
}
}
if (!chk_skipdownload.Checked)
{
// kill old session - so we can overwrite if needed
try
{
simulator.ForEach(a =>
{
try
{
a.Kill();
}
catch { }
});
}
catch
{
}
var url = sitlmasterurl;
var result = CustomMessageBox.Show("Select the version you want to use?", "Select your version", CustomMessageBox.MessageBoxButtons.YesNo, CustomMessageBox.MessageBoxIcon.Question, "Latest(Dev)", "Stable");
if (result == CustomMessageBox.DialogResult.Yes)
{
// master by default
}
else if (result == CustomMessageBox.DialogResult.No)
{
if (filename.ToLower().Contains("copter"))
{
url = sitlcopterstableurl;
}
if (filename.ToLower().Contains("rover"))
{
url = sitlroverstableurl;
}
if (filename.ToLower().Contains("plane"))
{
url = sitlplanestableurl;
}
}
Uri fullurl = new Uri(url, filename);
var load = Common.LoadingBox("Downloading", "Downloading sitl software");
var t1 = Download.getFilefromNetAsync(fullurl.ToString(),
sitldirectory + Path.GetFileNameWithoutExtension(filename) + ".exe");
load.Refresh();
var files = new string[] { "cygatomic-1.dll",
"cyggcc_s-1.dll",
"cyggomp-1.dll",
"cygquadmath-0.dll",
"cygssp-0.dll",
"cygstdc++-6.dll",
"cygwin1.dll" };
// dependancys
Parallel.ForEach(files, new ParallelOptions()
{
MaxDegreeOfParallelism = 2
}, (a, b) =>
{
var depurl = new Uri(url, a);
var t2 = Download.getFilefromNet(depurl.ToString(), sitldirectory + depurl.Segments[depurl.Segments.Length - 1]);
});
await t1;
load.Close();
}
return(sitldirectory + Path.GetFileNameWithoutExtension(filename) + ".exe");
}
private void prev()
{
// check validation of port.
string comport = "";
var item = this.ComBoDefault.SelectedItem;
if (item is null)
{
MessageBox.Show("no Comport");
return;
}
comport = item.ToString();
string filename_fw = comport;
if (this.RButtonCustom.Checked)
{
filename_fw = comport;
}
// firmware binding.
APFirmware firmware;
try
{
this.RichTextProgress.Text = "Load firmware...";
firmware = APFirmware.LoadFirmware(filename_fw);
StringBuilder sb = new StringBuilder();
sb.AppendLine($"Board id : {firmware.BoardId}");
sb.AppendLine($"Board revision : {firmware.BoardRevision}");
sb.AppendLine($"Summary : {firmware.Summary}");
sb.AppendLine($"Version : {firmware.Version}");
this.RichTextProgress.Text += "\n" + sb.ToString();
}
catch (Exception ex)
{
this.RichTextProgress.Text += $"\nInvalid firmware. {ex.Message}";
return;
}
// detect board
bl = new ArduPilotBL(comport);
try
{
bl.Initialize();
StringBuilder sb = new StringBuilder();
sb.AppendLine("");
sb.AppendLine($"BL_REV : {bl.BootLoaderRevision}");
sb.AppendLine($"BoardId : {bl.BoardId}");
sb.AppendLine($"BoardRevision : {bl.BoardRevision}");
sb.AppendLine($"FirmwareMaxsize : {bl.FirmwareMaxsize}");
sb.AppendLine($"Chip : {bl.Chip}");
sb.AppendLine($"ChipDesc : {bl.ChipDesc}");
this.RichTextProgress.Text += sb.ToString();
}
catch (Exception ex)
{
this.RichTextProgress.Text += $"\n{ex.Message}";
return;
}
try
{
this.RichTextProgress.Text += "\nStart installation...";
bl.ProgressEvent += this.Progress;
bl.Install(firmware, true);
bl.ProgressEvent -= this.Progress;
this.RichTextProgress.Text += "\nComplete...";
}
catch (Exception ex)
{
this.RichTextProgress.Text += $"\nInstallation failed. {ex.Message}";
return;
throw;
}
}
/// <summary>
/// Try BundlePath first, then arm manifest, then cygwin on server
/// </summary>
/// <param name="filename"></param>
/// <returns></returns>
private async Task <string> CheckandGetSITLImage(string filename)
{
if (BundledPath != "")
{
filename = filename.Replace(".elf", "");
var file = filename;
if (!File.Exists(BundledPath + System.IO.Path.DirectorySeparatorChar + file))
{
string[] checks = new string[] { "{0}", "{0}.exe", "lib{0}.so", "{0}.so", "{0}.elf" };
foreach (var template in checks)
{
file = String.Format(template, filename);
if (File.Exists(BundledPath + System.IO.Path.DirectorySeparatorChar + file))
{
return(BundledPath + System.IO.Path.DirectorySeparatorChar + file);
}
file = file.ToLower();
if (File.Exists(BundledPath + System.IO.Path.DirectorySeparatorChar + file))
{
return(BundledPath + System.IO.Path.DirectorySeparatorChar + file);
}
}
}
return("");
}
if (RuntimeInformation.OSArchitecture == Architecture.Arm ||
RuntimeInformation.OSArchitecture == Architecture.Arm64)
{
var type = APFirmware.MAV_TYPE.Copter;
if (filename.ToLower().Contains("copter"))
{
type = APFirmware.MAV_TYPE.Copter;
}
if (filename.ToLower().Contains("plane"))
{
type = APFirmware.MAV_TYPE.FIXED_WING;
}
if (filename.ToLower().Contains("rover"))
{
type = APFirmware.MAV_TYPE.GROUND_ROVER;
}
if (filename.ToLower().Contains("heli"))
{
type = APFirmware.MAV_TYPE.HELICOPTER;
}
var fw = APFirmware.GetOptions(new DeviceInfo()
{
board = "", hardwareid = ""
}, APFirmware.RELEASE_TYPES.OFFICIAL, type);
fw = fw.Where(a => a.Platform == "SITL_arm_linux_gnueabihf").ToList();
if (fw.Count > 0)
{
if (!chk_skipdownload.Checked)
{
Download.getFilefromNetAsync(fw.First().Url.AbsoluteUri, sitldirectory + Path.GetFileNameWithoutExtension(filename));
}
return(sitldirectory + Path.GetFileNameWithoutExtension(filename));
}
}
if (!chk_skipdownload.Checked)
{
Uri fullurl = new Uri(sitlurl, filename);
var load = Common.LoadingBox("Downloading", "Downloading sitl software");
var t1 = Download.getFilefromNetAsync(fullurl.ToString(),
sitldirectory + Path.GetFileNameWithoutExtension(filename) + ".exe");
load.Refresh();
var files = new string[] { "cygatomic-1.dll",
"cyggcc_s-1.dll",
"cyggomp-1.dll",
"cygquadmath-0.dll",
"cygssp-0.dll",
"cygstdc++-6.dll",
"cygwin1.dll" };
// dependancys
Parallel.ForEach(files, new ParallelOptions()
{
MaxDegreeOfParallelism = 2
}, (a, b) =>
{
var depurl = new Uri(sitlurl, a);
var t2 = Download.getFilefromNet(depurl.ToString(), sitldirectory + depurl.Segments[depurl.Segments.Length - 1]);
});
load.Close();
}
return(sitldirectory + Path.GetFileNameWithoutExtension(filename) + ".exe");
}
