def _flash_deck(self, artifacts: List[FlashArtifact],
targets: List[Target]):
flash_all_targets = len(targets) == 0
if self.progress_cb:
self.progress_cb('Detecting deck to be updated', int(25))
with SyncCrazyflie(self.clink, cf=Crazyflie()) as scf:
deck_mems = scf.cf.mem.get_mems(MemoryElement.TYPE_DECK_MEMORY)
deck_mems_count = len(deck_mems)
if deck_mems_count == 0:
return
mgr = deck_memory.SyncDeckMemoryManager(deck_mems[0])
decks = mgr.query_decks()
for (deck_index, deck) in decks.items():
if self.terminate_flashing_cb and self.terminate_flashing_cb():
raise Exception('Flashing terminated')
# Check that we want to flash this deck
deck_target = [
t for t in targets if t == Target('deck', deck.name, 'fw')
]
if (not flash_all_targets) and len(deck_target) == 0:
print(f'Skipping {deck.name}')
continue
# Check that we have an artifact for this deck
deck_artifacts = [
a for a in artifacts
if a.target == Target('deck', deck.name, 'fw')
]
if len(deck_artifacts) == 0:
print(
f'Skipping {deck.name}, no artifact for it in the .zip'
)
continue
deck_artifact = deck_artifacts[0]
if self.progress_cb:
self.progress_cb(f'Updating deck {deck.name}', int(50))
print(f'Handling {deck.name}')
# Test and wait for the deck to be started
while not deck.is_started:
print('Deck not yet started ...')
time.sleep(500)
deck = mgr.query_decks()[deck_index]
# Run a brunch of sanity checks ...
if not deck.supports_fw_upgrade:
print(
f'Deck {deck.name} does not support firmware update, skipping!'
)
continue
if not deck.is_fw_upgrade_required:
print(f'Deck {deck.name} firmware up to date, skipping')
continue
if not deck.is_bootloader_active:
print(
f'Error: Deck {deck.name} bootloader not active, skipping!'
)
continue
# ToDo, white the correct file there ...
result = deck.write_sync(0, deck_artifact.content)
if result:
if self.progress_cb:
self.progress_cb(
f'Deck {deck.name} updated succesfully!', int(75))
else:
if self.progress_cb:
self.progress_cb(f'Failed to update deck {deck.name}',
int(0))
raise Exception(f'Failed to update deck {deck.name}')
def _flash_deck_incrementally(self, artifacts: List[FlashArtifact],
targets: List[Target], start_index: int):
flash_all_targets = len(targets) == 0
if self.progress_cb:
self.progress_cb('Identifying deck to be updated', 0)
with SyncCrazyflie(self.clink, cf=Crazyflie()) as scf:
# Uncomment to enable console logs from the CF.
# scf.cf.console.receivedChar.add_callback(self.console_callback)
deck_mems = scf.cf.mem.get_mems(MemoryElement.TYPE_DECK_MEMORY)
deck_mems_count = len(deck_mems)
if deck_mems_count == 0:
return -1
mgr = deck_memory.SyncDeckMemoryManager(deck_mems[0])
try:
decks = mgr.query_decks()
except RuntimeError as e:
if self.progress_cb:
message = f'Failed to read decks: {str(e)}'
self.progress_cb(message, 0)
logger.error(message)
time.sleep(2)
raise RuntimeError(message)
for (deck_index, deck) in decks.items():
if self.terminate_flashing_cb and self.terminate_flashing_cb():
raise Exception('Flashing terminated')
# Skip decks up to the start_index
if deck_index < start_index:
continue
# Check that we want to flash this deck
deck_target = [
t for t in targets if t == Target('deck', deck.name, 'fw')
]
if (not flash_all_targets) and len(deck_target) == 0:
print(f'Skipping {deck.name}, not in the target list')
continue
# Check that we have an artifact for this deck
deck_artifacts = [
a for a in artifacts
if a.target == Target('deck', deck.name, 'fw')
]
if len(deck_artifacts) == 0:
print(
f'Skipping {deck.name}, no artifact for it in the .zip'
)
continue
deck_artifact = deck_artifacts[0]
if self.progress_cb:
self.progress_cb(f'Updating deck {deck.name}', 0)
# Test and wait for the deck to be started
timeout_time = time.time() + 5
while not deck.is_started:
if time.time() > timeout_time:
raise RuntimeError(f'Deck {deck.name} did not start')
print('Deck not yet started ...')
time.sleep(0.5)
deck = mgr.query_decks()[deck_index]
# Supports upgrades?
if not deck.supports_fw_upgrade:
print(
f'Deck {deck.name} does not support firmware update, skipping!'
)
continue
# Reset to bootloader mode, if supported
if deck.supports_reset_to_bootloader:
print(f'Deck {deck.name}, reset to bootloader')
deck.reset_to_bootloader()
time.sleep(0.1)
deck = mgr.query_decks()[deck_index]
else:
# Is an upgrade required?
if not deck.is_fw_upgrade_required:
print(
f'Deck {deck.name} firmware up to date, skipping')
continue
# Wait for bootloader to be ready
timeout_time = time.time() + 5
while not deck.is_bootloader_active:
if time.time() > timeout_time:
raise RuntimeError(
f'Deck {deck.name} did not enter bootloader mode')
print(
f'Error: Deck {deck.name} bootloader not active yet...'
)
time.sleep(0.5)
deck = mgr.query_decks()[deck_index]
progress_cb = self.progress_cb
if not progress_cb:
def progress_cb(msg: str, percent: int):
frames = ['|', '/', '-', '\\']
frame = frames[int(percent) % 4]
print(f'{frame} {percent}% {msg}')
# Flash the new firmware
deck.set_fw_new_flash_size(len(deck_artifact.content))
result = deck.write_sync(0, deck_artifact.content, progress_cb)
if result:
if self.progress_cb:
self.progress_cb(
f'Deck {deck.name} updated successful!', 100)
else:
if self.progress_cb:
self.progress_cb(f'Failed to update deck {deck.name}',
int(0))
raise RuntimeError(f'Failed to update deck {deck.name}')
# We flashed a deck, return for re-boot
next_index = deck_index + 1
if next_index >= len(decks):
next_index = -1
return next_index
# We have flashed the last deck
return -1