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uavcan: verify CRC when copying firmware

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This commit is contained in:
Daniel Agar
2022-03-01 11:16:51 -05:00
parent 52221b0bb7
commit 7c55834f3c
1 changed files with 36 additions and 19 deletions
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src/drivers/uavcan/uavcan_servers.cpp
+36 -19
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@@ -155,10 +155,6 @@ void UavcanServers::migrateFWFromRoot(const char *sd_path, const char *sd_root_p
const size_t maxlen = UAVCAN_MAX_PATH_LENGTH;
const size_t sd_root_path_len = strlen(sd_root_path);
struct stat sb;
int rv;
char dstpath[maxlen + 1];
char srcpath[maxlen + 1];
DIR *const sd_root_dir = opendir(sd_root_path);
@@ -166,8 +162,10 @@ void UavcanServers::migrateFWFromRoot(const char *sd_path, const char *sd_root_p
return;
}
struct stat sb {};
if (stat(sd_path, &sb) != 0 || !S_ISDIR(sb.st_mode)) {
rv = mkdir(sd_path, S_IRWXU | S_IRWXG | S_IRWXO);
int rv = mkdir(sd_path, S_IRWXU | S_IRWXG | S_IRWXO);
if (rv != 0) {
PX4_ERR("dev: couldn't create '%s'", sd_path);
@@ -179,11 +177,7 @@ void UavcanServers::migrateFWFromRoot(const char *sd_path, const char *sd_root_p
struct dirent *dev_dirent = NULL;
while ((dev_dirent = readdir(sd_root_dir)) != nullptr) {
uavcan_posix::FirmwareVersionChecker::AppDescriptor descriptor;
// Looking for all uavcan.bin files.
if (DIRENT_ISFILE(dev_dirent->d_type) && strstr(dev_dirent->d_name, ".bin") != nullptr) {
// Make sure the path fits
@@ -196,20 +190,43 @@ void UavcanServers::migrateFWFromRoot(const char *sd_path, const char *sd_root_p
continue;
}
snprintf(srcpath, sizeof(srcpath), "%s%s", sd_root_path, dev_dirent->d_name);
static constexpr int ATTEMPTS = 3;
if (uavcan_posix::FirmwareVersionChecker::getFileInfo(srcpath, descriptor, 1024) != 0) {
continue;
}
for (int attempt = 1; attempt <= ATTEMPTS; attempt++) {
char srcpath[maxlen + 1];
snprintf(srcpath, sizeof(srcpath), "%s%s", sd_root_path, dev_dirent->d_name);
if (descriptor.image_crc == 0) {
continue;
}
uavcan_posix::FirmwareVersionChecker::AppDescriptor descriptor_src{};
snprintf(dstpath, sizeof(dstpath), "%s/%d.bin", sd_path, descriptor.board_id);
if (uavcan_posix::FirmwareVersionChecker::getFileInfo(srcpath, descriptor_src, 1024) != 0) {
continue;
}
if (copyFw(dstpath, srcpath) >= 0) {
unlink(srcpath);
if (descriptor_src.image_crc == 0) {
continue;
}
char dstpath[maxlen + 1];
snprintf(dstpath, sizeof(dstpath), "%s/%d.bin", sd_path, descriptor_src.board_id);
const bool copy_success = (copyFw(dstpath, srcpath) >= 0);
uavcan_posix::FirmwareVersionChecker::AppDescriptor descriptor_dst{};
if (uavcan_posix::FirmwareVersionChecker::getFileInfo(dstpath, descriptor_dst, 1024) != 0) {
PX4_ERR("failed to get file info%s", attempt <= ATTEMPTS ? ", retrying" : "");
continue;
}
if (copy_success && descriptor_src.image_crc == descriptor_dst.image_crc) {
PX4_INFO("copied FW id:%d CRC: %" PRIu64 " %s -> %s ", descriptor_src.board_id, descriptor_src.image_crc, srcpath,
dstpath);
unlink(srcpath);
break;
} else {
PX4_ERR("FW id:%d copy failed%s", descriptor_src.board_id, attempt <= ATTEMPTS ? ", retrying" : "");
}
}
}
}