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style(FirmwareUpgrade): clang-format FirmwareImage and FirmwareUpgradeController #14532

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style(FirmwareUpgrade): clang-format FirmwareImage and FirmwareUpgradeController #14532

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145 changes: 79 additions & 66 deletions src/Vehicle/VehicleSetup/FirmwareImage.cc
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Original file line number Diff line number Diff line change
@@ -1,13 +1,14 @@
#include "FirmwareImage.h"
#include "JsonParsing.h"
#include "QGCApplication.h"

#include <QtCore/QDir>

#include "Bootloader.h"
#include "FirmwarePlugin.h"
#include "FirmwarePluginManager.h"
#include "Bootloader.h"
#include "JsonParsing.h"
#include "QGCApplication.h"
#include "QGCLoggingCategory.h"

#include <QtCore/QDir>

QGC_LOGGING_CATEGORY(FirmwareImageLog, "Vehicle.VehicleSetup.FirmwareImage")
QGC_LOGGING_CATEGORY(FirmwareImageVerboseLog, "Vehicle.VehicleSetup.FirmwareImage.Verbose")
#include <QtCore/QFile>
Expand All @@ -16,12 +17,7 @@ QGC_LOGGING_CATEGORY(FirmwareImageVerboseLog, "Vehicle.VehicleSetup.FirmwareImag
#include <QtCore/QJsonObject>
#include <QtCore/QTextStream>

FirmwareImage::FirmwareImage(QObject* parent) :
QObject(parent),
_imageSize(0)
{

}
FirmwareImage::FirmwareImage(QObject* parent) : QObject(parent), _imageSize(0) {}

bool FirmwareImage::load(const QString& imageFilename, uint32_t boardId)
{
Expand Down Expand Up @@ -55,7 +51,7 @@ bool FirmwareImage::_readByteFromStream(QTextStream& stream, uint8_t& byte)
}

bool success;
byte = (uint8_t)hex.toInt(&success, 16);
byte = (uint8_t) hex.toInt(&success, 16);

return success;
}
Expand All @@ -69,7 +65,7 @@ bool FirmwareImage::_readWordFromStream(QTextStream& stream, uint16_t& word)
}

bool success;
word = (uint16_t)hex.toInt(&success, 16);
word = (uint16_t) hex.toInt(&success, 16);

return success;
}
Expand Down Expand Up @@ -99,7 +95,8 @@ bool FirmwareImage::_ihxLoad(const QString& ihxFilename)

QFile ihxFile(ihxFilename);
if (!ihxFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
emit statusMessage(QString("Unable to open firmware file %1, error: %2").arg(ihxFilename, ihxFile.errorString()));
emit statusMessage(
QString("Unable to open firmware file %1, error: %2").arg(ihxFilename, ihxFile.errorString()));
return false;
}

Expand All @@ -111,16 +108,14 @@ bool FirmwareImage::_ihxLoad(const QString& ihxFilename)
return false;
}

uint8_t blockByteCount;
uint16_t address;
uint8_t recordType;
QByteArray bytes;
uint8_t crc;
uint8_t blockByteCount;
uint16_t address;
uint8_t recordType;
QByteArray bytes;
uint8_t crc;

if (!_readByteFromStream(stream, blockByteCount) ||
!_readWordFromStream(stream, address) ||
!_readByteFromStream(stream, recordType) ||
!_readBytesFromStream(stream, blockByteCount, bytes) ||
if (!_readByteFromStream(stream, blockByteCount) || !_readWordFromStream(stream, address) ||
!_readByteFromStream(stream, recordType) || !_readBytesFromStream(stream, blockByteCount, bytes) ||
!_readByteFromStream(stream, crc)) {
emit statusMessage(tr("Incorrectly formatted line in .ihx file, line too short"));
return false;
Expand All @@ -147,15 +142,19 @@ bool FirmwareImage::_ihxLoad(const QString& ihxFilename)
if (appendToLastBlock) {
_ihxBlocks[_ihxBlocks.length() - 1].bytes += bytes;
// Too noisy even for verbose
//qCDebug(FirmwareImageVerboseLog) << QString("_ihxLoad - append - address:%1 size:%2 block:%3").arg(address).arg(blockByteCount).arg(ihxBlockCount());
// qCDebug(FirmwareImageVerboseLog) << QString("_ihxLoad - append - address:%1 size:%2
// block:%3").arg(address).arg(blockByteCount).arg(ihxBlockCount());
} else {
IntelHexBlock_t block;

block.address = address;
block.bytes = bytes;

_ihxBlocks += block;
qCDebug(FirmwareImageVerboseLog) << QString("_ihxLoad - new block - address:%1 size:%2 block:%3").arg(address).arg(blockByteCount).arg(ihxBlockCount());
qCDebug(FirmwareImageVerboseLog) << QString("_ihxLoad - new block - address:%1 size:%2 block:%3")
.arg(address)
.arg(blockByteCount)
.arg(ihxBlockCount());
}

_imageSize += blockByteCount;
Expand All @@ -174,17 +173,19 @@ bool FirmwareImage::_ihxLoad(const QString& ihxFilename)
return true;
}

bool FirmwareImage::isCompatible(uint32_t boardId, uint32_t firmwareId) {
bool FirmwareImage::isCompatible(uint32_t boardId, uint32_t firmwareId)
{
bool result = false;
if (boardId == firmwareId ) {
if (boardId == firmwareId) {
result = true;
}
switch(boardId) {
case Bootloader::boardIDPX4FMUV3:
if (firmwareId == 9) result = true;
break;
default:
break;
switch (boardId) {
case Bootloader::boardIDPX4FMUV3:
if (firmwareId == 9)
result = true;
break;
default:
break;
}
return result;
}
Expand Down Expand Up @@ -224,21 +225,25 @@ bool FirmwareImage::_px4Load(const QString& imageFilename)
// Make sure the keys are the correct type
QStringList keys;
QList<QJsonValue::Type> types;
keys << _jsonBoardIdKey << _jsonParamXmlSizeKey << _jsonParamXmlKey << _jsonAirframeXmlSizeKey << _jsonAirframeXmlKey << _jsonImageSizeKey << _jsonImageKey << _jsonMavAutopilotKey;
types << QJsonValue::Double << QJsonValue::Double << QJsonValue::String << QJsonValue::Double << QJsonValue::String << QJsonValue::Double << QJsonValue::String << QJsonValue::Double;
keys << _jsonBoardIdKey << _jsonParamXmlSizeKey << _jsonParamXmlKey << _jsonAirframeXmlSizeKey
<< _jsonAirframeXmlKey << _jsonImageSizeKey << _jsonImageKey << _jsonMavAutopilotKey;
types << QJsonValue::Double << QJsonValue::Double << QJsonValue::String << QJsonValue::Double << QJsonValue::String
<< QJsonValue::Double << QJsonValue::String << QJsonValue::Double;
if (!JsonParsing::validateKeyTypes(px4Json, keys, types, errorString)) {
emit statusMessage(tr("Firmware file has invalid key: %1").arg(errorString));
return false;
}

uint32_t firmwareBoardId = (uint32_t)px4Json.value(_jsonBoardIdKey).toInt();
uint32_t firmwareBoardId = (uint32_t) px4Json.value(_jsonBoardIdKey).toInt();
if (!isCompatible(_boardId, firmwareBoardId)) {
emit statusMessage(tr("Downloaded firmware board id does not match hardware board id: %1 != %2").arg(firmwareBoardId).arg(_boardId));
emit statusMessage(tr("Downloaded firmware board id does not match hardware board id: %1 != %2")
.arg(firmwareBoardId)
.arg(_boardId));
return false;
}

// What firmware type is this?
MAV_AUTOPILOT firmwareType = (MAV_AUTOPILOT)px4Json[_jsonMavAutopilotKey].toInt(MAV_AUTOPILOT_PX4);
MAV_AUTOPILOT firmwareType = (MAV_AUTOPILOT) px4Json[_jsonMavAutopilotKey].toInt(MAV_AUTOPILOT_PX4);

// NOTE: PX4 firmware currently embeds parameter metadata as XML
// ("parameter_xml" key), but the metadata system now expects JSON.
Expand All @@ -260,55 +265,60 @@ bool FirmwareImage::_px4Load(const QString& imageFilename)
if (parameterFile.open(QIODevice::WriteOnly | QIODevice::Truncate)) {
qint64 bytesWritten = parameterFile.write(decompressedBytes);
if (bytesWritten != decompressedBytes.length()) {
emit statusMessage(tr("Write failed for parameter meta data file, error: %1").arg(parameterFile.errorString()));
emit statusMessage(
tr("Write failed for parameter meta data file, error: %1").arg(parameterFile.errorString()));
parameterFile.close();
QFile::remove(parameterFilename);
} else {
parameterFile.close();
}
} else {
emit statusMessage(tr("Unable to open parameter meta data file %1 for writing, error: %2").arg(parameterFilename, parameterFile.errorString()));
emit statusMessage(tr("Unable to open parameter meta data file %1 for writing, error: %2")
.arg(parameterFilename, parameterFile.errorString()));
}

FirmwarePlugin *fwPlugin = FirmwarePluginManager::instance()->firmwarePluginForAutopilot(firmwareType, MAV_TYPE_GENERIC);
FirmwarePlugin* fwPlugin =
FirmwarePluginManager::instance()->firmwarePluginForAutopilot(firmwareType, MAV_TYPE_GENERIC);
if (fwPlugin) {
fwPlugin->cacheParameterMetaDataFile(parameterFilename);
}
}

// Decompress the airframe xml and save to file
success = _decompressJsonValue(px4Json, // JSON object
bytes, // Raw bytes of JSON document
_jsonAirframeXmlSizeKey, // key which holds byte size
_jsonAirframeXmlKey, // key which holds compressed bytes
decompressedBytes); // Returned decompressed bytes
success = _decompressJsonValue(px4Json, // JSON object
bytes, // Raw bytes of JSON document
_jsonAirframeXmlSizeKey, // key which holds byte size
_jsonAirframeXmlKey, // key which holds compressed bytes
decompressedBytes); // Returned decompressed bytes
if (success) {
QString airframeFilename = QGCApplication::cachedAirframeMetaDataFile();
//qDebug() << airframeFilename;
// qDebug() << airframeFilename;
QFile airframeFile(QGCApplication::cachedAirframeMetaDataFile());

if (airframeFile.open(QIODevice::WriteOnly | QIODevice::Truncate)) {
qint64 bytesWritten = airframeFile.write(decompressedBytes);
if (bytesWritten != decompressedBytes.length()) {
// FIXME: What about these warnings?
emit statusMessage(tr("Write failed for airframe meta data file, error: %1").arg(airframeFile.errorString()));
emit statusMessage(
tr("Write failed for airframe meta data file, error: %1").arg(airframeFile.errorString()));
airframeFile.close();
QFile::remove(airframeFilename);
} else {
airframeFile.close();
}
} else {
emit statusMessage(tr("Unable to open airframe meta data file %1 for writing, error: %2").arg(airframeFilename, airframeFile.errorString()));
emit statusMessage(tr("Unable to open airframe meta data file %1 for writing, error: %2")
.arg(airframeFilename, airframeFile.errorString()));
}
}

// Decompress the image and save to file
_imageSize = px4Json.value(QString("image_size")).toInt();
success = _decompressJsonValue(px4Json, // JSON object
bytes, // Raw bytes of JSON document
_jsonImageSizeKey, // key which holds byte size
_jsonImageKey, // key which holds compressed bytes
decompressedBytes); // Returned decompressed bytes
success = _decompressJsonValue(px4Json, // JSON object
bytes, // Raw bytes of JSON document
_jsonImageSizeKey, // key which holds byte size
_jsonImageKey, // key which holds compressed bytes
decompressedBytes); // Returned decompressed bytes
if (!success) {
return false;
}
Expand All @@ -324,7 +334,8 @@ bool FirmwareImage::_px4Load(const QString& imageFilename)

QFile decompressFile(decompressFilename);
if (!decompressFile.open(QIODevice::WriteOnly | QIODevice::Truncate)) {
emit statusMessage(tr("Unable to open decompressed file %1 for writing, error: %2").arg(decompressFilename, decompressFile.errorString()));
emit statusMessage(tr("Unable to open decompressed file %1 for writing, error: %2")
.arg(decompressFilename, decompressFile.errorString()));
return false;
}

Expand All @@ -341,11 +352,11 @@ bool FirmwareImage::_px4Load(const QString& imageFilename)
}

/// Decompress a set of bytes stored in a Json document.
bool FirmwareImage::_decompressJsonValue(const QJsonObject& jsonObject, ///< JSON object
const QByteArray& jsonDocBytes, ///< Raw bytes of JSON document
const QString& sizeKey, ///< key which holds byte size
const QString& bytesKey, ///< key which holds compress bytes
QByteArray& decompressedBytes) ///< Returned decompressed bytes
bool FirmwareImage::_decompressJsonValue(const QJsonObject& jsonObject, ///< JSON object
const QByteArray& jsonDocBytes, ///< Raw bytes of JSON document
const QString& sizeKey, ///< key which holds byte size
const QString& bytesKey, ///< key which holds compress bytes
QByteArray& decompressedBytes) ///< Returned decompressed bytes
{
// Validate decompressed size key
if (!jsonObject.contains(sizeKey)) {
Expand Down Expand Up @@ -377,10 +388,10 @@ bool FirmwareImage::_decompressJsonValue(const QJsonObject& jsonObject, ///< J

// Store decompressed size as first four bytes. This is required by qUncompress routine.
QByteArray raw;
raw.append((unsigned char)((decompressedSize >> 24) & 0xFF));
raw.append((unsigned char)((decompressedSize >> 16) & 0xFF));
raw.append((unsigned char)((decompressedSize >> 8) & 0xFF));
raw.append((unsigned char)((decompressedSize >> 0) & 0xFF));
raw.append((unsigned char) ((decompressedSize >> 24) & 0xFF));
raw.append((unsigned char) ((decompressedSize >> 16) & 0xFF));
raw.append((unsigned char) ((decompressedSize >> 8) & 0xFF));
raw.append((unsigned char) ((decompressedSize >> 0) & 0xFF));

QByteArray raw64 = parts.first().toUtf8();
raw.append(QByteArray::fromBase64(raw64));
Expand All @@ -391,7 +402,9 @@ bool FirmwareImage::_decompressJsonValue(const QJsonObject& jsonObject, ///< J
return false;
}
if (decompressedBytes.length() != decompressedSize) {
emit statusMessage(tr("Size for decompressed %1 does not match stored size: Expected(%1) Actual(%2)").arg(decompressedSize).arg(decompressedBytes.length()));
emit statusMessage(tr("Size for decompressed %1 does not match stored size: Expected(%1) Actual(%2)")
.arg(decompressedSize)
.arg(decompressedBytes.length()));
return false;
}

Expand Down Expand Up @@ -425,7 +438,7 @@ bool FirmwareImage::_binLoad(const QString& imageFilename)
return false;
}

_imageSize = (uint32_t)binFile.size();
_imageSize = (uint32_t) binFile.size();

binFile.close();

Expand Down
48 changes: 23 additions & 25 deletions src/Vehicle/VehicleSetup/FirmwareImage.h
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Original file line number Diff line number Diff line change
@@ -1,9 +1,9 @@
#pragma once

#include <QtCore/QObject>
#include <QtCore/QString>
#include <QtCore/QByteArray>
#include <QtCore/QList>
#include <QtCore/QObject>
#include <QtCore/QString>
#include <QtCore/QTextStream>

/// \brief Support for Intel Hex firmware file
Expand All @@ -13,7 +13,7 @@ class FirmwareImage : public QObject
Q_OBJECT

public:
FirmwareImage(QObject *parent = 0);
FirmwareImage(QObject* parent = 0);

/// Loads the specified image file. Supported formats: .px4, .bin, .ihx.
/// Emits errorMesssage and statusMessage signals while loading.
Expand Down Expand Up @@ -57,29 +57,27 @@ class FirmwareImage : public QObject
bool _readWordFromStream(QTextStream& stream, uint16_t& word);
bool _readBytesFromStream(QTextStream& stream, uint8_t byteCount, QByteArray& bytes);

bool _decompressJsonValue(const QJsonObject& jsonObject,
const QByteArray& jsonDocBytes,
const QString& sizeKey,
const QString& bytesKey,
QByteArray& decompressedBytes);
bool _decompressJsonValue(const QJsonObject& jsonObject, const QByteArray& jsonDocBytes, const QString& sizeKey,
const QString& bytesKey, QByteArray& decompressedBytes);

typedef struct {
uint16_t address;
QByteArray bytes;
typedef struct
{
uint16_t address;
QByteArray bytes;
} IntelHexBlock_t;

bool _binFormat;
uint32_t _boardId;
QString _binFilename;
QList<IntelHexBlock_t> _ihxBlocks;
uint32_t _imageSize;

static constexpr const char* _jsonBoardIdKey = "board_id";
static constexpr const char* _jsonParamXmlSizeKey = "parameter_xml_size";
static constexpr const char* _jsonParamXmlKey = "parameter_xml";
static constexpr const char* _jsonAirframeXmlSizeKey = "airframe_xml_size";
static constexpr const char* _jsonAirframeXmlKey = "airframe_xml";
static constexpr const char* _jsonImageSizeKey = "image_size";
static constexpr const char* _jsonImageKey = "image";
static constexpr const char* _jsonMavAutopilotKey = "mav_autopilot";
bool _binFormat;
uint32_t _boardId;
QString _binFilename;
QList<IntelHexBlock_t> _ihxBlocks;
uint32_t _imageSize;

static constexpr const char* _jsonBoardIdKey = "board_id";
static constexpr const char* _jsonParamXmlSizeKey = "parameter_xml_size";
static constexpr const char* _jsonParamXmlKey = "parameter_xml";
static constexpr const char* _jsonAirframeXmlSizeKey = "airframe_xml_size";
static constexpr const char* _jsonAirframeXmlKey = "airframe_xml";
static constexpr const char* _jsonImageSizeKey = "image_size";
static constexpr const char* _jsonImageKey = "image";
static constexpr const char* _jsonMavAutopilotKey = "mav_autopilot";
};
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