COMPONENT_INFORMATION.hpp
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/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef COMPONENT_INFORMATION_HPP
#define COMPONENT_INFORMATION_HPP
#include "../mavlink_stream.h"
#include <component_information/hashes.h>
#include <px4_platform_common/defines.h>
#include <sys/stat.h>
class MavlinkStreamComponentInformation : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamComponentInformation(mavlink); }
static constexpr const char *get_name_static() { return "COMPONENT_INFORMATION"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_COMPONENT_INFORMATION; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
return 0; // never streamed
}
bool request_message(float param2, float param3, float param4,
float param5, float param6, float param7) override
{
int type = (int)roundf(param2);
mavlink_component_information_t component_info{};
bool handled = false;
PX4_DEBUG("COMPONENT_INFORMATION request type %i", type);
switch (type) {
case COMP_METADATA_TYPE_VERSION:
component_info.metadata_uid = component_information::component_version_hash;
handled = get_component_information("component_version.json.xz", component_info);
break;
case COMP_METADATA_TYPE_PARAMETER:
component_info.metadata_uid = component_information::params_hash;
handled = get_component_information("params.json.xz", component_info);
break;
case COMP_METADATA_TYPE_COMMANDS:
// TODO
break;
}
if (handled) {
component_info.metadata_type = type;
component_info.time_boot_ms = hrt_absolute_time() / 1000;
mavlink_msg_component_information_send_struct(_mavlink->get_channel(), &component_info);
}
return handled;
}
private:
explicit MavlinkStreamComponentInformation(Mavlink *mavlink) : MavlinkStream(mavlink) {}
bool send() override
{
return false;
}
bool get_component_information(const char *file, mavlink_component_information_t &component_info)
{
char full_path[64];
snprintf(full_path, sizeof(full_path), "%s/etc/extras/%s", PX4_ROOTFSDIR, file);
full_path[sizeof(full_path) - 1] = '\0';
if (file_exist(full_path)) {
if (snprintf(component_info.metadata_uri, sizeof(component_info.metadata_uri), "mftp://etc/extras/%s", file)
>= (int)sizeof(component_info.metadata_uri)) {
PX4_ERR("path too long (%s)", file);
return false;
}
} else {
// TODO:
// - check for tagged version, use per-version files
// - generate & use board-specific file
if (snprintf(component_info.metadata_uri, sizeof(component_info.metadata_uri),
"https://px4-travis.s3.amazonaws.com/Firmware/master/%s", file)
>= (int)sizeof(component_info.metadata_uri)) {
PX4_ERR("url too long (%s)", file);
return false;
}
}
return true;
}
bool file_exist(const char *filename)
{
struct stat buffer;
return stat(filename, &buffer) == 0;
}
};
#endif // COMPONENT_INFORMATION_HPP