-
Notifications
You must be signed in to change notification settings - Fork 469
/
bootloader.py
527 lines (442 loc) · 20 KB
/
bootloader.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
#!/usr/bin/env python
# -*- coding: utf-8 -*-
#
# || ____ _ __
# +------+ / __ )(_) /_______________ _____ ___
# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
#
# Copyright (C) 2011-2013 Bitcraze AB
#
# Crazyflie Nano Quadcopter Client
#
# This program is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation; either version 2
# of the License, or (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
# You should have received a copy of the GNU General Public License along with
# this program; if not, write to the Free Software Foundation, Inc.,
# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
"""
The bootloader dialog is used to update the Crazyflie firmware and to
read/write the configuration block in the Crazyflie flash.
"""
from cflib.bootloader import Bootloader
from cfclient.ui.connectivity_manager import ConnectivityManager
import tempfile
import logging
import json
import os
import threading
from urllib.request import urlopen
from urllib.error import URLError
import zipfile
from PyQt5 import QtWidgets, uic
from PyQt5.QtCore import pyqtSlot, pyqtSignal, QThread
import cfclient
import cflib.crazyflie
__author__ = 'Bitcraze AB'
__all__ = ['BootloaderDialog']
logger = logging.getLogger(__name__)
service_dialog_class = uic.loadUiType(cfclient.module_path +
"/ui/dialogs/bootloader.ui")[0]
# This url is used to fetch all the releases from the FirmwareDownloader
RELEASE_URL = 'https://api.github.com/repos/bitcraze/'\
'crazyflie-release/releases'
class BootloaderDialog(QtWidgets.QWidget, service_dialog_class):
"""Tab for update the Crazyflie firmware and for reading/writing the config
block in flash"""
class UIState:
DISCONNECTED = 0
COLD_CONNECTING = 1
COLD_CONNECTED = 2
FW_CONNECTING = 3
FW_CONNECTED = 4
FW_SCANNING = 5
FLASHING = 6
RESET = 7
_release_firmwares_found = pyqtSignal(object)
_release_downloaded = pyqtSignal(str, object)
def __init__(self, helper, *args):
super(BootloaderDialog, self).__init__(*args)
self.setupUi(self)
self.tabName = "Service"
self.menuName = "Service"
# self.tabWidget = tabWidget
self._helper = helper
# self.cf = crazyflie
self.clt = CrazyloadThread(self._helper.cf)
# Connecting GUI signals (a pity to do that manually...)
self.imagePathBrowseButton.clicked.connect(self.pathBrowse)
self.programButton.clicked.connect(self.programAction)
self.coldBootButton.clicked.connect(self.initiateColdboot)
self.resetButton.clicked.connect(self.resetCopter)
self._helper.connectivity_manager.register_ui_elements(
ConnectivityManager.UiElementsContainer(
interface_combo=self.comboBox,
address_spinner=self.address,
connect_button=self.connectButton,
scan_button=self.scanButton))
self._helper.connectivity_manager.connection_state_changed.connect(self._fw_connection_state_changed)
# connecting other signals
self.clt.programmed.connect(self.programDone)
self.clt.statusChanged.connect(self.statusUpdate)
# self.clt.updateBootloaderStatusSignal.connect(
# self.updateBootloaderStatus)
self.clt.connectingSignal.connect(lambda: self.setUiState(self.UIState.COLD_CONNECTING))
self.clt.connectedSignal.connect(lambda: self._load_thread_connection_event(self.UIState.COLD_CONNECTED))
self.clt.disconnectedSignal.connect(lambda: self._load_thread_connection_event(self.UIState.DISCONNECTED))
self.clt.failed_signal.connect(lambda m: self._ui_connection_fail(m))
self._cold_boot_error_message = None
self._state = self.UIState.DISCONNECTED
self._releases = {}
self._release_firmwares_found.connect(self._populate_firmware_dropdown)
self._release_downloaded.connect(self.release_zip_downloaded)
self.firmware_downloader = FirmwareDownloader(self._release_firmwares_found, self._release_downloaded)
self.firmware_downloader.get_firmware_releases()
self.firmware_downloader.start()
self.clt.start()
def _ui_connection_fail(self, message):
self._cold_boot_error_message = message
self.setUiState(self.UIState.DISCONNECTED)
def setUiState(self, state):
self._state = state
if (state == self.UIState.DISCONNECTED):
self.resetButton.setEnabled(False)
self.programButton.setEnabled(False)
if self._cold_boot_error_message is not None:
self.setStatusLabel(self._cold_boot_error_message)
else:
self.setStatusLabel("Not connected")
self.coldBootButton.setEnabled(True)
self.progressBar.setTextVisible(False)
self.progressBar.setValue(0)
self.statusLabel.setText('Status: <b>IDLE</b>')
self.setSourceSelectionUiEnabled(True)
self._helper.connectivity_manager.set_enable(True)
elif (state == self.UIState.COLD_CONNECTING):
self._cold_boot_error_message = None
self.resetButton.setEnabled(False)
self.programButton.setEnabled(False)
self.setStatusLabel("Trying to connect cold bootloader, restart the Crazyflie to connect")
self.coldBootButton.setEnabled(False)
self.setSourceSelectionUiEnabled(True)
self._helper.connectivity_manager.set_enable(False)
elif (state == self.UIState.COLD_CONNECTED):
self._cold_boot_error_message = None
self.resetButton.setEnabled(True)
self.programButton.setEnabled(True)
self.setStatusLabel("Connected to bootloader")
self.coldBootButton.setEnabled(False)
self.imagePathBrowseButton.setEnabled(True)
self.imagePathLine.setEnabled(True)
self.firmwareDropdown.setEnabled(True)
self._helper.connectivity_manager.set_enable(False)
elif (state == self.UIState.FW_CONNECTING):
self._cold_boot_error_message = None
self.resetButton.setEnabled(False)
self.programButton.setEnabled(False)
self.setStatusLabel("Trying to connect in firmware mode")
self.coldBootButton.setEnabled(False)
self.setSourceSelectionUiEnabled(True)
self._helper.connectivity_manager.set_enable(True)
elif (state == self.UIState.FW_CONNECTED):
self._cold_boot_error_message = None
self.resetButton.setEnabled(False)
self.coldBootButton.setEnabled(False)
self._helper.connectivity_manager.set_enable(True)
if self._helper.cf.link_uri.startswith("usb://"):
self.programButton.setEnabled(False)
self.setStatusLabel("Connected using USB")
self.setSourceSelectionUiEnabled(False)
else:
self.programButton.setEnabled(True)
self.setStatusLabel("Connected in firmware mode")
self.setSourceSelectionUiEnabled(True)
elif (state == self.UIState.FW_SCANNING):
self._cold_boot_error_message = None
self.resetButton.setEnabled(False)
self.programButton.setEnabled(False)
self.setStatusLabel("Scanning")
self.coldBootButton.setEnabled(False)
self.setSourceSelectionUiEnabled(True)
self._helper.connectivity_manager.set_enable(True)
elif (state == self.UIState.FLASHING):
self.resetButton.setEnabled(False)
self.resetButton.setEnabled(False)
self.programButton.setEnabled(False)
self.setStatusLabel("Flashing")
self.coldBootButton.setEnabled(False)
self.setSourceSelectionUiEnabled(False)
self._helper.connectivity_manager.set_enable(False)
elif (state == self.UIState.RESET):
self._cold_boot_error_message = None
self.setStatusLabel("Resetting to firmware, disconnected")
self.resetButton.setEnabled(False)
self.programButton.setEnabled(False)
self.coldBootButton.setEnabled(False)
self.setSourceSelectionUiEnabled(True)
self._helper.connectivity_manager.set_enable(False)
def setSourceSelectionUiEnabled(self, enabled):
self.imagePathBrowseButton.setEnabled(enabled)
self.imagePathLine.setEnabled(enabled)
self.firmwareDropdown.setEnabled(enabled)
def setStatusLabel(self, text):
self.connectionStatus.setText("Status: <b>%s</b>" % text)
def resetCopter(self):
self.clt.resetCopterSignal.emit()
self.setUiState(self.UIState.RESET)
def updateConfig(self, channel, speed, rollTrim, pitchTrim):
self.rollTrim.setValue(rollTrim)
self.pitchTrim.setValue(pitchTrim)
self.radioChannel.setValue(channel)
self.radioSpeed.setCurrentIndex(speed)
def closeEvent(self, event):
self.clt.terminate_flashing()
# Remove downloaded-firmware files.
self.firmware_downloader.bootload_complete.emit()
def _populate_firmware_dropdown(self, releases):
""" Callback from firmware-downloader that retrieves all
the latest firmware-releases.
"""
for release in releases:
release_name = release[0]
downloads = release[1:]
downloads.sort(key=self.download_sorter)
for download in downloads:
download_name, download_link = download
widget_name = '%s - %s' % (release_name, download_name)
self._releases[widget_name] = download_link
self.firmwareDropdown.addItem(widget_name)
def download_sorter(self, element):
'''Sort downloads to display cf2 before bolt and tag'''
name = element[0]
if 'cf2' in name:
return '0' + name
else:
return '1' + name
def release_zip_downloaded(self, release_name, release_path):
""" Callback when a release is successfully downloaded and
save to release_path.
"""
self.downloadStatus.setText('Downloaded')
self.clt.program.emit(release_path, '')
def _load_thread_connection_event(self, new_sate):
if self._state != self.UIState.FLASHING:
self.setUiState(new_sate)
def _fw_connection_state_changed(self, new_state):
if self._state != self.UIState.FLASHING:
if new_state == ConnectivityManager.UIState.DISCONNECTED:
self.setUiState(self.UIState.DISCONNECTED)
elif new_state == ConnectivityManager.UIState.CONNECTING:
self.setUiState(self.UIState.FW_CONNECTING)
elif new_state == ConnectivityManager.UIState.CONNECTED:
self.setUiState(self.UIState.FW_CONNECTED)
elif new_state == ConnectivityManager.UIState.SCANNING:
self.setUiState(self.UIState.FW_SCANNING)
@pyqtSlot()
def pathBrowse(self):
names = QtWidgets.QFileDialog.getOpenFileName(
self, 'Release file to flash', self._helper.current_folder, "*.zip")
if names[0] == '':
return
filename = names[0]
self._helper.current_folder = os.path.dirname(filename)
if filename.endswith('.zip'):
self.imagePathLine.setText(filename)
else:
msgBox = QtWidgets.QMessageBox()
msgBox.setText("Wrong file extention. Must be .zip.")
msgBox.exec_()
@pyqtSlot()
def programAction(self):
if self._state == self.UIState.COLD_CONNECTED:
self.clt.set_boot_mode(self.clt.COLD_BOOT)
else:
self.clt.set_boot_mode(self.clt.WARM_BOOT)
# call the flasher
if self.sourceTab.currentWidget() == self.tabFromFile:
if self.imagePathLine.text() == "":
msgBox = QtWidgets.QMessageBox()
msgBox.setText("Please choose an image file to program.")
msgBox.exec_()
return
self.setUiState(self.UIState.FLASHING)
# by default, flash everything in the zip (if possible)
mcu_to_flash = None
self.clt.program.emit(self.imagePathLine.text(), mcu_to_flash)
else:
self.setUiState(self.UIState.FLASHING)
requested_release = self.firmwareDropdown.currentText()
download_url = self._releases[requested_release]
self.downloadStatus.setText('Fetching...')
self.firmware_downloader.download_release(requested_release, download_url)
@pyqtSlot(bool)
def programDone(self, success):
if success:
self.statusLabel.setText('Status: <b>Programing complete!</b>')
self.downloadStatus.setText('')
else:
self.statusLabel.setText('Status: <b>Programing failed!</b>')
self.setUiState(self.UIState.DISCONNECTED)
self.resetCopter()
@pyqtSlot(str, int)
def statusUpdate(self, status, progress):
logger.debug("Status: [%s] | %d", status, progress)
self.statusLabel.setText('Status: <b>' + status + '</b>')
if progress >= 0:
self.progressBar.setValue(progress)
def initiateColdboot(self):
self.clt.initiateColdBootSignal.emit("radio://0/100")
# No run method specified here as the default run implementation is running the
# event loop which is what we want
class CrazyloadThread(QThread):
# Input signals declaration (not sure it should be used like that...)
program = pyqtSignal(str, str)
initiateColdBootSignal = pyqtSignal(str)
resetCopterSignal = pyqtSignal()
writeConfigSignal = pyqtSignal(int, int, float, float)
# Output signals declaration
programmed = pyqtSignal(bool)
verified = pyqtSignal()
statusChanged = pyqtSignal(str, int)
connectedSignal = pyqtSignal()
connectingSignal = pyqtSignal()
failed_signal = pyqtSignal(str)
disconnectedSignal = pyqtSignal()
updateConfigSignal = pyqtSignal(int, int, float, float)
updateCpuIdSignal = pyqtSignal(str)
radioSpeedPos = 2
WARM_BOOT = 0
COLD_BOOT = 1
def __init__(self, crazyflie: cflib.crazyflie.Crazyflie):
super(CrazyloadThread, self).__init__()
self._terminate_flashing = False
self._bl = Bootloader()
self._cf = crazyflie
self._boot_mode = self.COLD_BOOT
# Make sure that the signals are handled by this thread event loop
self.moveToThread(self)
self.program.connect(self.programAction)
self.initiateColdBootSignal.connect(self.initiateColdBoot)
self.resetCopterSignal.connect(self.resetCopter)
def __del__(self):
self.quit()
self.wait()
def set_boot_mode(self, mode):
self._boot_mode = mode
def initiateColdBoot(self, linkURI):
self.connectingSignal.emit()
try:
success = self._bl.start_bootloader(warm_boot=False, cf=None)
if not success:
self.failed_signal.emit("Could not connect to bootloader")
else:
self.connectedSignal.emit()
except Exception as e:
self.failed_signal.emit("{}".format(e))
def programAction(self, filename, mcu_to_flash):
targets = {}
if mcu_to_flash:
targets[mcu_to_flash] = ("fw",)
try:
self._terminate_flashing = False
self._bl.clink = self._cf.link_uri
self._bl.flash_full(self._cf,
str(filename),
self._boot_mode is self.WARM_BOOT,
targets,
None,
self.statusChanged.emit,
lambda: self._terminate_flashing)
self.programmed.emit(True)
except Exception as e:
self.failed_signal.emit("{}".format(e))
self.programmed.emit(False)
def terminate_flashing(self):
self._terminate_flashing = True
def resetCopter(self):
try:
self._bl.reset_to_firmware()
except Exception:
pass
self._bl.close()
self.disconnectedSignal.emit()
class FirmwareDownloader(QThread):
""" Uses github API to retrieves firmware-releases. """
bootload_complete = pyqtSignal()
def __init__(self, qtsignal_get_all_firmwares, qtsignal_get_release):
super(FirmwareDownloader, self).__init__()
self._qtsignal_get_all_firmwares = qtsignal_get_all_firmwares
self._qtsignal_get_release = qtsignal_get_release
self._tempDirectory = tempfile.TemporaryDirectory()
self.moveToThread(self)
def get_firmware_releases(self):
""" Wrapper-function """
threading.Thread(target=self._get_firmware_releases,
args=(self._qtsignal_get_all_firmwares, )).start()
def download_release(self, release_name, url):
""" Wrapper-function """
threading.Thread(target=self._download_release,
args=(self._qtsignal_get_release,
release_name, url)).start()
def _get_firmware_releases(self, signal):
""" Gets the firmware releases from the github API
and returns a list of format [rel-name, {release: download-link}].
Returns None if the request fails.
"""
response = {}
try:
with urlopen(RELEASE_URL) as resp:
response = json.load(resp)
except URLError:
logger.warning(
'Failed to make web request to get firmware-release')
release_list = []
for release in response:
release_name = release['name']
if release_name:
releases = [release_name]
for download in release['assets']:
releases.append(
(download['name'], download['browser_download_url']))
release_list.append(releases)
if release_list:
signal.emit(release_list)
else:
logger.warning('Failed to parse firmware-releases in web request')
def _download_release(self, signal, release_name, url):
""" Downloads the given release and calls the callback signal
if successful.
"""
filepath = os.path.join(self._tempDirectory.name, release_name.split(' ')[-1])
try:
# Check if we have an old file saved and if so, ensure it's a valid
# zipfile and then call signal
with open(filepath, 'rb') as f:
previous_release = zipfile.ZipFile(f)
# testzip returns None if it's OK.
if previous_release.testzip() is None:
logger.info('Using same firmware-release file at'
'%s' % filepath)
signal.emit(release_name, filepath)
return
except FileNotFoundError:
try:
# Fetch the file with a new web request and save it to
# a temporary file.
with urlopen(url) as response:
with open(filepath, 'wb') as release_file:
release_file.write(response.read())
logger.info('Created temporary firmware-release file at'
'%s' % filepath)
signal.emit(release_name, filepath)
except URLError:
logger.warning('Failed to make web request to get requested'
' firmware-release')