iCub-main
main.cpp
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1 #include "mainwindow.h"
2 #include <QApplication>
3 #include <QCommandLineParser>
4 #include <QCommandLineOption>
5 #include <QFileInfo>
6 #include <qdebug.h>
7 #include <QDir>
8 
9 #include "firmwareupdatercore.h"
10 
11 #undef UPDATER_RELEASE
12 
13 #ifdef Q_OS_WIN
14 #include <Windows.h>
15 #endif
16 
17 int verbosity = 1;
18 
19 using namespace yarp::os;
20 
21 enum action_t
22 {
23  action_impossible = -1,
24  action_none = 0,
25  action_discover = 1,
26  action_verify = 2,
27  action_program = 3,
28  action_forcemaintenance = 4,
29  action_forceapplication = 5,
30  action_query = 6,
31  action_loaddatfile = 7,
32  action_setstrainsn = 8,
33  action_setstraingainsoffsets = 9,
34  action_getcanboardversion = 10,
35  action_savedatfile = 11,
36  action_changeCanId = 12,
37  action_changeBoardIp = 13,
38  action_setstrainft45gainsoffsets = 14,
39  action_setstrainft58gainsoffsets = 15,
40  action_setstraingainsspecificoffsets = 16
41 };
42 
43 enum class SensorModel
44 {
45  ft45,
46  ft58
47 };
48 
49 
50 bool checkApplicationLock();
51 void removeApplicationLock();
52 void printCanDevices(QList<sBoard> canBoards, QString onIPboard, bool slimprint);
53 int printSecondLevelDevices(FirmwareUpdaterCore*,QString device,QString id, bool slimprint);
54 int printThirdLevelDevices(FirmwareUpdaterCore*,QString device,QString id,QString board, bool forceMaintenance, bool forceApplication, bool slimprint);
55 int programEthDevice(FirmwareUpdaterCore*,QString device,QString id,QString board,QString file);
56 int programCanDevice(FirmwareUpdaterCore*, QString device, QString id, QString board, QString canLine, QString canId, QString file, bool eraseEEprom);
57 int setBoardToApplication(FirmwareUpdaterCore *core,QString device,QString id,QString board);
58 int setBoardToMaintenance(FirmwareUpdaterCore *core,QString device,QString id,QString board);
59 //int eraseEthEEprom(FirmwareUpdaterCore *core,QString device,QString id,QString board);
60 
61 int verifyOnSecondLevel(FirmwareUpdaterCore *core,QString device,QString id, const QString &targetIPaddr, const QString &targetCANline, const QString &targetCANaddr, const QString &targetFWvers);
62 int verifyOnSecondLevel_ETHboard(FirmwareUpdaterCore *core, QString device, QString id, const QString &targetIPaddr, const QString &targetFWvers);
63 int verifyOnSecondLevel_CANboard(FirmwareUpdaterCore *core, QString device, QString id, const QString &targetCANline, const QString &targetCANaddr, const QString &targetFWvers);
64 int verifyCanDevices(QList<sBoard> canBoards, const QString &targetCANline, const QString &targetCANaddr, const QString &targetFWvers);
65 int verifyOnThirdLevel_CANunderETH(FirmwareUpdaterCore *core, QString device, QString id, QString board, const QString &targetCANline, const QString &targetCANaddr, const QString &targetFWvers);
66 
67 //int queryOnSecondLevel(FirmwareUpdaterCore *core,QString device,QString id, const QString &targetIPaddr, const QString &targetCANline, const QString &targetCANaddr);
68 int queryOnSecondLevel_ETHboard(FirmwareUpdaterCore *core, QString device, QString id, const QString &targetIPaddr);
69 int queryOnSecondLevel_CANboard(FirmwareUpdaterCore *core, QString device, QString id, const QString &targetCANline, const QString &targetCANaddr);
70 int queryCanDevices(QList<sBoard> canBoards, const QString onIPboard, const QString &targetCANline, const QString &targetCANaddr);
71 int queryOnThirdLevel_CANunderETH(FirmwareUpdaterCore *core, QString device, QString id, const QString board, const QString &targetCANline, const QString &targetCANaddr);
72 int loadDatFileStrain2(FirmwareUpdaterCore *core,QString device,QString id,QString board,QString canLine,QString canId,QString file,bool eraseEEprom);
73 int saveDatFileStrain2(FirmwareUpdaterCore *core,QString device,QString id,QString board,QString canLine,QString canId,bool eraseEEprom);
74 int setStrainSn(FirmwareUpdaterCore *core,QString device,QString id,QString board,QString canLine,QString canId, QString serialNumber);
75 int setStrainGainsOffsets(FirmwareUpdaterCore *core,QString device,QString id,QString board,QString canLine,QString canId,SensorModel model);
76 int getCanBoardVersion(FirmwareUpdaterCore *core,QString device,QString id,QString board,QString canLine,QString canId,bool save);
77 int changeCanId(FirmwareUpdaterCore *core,QString device,QString id,QString board,QString canLine,QString canId, QString canIdNew);
78 int changeBoardIp(FirmwareUpdaterCore *core,QString device,QString id,QString board,QString newipaddr);
79 
80 void checkForAction(bool &actionIsValid, action_t const &actionValue, action_t &actionResult);
81 
82 int main(int argc, char *argv[])
83 {
84  Network yarp;
85  QApplication a(argc, argv);
86 
87  QApplication::setStyle("motif");
88 
89 
90  FirmwareUpdaterCore core;
91 
92 #ifdef UPDATER_RELEASE
93  if(!checkApplicationLock()){
94  yDebug() << "The application is busy";
95  qDebug() << "The application is busy. Check if an instance is already running, or if it is in zombie state. If none of them ... remove the file .firmwareUpdater.singleton";
96  return 0;
97  }
98 #endif
99 
100  QCommandLineParser parser;
101  parser.addVersionOption();
102  parser.setApplicationDescription("Firmware Updater Help");
103  parser.addHelpOption();
104 
105  QCommandLineOption noGuiOption(QStringList() << "g" << "nogui", "The application starts in console mode");
106  QCommandLineOption strainCalibOption(QStringList() << "0" << "strain-acquisition", "The application starts the STRAIN acquisition mode");
107  QCommandLineOption adminOption(QStringList() << "a" << "admin", "The application starts in admin mode");
108  QCommandLineOption iniFileOption(QStringList() << "f" << "from", "Override the default ini file","config","firmwareupdater.ini");
109  QCommandLineOption addressOption(QStringList() << "s" << "address", "Override the default address","address",DEFAULT_IP_ADDRESS);
110  QCommandLineOption portOption(QStringList() << "p" << "port", "Override the default port","port","3333");
111  QCommandLineOption discoverOption(QStringList() << "d" << "discover", "Discover devices");
112  QCommandLineOption deviceOption(QStringList() << "e" << "device", "Choose Device (i.e. ETH or CFW2_CAN, ESD_CAN...)","device","");
113  QCommandLineOption idOption(QStringList() << "i" << "id", "Choose a device id (i.e. eth1 or 1-2-3...)","id","");
114  QCommandLineOption boardOption(QStringList() << "t" << "eth_board", "Choose a device board (i.e. 10.0.0.1)","eth_board","");
115  QCommandLineOption programOption(QStringList() << "r" << "program", "Program devices");
116  QCommandLineOption fileOption(QStringList() << "l" << "file", "Path to a firmware file","file","");
117  QCommandLineOption ethCanLineOption(QStringList() << "c" << "can_line", "Select a can line","can_line","");
118  QCommandLineOption ethCanIdOption(QStringList() << "n" << "can_id", "Select a can id","can_id","");
119  QCommandLineOption ethForceMaintenance(QStringList() << "m" << "force-eth-maintenance", "Force the board to go in maintenace mode","");
120  QCommandLineOption ethForceApplication(QStringList() << "o" << "force-eth-application", "Force the board to go in application mode","");
121  QCommandLineOption eraseEEpromOption(QStringList() << "1" << "erase_eeprom" << "Erase EEPROM of STRAIN during FW update","");
122  QCommandLineOption verbosityOption(QStringList() << "x" << "verbosity", "Choose a verbosity level [0, 1]","verbosity","");
123  QCommandLineOption verifyOption(QStringList() << "y" << "verify", "Verify FW version [ma.mi / ma.mi.re]. returns 0 if address and FW both match, 1 if board is found but FW does not match, 2 if board is not even found","verify","");
124  QCommandLineOption queryOption(QStringList() << "q" << "query", "Queries a given address for its type and FW version [ma.mi / ma.mi.re]. prints a result on stdout. it returns 1 if it does not find a board at address");
125  QCommandLineOption loadDatFileOption(QStringList() << "z" << "load-dat-file", "Loads the calibration .dat file into STRAIN2 eeprom (pass the file.dat with -l or --file option)","","");
126  QCommandLineOption setStrainSnOption(QStringList() << "w" << "set-strain-sn", "Sets the passed serialNumber (i.e. SN001) on STRAIN2","sn","");
127  QCommandLineOption setStrainGainsOffsetOption(QStringList() << "j" << "set-strain-gains", "Sets on STRAIN2 default gains to (8,24,24,10,10,24) , adjust the offset and check if some channel saturates","","");
128  QCommandLineOption setStrainGainsSpecificOffsetOption(QStringList() << "3" << "set-strain-gains-specific", "Sets on STRAIN2 default gains to (8,24,24,10,10,24) or to (8,10,10,10,10,10) depending on the sensor type, adjust the offset and check if some channel saturates","xx","");
129  QCommandLineOption getCanBoardVersionOption(QStringList() << "b" << "get-canboard-version", "Gets Bootloader or Application version (<saveFile> must be y or n to save or not a file containing fw info)","saveFile","");
130  QCommandLineOption saveDatFileOption(QStringList() << "u" << "save-dat-file", "Saves the calibration .dat file from STRAIN2 eeprom","","");
131  QCommandLineOption changeCanIdOption(QStringList() << "k" << "change-can-id", "changes CAN ID","id-new","");
132  QCommandLineOption changeBoardIpOption(QStringList() << "2" << "change-ip-addr", "changes board IP address","ip-new","");
133 
134 
135  parser.addOption(noGuiOption);
136  parser.addOption(strainCalibOption);
137  parser.addOption(adminOption);
138  parser.addOption(iniFileOption);
139  parser.addOption(addressOption);
140  parser.addOption(portOption);
141  parser.addOption(discoverOption);
142  parser.addOption(deviceOption);
143  parser.addOption(idOption);
144  parser.addOption(boardOption);
145  parser.addOption(programOption);
146  parser.addOption(fileOption);
147  parser.addOption(ethCanLineOption);
148  parser.addOption(ethCanIdOption);
149  parser.addOption(ethForceMaintenance);
150  parser.addOption(ethForceApplication);
151  parser.addOption(eraseEEpromOption);
152  parser.addOption(verbosityOption);
153  parser.addOption(verifyOption);
154  parser.addOption(queryOption);
155  parser.addOption(loadDatFileOption);
156  parser.addOption(setStrainSnOption);
157  parser.addOption(setStrainGainsOffsetOption);
158  parser.addOption(setStrainGainsSpecificOffsetOption);
159  parser.addOption(getCanBoardVersionOption);
160  parser.addOption(saveDatFileOption);
161  parser.addOption(changeCanIdOption);
162  parser.addOption(changeBoardIpOption);
163 
164  parser.process(a);
165 
166  bool noGui = parser.isSet(noGuiOption);
167  bool adminMode = parser.isSet(adminOption);
168  //bool strainCalibMode = parser.isSet(strainCalibOption);
169  QString iniFile = parser.value(iniFileOption);
170  QString address = DEFAULT_IP_ADDRESS;
171  bool bPrintUsage=false;
172  int port = DEFAULT_IP_PORT;
173 
174  if(parser.isSet(verbosityOption))
175  {
176  QString vv = parser.value(verbosityOption);
177  verbosity = vv.toInt();
178  }
179 
180 
181  if(parser.isSet(addressOption)){
182  address = parser.value(addressOption);
183  }else{
184  bPrintUsage=true;
185  }
186 
187  if(parser.isSet(portOption)){
188  port = parser.value(portOption).toInt();
189  }else{
190  bPrintUsage=true;
191  }
192 
193  if (bPrintUsage){
194  //qDebug() << "Usage: " << argv[0] << " --port n --address xxx.xxx.xxx.xxx\n";
195  }
196 
197  ResourceFinder rf;
198  rf.setDefaultContext("firmwareUpdater");
199  rf.setDefaultConfigFile(iniFile.toLatin1().data());
200 
201  if(!rf.configure(argc, argv)){
202  return false;
203  }
204 
205  if(!core.init(rf, port, address, verbosity)){
206  return -1;
207  }
208  int ret = 1;
209  MainWindow w(&core,adminMode/*,strainCalibMode*/);
210  if(!noGui){
211  w.show();
212  ret = a.exec();
213  }else{
214  bool discover = parser.isSet(discoverOption);
215  bool program = parser.isSet(programOption);
216  bool verify = parser.isSet(verifyOption);
217  bool query = parser.isSet(queryOption);
218  QString device = parser.value(deviceOption);
219  QString id = parser.value(idOption);
220  QString board = parser.value(boardOption);
221  QString file = parser.value(fileOption);
222  QString canLine = parser.value(ethCanLineOption);
223  QString canId = parser.value(ethCanIdOption);
224  QString sensorModel = parser.value(setStrainGainsSpecificOffsetOption);
225 
226  if(parser.isSet(setStrainGainsSpecificOffsetOption)){
227  if(verbosity >= 1) qDebug() << "Sensor model:" << sensorModel;
228  }
229 
230  QString targetFW = parser.value(verifyOption);
231 
232  bool forceMaintenance = parser.isSet(ethForceMaintenance);
233  bool forceApplication = parser.isSet(ethForceApplication);
234  bool eraseEEprom = parser.isSet(eraseEEpromOption);
235  bool loadDatFile = parser.isSet(loadDatFileOption);
236  bool saveDatFile = parser.isSet(saveDatFileOption);
237  bool setSn = parser.isSet(setStrainSnOption);
238  QString serialNumber = parser.value(setStrainSnOption);
239  bool setGains = parser.isSet(setStrainGainsOffsetOption);
240  bool setGainsSpecific = parser.isSet(setStrainGainsSpecificOffsetOption);
241  QString saveVersion = parser.value(getCanBoardVersionOption);
242  bool getVersion = parser.isSet(getCanBoardVersionOption);
243  bool changeCanID = parser.isSet(changeCanIdOption);
244  bool changeIp = parser.isSet(changeBoardIpOption);
245 
246 
247  QString canIdNew = parser.value(changeCanIdOption);
248  QString newIp = parser.value(changeBoardIpOption);
249 
250 
251 
252  core.setVerbosity(verbosity);
253 
254  action_t action = action_none;
255 
256  // check mutual exclusive actions: discover or query or verify or program or forceapplication or forcemaintenance
257 
258  checkForAction(discover, action_discover, action);
259  checkForAction(query, action_query, action);
260  checkForAction(verify, action_verify, action);
261  checkForAction(program, action_program, action);
262  checkForAction(forceMaintenance, action_forcemaintenance, action);
263  checkForAction(forceApplication, action_forceapplication, action);
264  checkForAction(loadDatFile, action_loaddatfile, action);
265  checkForAction(setSn, action_setstrainsn, action);
266  checkForAction(setGains, action_setstraingainsoffsets, action);
267  checkForAction(setGainsSpecific, action_setstraingainsspecificoffsets, action);
268  checkForAction(getVersion, action_getcanboardversion, action);
269  checkForAction(saveDatFile, action_savedatfile, action);
270  checkForAction(changeCanID, action_changeCanId, action);
271  checkForAction(changeIp, action_changeBoardIp, action);
272 
273  // now use a switch case
274 
275  switch(action)
276  {
277  default:
278  case action_none:
279  {
280  ret = 1;
281 
282  if(verbosity >= 1) qDebug() << "specify at least one option amongst discover / verify / program / forcemaintenance / forceapplication";
283 
284  } break;
285 
286  case action_impossible:
287  {
288  ret = 1;
289 
290  if(verbosity >= 1) qDebug() << "specify only one option amongst discover / verify / program / forcemaintenance / forceapplication";
291 
292  } break;
293 
294  case action_discover:
295  {
296  ret = 1;
297  //yDebug() << "discover";
298 
299  if(device.isEmpty()){
300  if(verbosity >= 1) qDebug() << "Need a device to be set";
301  }else if(id.isEmpty()){
302  if(verbosity >= 1) qDebug() << "Need an id to be set";
303  }else{
304 
305  if(board.isEmpty()){
306  ret = printSecondLevelDevices(&core,device,id, true);
307  }else{
308  ret = printThirdLevelDevices(&core,device,id,board,true,false, true);
309  }
310  }
311 
312  } break;
313 
314  case action_query:
315  {
316  ret = 1;
317  //yDebug() << "query";
318 
319  if(device.isEmpty())
320  {
321  if(verbosity >= 1) qDebug() << "Need a device";
322  }
323  else if (device.contains("ETH"))
324  {
325  // second level eth (ipaddr + ethfwversion) or third level can_under_eth (ipaddr+canaddr + canfwversion) or ..
326  if(board.isEmpty())
327  {
328  if(verbosity >= 1) qDebug() << "Need an IP address";
329  }
330  else if((canLine.isEmpty()) && (canId.isEmpty()))
331  {
332  // we query the fw version of an eth board
333  ret = queryOnSecondLevel_ETHboard(&core, device, id, board);
334  }
335  else if((!canLine.isEmpty()) && (!canId.isEmpty()))
336  {
337  // we query the fw version of a can board below eth
338  // FirmwareUpdater --nogui --verbosity 1 --device ETH --id eth1 --eth_board 10.0.1.1 --can_line 2 --can_id 2 --query
339  ret = queryOnThirdLevel_CANunderETH(&core, device, id, board, canLine, canId);
340  }
341  else
342  {
343  if(verbosity >= 1) qDebug() << "Must have both can line and address";
344  }
345  }
346  else
347  {
348  // second level cfw2 or other can driver
349  if((canLine.isEmpty()) || (canId.isEmpty()))
350  {
351  if(verbosity >= 1) qDebug() << "Must have both can line and address";
352  }
353  else
354  {
355  // we query the fw version of a can board below cfw2
356  ret = queryOnSecondLevel_CANboard(&core, device, id, canLine, canId);
357  }
358 
359  }
360 
361  } break;
362 
363 
364  case action_verify:
365  {
366  ret = 2;
367  //yDebug() << "verify";
368 
369  if(device.isEmpty())
370  {
371  if(verbosity >= 1) qDebug() << "Need a device";
372  }
373  else if (device.contains("ETH"))
374  {
375  // second level eth (ipaddr + ethfwversion) or third level can_under_eth (ipaddr+canaddr + canfwversion) or ..
376  if(board.isEmpty())
377  {
378  if(verbosity >= 1) qDebug() << "Need an ip address";
379  }
380  else if(targetFW.isEmpty())
381  {
382  if(verbosity >= 1) qDebug() << "Need a target fw version";
383  }
384  else if((canLine.isEmpty()) && (canId.isEmpty()))
385  {
386  // we evaluate the fw version of an eth board
387  ret = verifyOnSecondLevel_ETHboard(&core, device, id, board, targetFW);
388  }
389  else if((!canLine.isEmpty()) && (!canId.isEmpty()))
390  {
391  // we evaluate the fw version of a can board below eth
392  // FirmwareUpdater --nogui --verbosity 1 --device ETH --id eth1 --eth_board 10.0.1.1 --can_line 2 --can_id 2 --verify 1.3.7
393  ret = verifyOnThirdLevel_CANunderETH(&core, device, id, board, canLine, canId, targetFW);
394  }
395  else
396  {
397  if(verbosity >= 1) qDebug() << "Must have both can line and address";
398  }
399  }
400  else
401  {
402  // second level cfw2 or other can driver
403  if(targetFW.isEmpty())
404  {
405  if(verbosity >= 1) qDebug() << "Need a target fw version";
406  }
407  else if((canLine.isEmpty()) || (canId.isEmpty()))
408  {
409  if(verbosity >= 1) qDebug() << "Must have both can line and address";
410  }
411  else
412  {
413  // we evaluate the fw version of a can board below eth
414  ret = verifyOnSecondLevel_CANboard(&core, device, id, canLine, canId, targetFW);
415  }
416 
417  }
418 
419  } break;
420 
421  case action_program:
422  {
423  ret = 1;
424  //yDebug() << "program";
425 
426  if(device.isEmpty()){
427  if(verbosity >= 1) qDebug() << "Need a device to be set";
428  }else if(id.isEmpty()){
429  if(verbosity >= 1) qDebug() << "Need an id to be set";
430  }else if(board.isEmpty() && device.contains("ETH")){
431  if(verbosity >= 1) qDebug() << "Need a board to be set";
432  }else if(file.isEmpty()){
433  if(verbosity >= 1) qDebug() << "Need a file path to be set";
434  }else if(canLine.isEmpty() && canId.isEmpty()){
435  ret = programEthDevice(&core,device,id,board,file);
436 // if(eraseEEprom && ret == 0){
437 // ret = eraseEthEEprom(&core,device,id,board);
438 // }
439  }else{
440  if(canLine.isEmpty()){
441  if(verbosity >= 1) qDebug() << "Need a can line to be set";
442  } else if(canId.isEmpty()){
443  if(verbosity >= 1) qDebug() << "Need a can id to be set";
444  }else{
445  ret = programCanDevice(&core,device,id,board,canLine,canId,file,eraseEEprom);
446  }
447  }
448 
449  } break;
450 
451  case action_forcemaintenance:
452  {
453  ret = 1;
454  //yDebug() << "forcemaintenance";
455 
456  if(device.isEmpty()){
457  if(verbosity >= 1) qDebug() << "Need a device to be set";
458  }else if(id.isEmpty()){
459  if(verbosity >= 1) qDebug() << "Need an id to be set";
460  }else if(board.isEmpty()){
461  if(verbosity >= 1) qDebug() << "Need a board to be set";
462  }else{
463 
464  ret = setBoardToMaintenance(&core,device,id,board);
465  }
466 
467  } break;
468 
469  case action_forceapplication:
470  {
471  ret = 1;
472  //yDebug() << "forceapplication";
473 
474  if(device.isEmpty()){
475  if(verbosity >= 1) qDebug() << "Need a device to be set";
476  }else if(id.isEmpty()){
477  if(verbosity >= 1) qDebug() << "Need an id to be set";
478  }else if(board.isEmpty()){
479  if(verbosity >= 1) qDebug() << "Need a board to be set";
480  }else{
481 
482  ret = setBoardToApplication(&core,device,id,board);
483  }
484 
485  } break;
486 
487  case action_loaddatfile:
488  {
489  ret = 1;
490 
491  if(device.isEmpty()){
492  if(verbosity >= 1) qDebug() << "Need a device to be set";
493  }else if(id.isEmpty()){
494  if(verbosity >= 1) qDebug() << "Need an id to be set";
495  }else if(file.isEmpty()){
496  if(verbosity >= 1) qDebug() << "Need a file path to be set";
497  }else{
498  if(!device.contains("ETH") && canLine.isEmpty()){
499  if(verbosity >= 1) qDebug() << "Need a can line to be set";
500  } else if(!device.contains("ETH") && canId.isEmpty()){
501  if(verbosity >= 1) qDebug() << "Need a can id to be set";
502  }else{
503  ret = loadDatFileStrain2(&core,device,id,board,canLine,canId,file,eraseEEprom);
504  }
505  }
506 
507  } break;
508 
509  case action_setstrainsn:
510  {
511  ret = 1;
512 
513  if(device.isEmpty()){
514  if(verbosity >= 1) qDebug() << "Need a device to be set";
515  }else if(id.isEmpty()){
516  if(verbosity >= 1) qDebug() << "Need an id to be set";
517  }else{
518  if(!device.contains("ETH") && canLine.isEmpty()){
519  if(verbosity >= 1) qDebug() << "Need a can line to be set";
520  } else if(!device.contains("ETH") && canId.isEmpty()){
521  if(verbosity >= 1) qDebug() << "Need a can id to be set";
522  }else if(!device.contains("ETH") && serialNumber.isEmpty()){
523  if(verbosity >= 1) qDebug() << "Need a serial number to be set";
524  }else{
525  ret = setStrainSn(&core,device,id,board,canLine,canId,serialNumber);
526  }
527  }
528 
529  } break;
530 
531  case action_setstraingainsoffsets:
532  {
533  ret = 1;
534 
535  if(device.isEmpty()){
536  if(verbosity >= 1) qDebug() << "Need a device to be set";
537  }else if(id.isEmpty()){
538  if(verbosity >= 1) qDebug() << "Need an id to be set";
539  }else{
540  if(!device.contains("ETH") && canLine.isEmpty()){
541  if(verbosity >= 1) qDebug() << "Need a can line to be set";
542  } else if(!device.contains("ETH") && canId.isEmpty()){
543  if(verbosity >= 1) qDebug() << "Need a can id to be set";
544  }else{
545  ret = setStrainGainsOffsets(&core,device,id,board,canLine,canId,SensorModel::ft45);
546  }
547  }
548 
549  } break;
550 
551  case action_setstraingainsspecificoffsets:
552  {
553  ret = 1;
554 
555  if(device.isEmpty()){
556  if(verbosity >= 1) qDebug() << "Need a device to be set";
557  }else if(id.isEmpty()){
558  if(verbosity >= 1) qDebug() << "Need an id to be set";
559  }else{
560  if(!device.contains("ETH") && canLine.isEmpty()){
561  if(verbosity >= 1) qDebug() << "Need a can line to be set";
562  } else if(!device.contains("ETH") && canId.isEmpty()){
563  if(verbosity >= 1) qDebug() << "Need a can id to be set";
564  }else{
565 
566  if(sensorModel=="FT58")
567  {
568  ret = setStrainGainsOffsets(&core,device,id,board,canLine,canId,SensorModel::ft58);
569  }
570  else
571  {
572  ret = setStrainGainsOffsets(&core,device,id,board,canLine,canId,SensorModel::ft45);
573  }
574  }
575  }
576 
577  } break;
578 
579  case action_getcanboardversion:
580  {
581  ret = 1;
582 
583  if(device.isEmpty()){
584  if(verbosity >= 1) qDebug() << "Need a device to be set";
585  }else if(id.isEmpty()){
586  if(verbosity >= 1) qDebug() << "Need an id to be set";
587  }else{
588  if(!device.contains("ETH") && canLine.isEmpty()){
589  if(verbosity >= 1) qDebug() << "Need a can line to be set";
590  } else if(!device.contains("ETH") && canId.isEmpty()){
591  if(verbosity >= 1) qDebug() << "Need a can id to be set";
592  }else{
593  bool save;
594  if(saveVersion == "y") save = true;
595  else save = false;
596  ret = getCanBoardVersion(&core,device,id,board,canLine,canId,save);
597  }
598  }
599 
600  } break;
601 
602  case action_savedatfile:
603  {
604  ret = 1;
605 
606  if(device.isEmpty()){
607  if(verbosity >= 1) qDebug() << "Need a device to be set";
608  }else if(id.isEmpty()){
609  if(verbosity >= 1) qDebug() << "Need an id to be set";
610  }else{
611  if(!device.contains("ETH") && canLine.isEmpty()){
612  if(verbosity >= 1) qDebug() << "Need a can line to be set";
613  } else if(!device.contains("ETH") && canId.isEmpty()){
614  if(verbosity >= 1) qDebug() << "Need a can id to be set";
615  }else{
616  ret = saveDatFileStrain2(&core,device,id,board,canLine,canId,eraseEEprom);
617  }
618  }
619 
620  } break;
621 
622  case action_changeCanId:
623  {
624  ret = 1;
625  if(device.isEmpty()){
626  if(verbosity >= 1) qDebug() << "Need a device to be set";
627  }else if(id.isEmpty()){
628  if(verbosity >= 1) qDebug() << "Need an id to be set";
629  }else{
630  if(!device.contains("ETH") && canLine.isEmpty()){
631  if(verbosity >= 1) qDebug() << "Need a can line to be set";
632  } else if(!device.contains("ETH") && canId.isEmpty()){
633  if(verbosity >= 1) qDebug() << "Need a can id to be set";
634  }else{
635  ret = changeCanId(&core,device,id,board,canLine,canId,canIdNew);
636  }
637  }
638 
639  } break;
640 
641  case action_changeBoardIp:
642  {
643  ret = 1;
644  if(device.isEmpty()){
645  if(verbosity >= 1) qDebug() << "Need a device to be set";
646  }else if(id.isEmpty()){
647  if(verbosity >= 1) qDebug() << "Need an id to be set";
648  }else{
649  if(!device.contains("ETH") || board.isEmpty() || newIp.isEmpty()){
650  if(verbosity >= 1) qDebug() << "\nNeed a ETH device, the old IP and the new one to be set\n i.e.FirmwareUpdater -g -e ETH -i eth1 -t 10.0.1.1 -2 10.0.1.2";
651  }else{
652  ret = changeBoardIp(&core,device,id,board, newIp);
653  }
654  }
655 
656  } break;
657 
658  };
659 #if 0
660 // old code now substituted by the switch-case
661  if(discover){
662  if(device.isEmpty()){
663  if(verbosity >= 1) qDebug() << "Need a device to be set";
664  }else if(id.isEmpty()){
665  if(verbosity >= 1) qDebug() << "Need an id to be set";
666  }else{
667 
668  if(board.isEmpty()){
669  ret = printSecondLevelDevices(&core,device,id);
670  }else{
671  ret = printThirdLevelDevices(&core,device,id,board,forceMaintenance,forceApplication);
672  }
673  }
674  }else if(program){
675  if(device.isEmpty()){
676  if(verbosity >= 1) qDebug() << "Need a device to be set";
677  }else if(id.isEmpty()){
678  if(verbosity >= 1) qDebug() << "Need an id to be set";
679  }else if(board.isEmpty() && device.contains("ETH")){
680  if(verbosity >= 1) qDebug() << "Need a board to be set";
681  }else if(file.isEmpty()){
682  if(verbosity >= 1) qDebug() << "Need a file path to be set";
683  }else if(canLine.isEmpty() && canId.isEmpty()){
684  ret = programEthDevice(&core,device,id,board,file);
685 // if(eraseEEprom && ret == 0){
686 // ret = eraseEthEEprom(&core,device,id,board);
687 // }
688  }else{
689  if(canLine.isEmpty()){
690  if(verbosity >= 1) qDebug() << "Need a can line to be set";
691  } else if(canId.isEmpty()){
692  if(verbosity >= 1) qDebug() << "Need a can id to be set";
693  }else{
694  ret = programCanDevice(&core,device,id,board,canLine,canId,file,eraseEEprom);
695  }
696  }
697  }else if(forceApplication || forceMaintenance){
698  if(device.isEmpty()){
699  if(verbosity >= 1) qDebug() << "Need a device to be set";
700  }else if(id.isEmpty()){
701  if(verbosity >= 1) qDebug() << "Need an id to be set";
702  }else if(board.isEmpty()){
703  if(verbosity >= 1) qDebug() << "Need a board to be set";
704  }else{
705  if(forceApplication){
706  ret = setBoardToApplication(&core,device,id,board);
707  }else {
708  ret = setBoardToMaintenance(&core,device,id,board);
709  }
710 
711  }
712 // if(eraseEEprom && ret == 0){
713 // ret = eraseEthEEprom(&core,device,id,board);
714 // }
715  }
716 #endif
717 
718  }
719 
720 
721 
722 #ifdef UPDATER_RELEASE
723  removeApplicationLock();
724 #endif
725 
726  return ret;
727 }
728 
729 
730 /**************************************************/
731 
732 void checkForAction(bool &actionIsValid, action_t const &actionValue, action_t &actionResult)
733 {
734  if((actionIsValid) && (action_impossible != actionResult))
735  {
736  if(actionResult == action_none)
737  {
738  actionResult = actionValue;
739  }
740  else
741  {
742  actionResult = action_impossible;
743  }
744  }
745 }
746 
747 //int eraseEthEEprom(FirmwareUpdaterCore *core,QString device,QString id,QString board)
748 //{
749 // int boards = core->connectTo(device,id);
750 // if(boards > 0){
751 // if(device.contains("ETH")){
752 // core->setSelectedEthBoard(board,true);
753 // core->eraseEthEprom();
754 // }
755 // }
756 // return 0;
757 //}
758 
759 /* // the chosen gains:
760  const strain2_ampl_discretegain_t ampsets[NUMofCHANNELS] =
761  {
762  ampl_gain08, ampl_gain24, ampl_gain24,
763  ampl_gain10, ampl_gain10, ampl_gain24
764  };
765 
766  yDebug() << "strain2-amplifier-tuning: STEP-1. imposing gains which are different of each channel";
767 
768  for(int channel=0; channel<NUMofCHANNELS; channel++)
769  {
770  yDebug() << "strain2-amplifier-tuning: STEP-1. on channel" << channel << "we impose gain =" << strain_amplifier_discretegain2float(ampsets[channel]);
771 
772  strain_set_amplifier_discretegain(bus, target_id, channel, ampsets[channel], regset, errorstring);
773 
774  // i wait some time
775  yarp::os::Time::delay(1.0);
776  }
777 
778  */
779 int changeBoardIp(FirmwareUpdaterCore *core,QString device,QString id,QString board,QString newipaddr)
780 {
781  // FirmwareUpdater -g -e ETH -i eth1 -t 10.0.1.1 -2 10.0.1.2
782 
783  QString retString;
784  bool ret;
785  string msg;
786  int index;
787  QString result;
788 
789  ret = setBoardToMaintenance(core,device,id,board);
790  if(!core->isBoardInMaintenanceMode(board)){
791  yError("ETH board is not present or not in maintenace mode!!\n");
792  return false;
793  }
794 
795  EthBoardList ethl = core->getEthBoardList();
796 
797  for(int i = 0 ; i< ethl.size(); i++){
798  if(ethl[i].getIPV4string() == board.toStdString()) index = i;
799  }
800 
801  ret = core->setEthBoardAddress(index, newipaddr);
802  if(ret) yInfo() << "Cahnge board IP Succeded !!!";
803  else yError() << "Cahnge board IP Failed !!!";
804  return -1;
805 }
806 
807 int changeCanId(FirmwareUpdaterCore *core,QString device,QString id,QString board,QString canLine,QString canId, QString canIdNew)
808 {
809  // FirmwareUpdater -g -e SOCKETCAN -i 0 -c 0 -n 1 -k 2
810  // FirmwareUpdater -g -e ETH -i eth1 -t 10.0.1.1 -c 1 -n 1 -k 2
811 
812  QList <sBoard> canBoards;
813  QString retString;
814  bool ret;
815  string msg;
816 
817  if(device.contains("SOCKETCAN"))
818  {
819 
820  if (canId.toInt() <1 || canId.toInt() >= 15 || canIdNew.toInt() <1 || canIdNew.toInt() >= 15){
821  yError("Invalid board address!\n");
822  return false;
823  }
824 
825  canBoards = core->getCanBoardsFromDriver(device,id.toInt(),&retString,true);
826 
827  if(canBoards.count() > 0)
828  {
829  core->getDownloader()->change_card_address(canLine.toInt(),canId.toInt(),canIdNew.toInt(),canBoards[0].type);
830  yInfo() << "Cahnge CAN ID message sent !!!";
831 
832  } else {
833  yError() << "No CAN board found, stopped!";
834  return false;
835  }
836  }
837  else if(device.contains("ETH"))
838  {
839 
840  QString result;
841  ret = setBoardToMaintenance(core,device,id,board);
842  if(!core->isBoardInMaintenanceMode(board)){
843  yError("ETH board is not present or not in maintenace mode!!\n");
844  return false;
845  }
846  canBoards = core->getCanBoardsFromEth(board,&result,canLine.toInt(),true);
847  if(canBoards.count() > 0)
848  {
849  core->setSelectedCanBoards(canBoards,board,-1);
850  ret = core->setCanBoardAddress(canLine.toInt(),canId.toInt(),canBoards[0].type,canIdNew,board,-1,&result);
851  if(ret) yInfo() << "Cahnge CAN ID Succeded !!!";
852  else yError() << "Cahnge CAN ID Failed !!!";
853 
854  } else {
855  yError() << "No CAN board found, stopped!";
856  return false;
857  }
858  }
859 
860  return -1;
861 }
862 
863 int getCanBoardVersion(FirmwareUpdaterCore *core,QString device,QString id,QString board,QString canLine,QString canId,bool save)
864 {
865  QList <sBoard> canBoards;
866  QString retString;
867  string msg;
868 
869  if(device.contains("SOCKETCAN"))
870  {
871  if (canId.toInt() <1 || canId.toInt() >= 15){
872  yError("Invalid board address!\n");
873  return false;
874  }
875 
876  canBoards = core->getCanBoardsFromDriver(device,id.toInt(),&retString,true);
877 
878 
879  }
880  else if(device.contains("ETH"))
881  {
882  QString result, ret;
883  ret = setBoardToMaintenance(core,device,id,board);
884  if(!core->isBoardInMaintenanceMode(board)){
885  yError("ETH board is not present or not in maintenace mode!!\n");
886  return false;
887  }
888  canBoards = core->getCanBoardsFromEth(board,&result,canLine.toInt(),true);
889  }
890 
891  if(canBoards.count() > 0 && ( (icubCanProto_boardType__strain2 == canBoards[0].type) || (icubCanProto_boardType__strain2c == canBoards[0].type) ) )
892  {
893  ofstream myfile;
894  string prefix = "Application ";
895 
896  if(!canBoards[0].applicationisrunning && save)
897  {
898  try{
899  myfile.open ("firmware-info.txt", std::ios_base::app);
900  prefix = " Bootloader ";
901  myfile << canBoards[0].appl_vers_major << "." << canBoards[0].appl_vers_minor << "\n";
902  myfile.close();
903  yInfo() << prefix << " version : " << canBoards[0].appl_vers_major << "." << canBoards[0].appl_vers_minor;
904  }
905  catch (std::ifstream::failure e) {
906  yError() << "Exception opening file";
907  return false;
908  }
909  }else if(canBoards[0].applicationisrunning && save)
910  {
911  try{
912  myfile.open ("firmware-info.txt", std::ios_base::app);
913  prefix = " Application ";
914  myfile << canBoards[0].appl_vers_major << "." << canBoards[0].appl_vers_minor << "." << canBoards[0].appl_vers_build << "\n";
915  myfile.close();
916  yInfo() << prefix << " version : " << canBoards[0].appl_vers_major << "." << canBoards[0].appl_vers_minor << "." << canBoards[0].appl_vers_build;
917  }
918  catch (std::ifstream::failure e) {
919  yError() << "Exception opening file";
920  return false;
921  }
922  }
923 
924  } else {
925  yError() << "No CAN board found, stopped!";
926  return false;
927  }
928 
929  return -1;
930 }
931 
932 
933 
934 int setStrainGainsOffsets(FirmwareUpdaterCore *core,QString device,QString id,QString board,QString canLine,QString canId,SensorModel model)
935 {
936  //10-2020 - davide.tome@iit.it
937  //This method is used to set the PGA gains to
938  // i.e. FirmwareUpdater -g -e ETH -i eth1 -t 10.0.1.1 -c 1 -n 13 -z -w SN001
939 
940  QList <sBoard> canBoards;
941  QString retString;
942  int ret;
943  string msg;
944  std::vector<strain2_ampl_discretegain_t> gains(0);
945  std::vector<int16_t> targets(0);
946 
947  std::vector<strain2_ampl_discretegain_t> ampsets = {
948  ampl_gain08, ampl_gain24, ampl_gain24,
949  ampl_gain10, ampl_gain10, ampl_gain24};
950 
951  if (model == SensorModel::ft45) {
952  ampsets = {ampl_gain08, ampl_gain24, ampl_gain24,
953  ampl_gain10, ampl_gain10, ampl_gain24};
954  } else {
955  ampsets = {ampl_gain08, ampl_gain10, ampl_gain10,
956  ampl_gain10, ampl_gain10, ampl_gain10};
957  }
958 
959  for(int i = 0; i < 6; i++){ targets.push_back(0); gains.push_back(ampsets[i]);}
960 
961  if(device.contains("SOCKETCAN"))
962  {
963  if (canId.toInt() <1 || canId.toInt() >= 15){
964  yError("Invalid board address!\n");
965  return false;
966  }
967 
968  canBoards = core->getCanBoardsFromDriver(device,id.toInt(),&retString,true);
969 
970 
971  }
972  else if(device.contains("ETH"))
973  {
974  QString result, ret;
975  ret = setBoardToMaintenance(core,device,id,board);
976  if(!core->isBoardInMaintenanceMode(board)){
977  yError("ETH board is not present or not in maintenace mode!!\n");
978  return false;
979  }
980  canBoards = core->getCanBoardsFromEth(board,&result,canLine.toInt(),true);
981  }
982 
983  if(canBoards.count() > 0 && ( (icubCanProto_boardType__strain2 == canBoards[0].type) || (icubCanProto_boardType__strain2c == canBoards[0].type) ) )
984  {
985  string error = "e";
986 
987  yDebug() << "strain2-amplifier-tuning: STEP-1. imposing gains which are different of each channel";
988 
989  core->getDownloader()->strain_calibrate_offset2(canLine.toInt(), canId.toInt(),
990  static_cast<icubCanProto_boardType_t>(canBoards[0].type),
991  gains, targets, &msg);
992 
993  yarp::os::Time::delay(0.2);
994  core->getDownloader()->strain_save_to_eeprom(canLine.toInt(),canId.toInt(), &msg);
995  yInfo() << "Gains Saved!";
996 
997  } else {
998  yError() << "No STRAIN2 board found, stopped!";
999  return false;
1000  }
1001 
1002  unsigned int adc[6];
1003  char tempbuf [250];
1004  bool failCh = false;
1005 
1006  for(int i=0; i<6; i++){
1007 
1008  if(i==0)ret = core->getDownloader()->strain_get_adc (canLine.toInt(),canId.toInt(), i, adc[i], 0, &msg);
1009  else ret |= core->getDownloader()->strain_get_adc (canLine.toInt(),canId.toInt(), i, adc[i], 0, &msg);
1010 
1011  unsigned int z = static_cast<int>(adc[i])-32768;
1012  sprintf(tempbuf,"%d",z);
1013  int t = std::stoi(tempbuf);
1014  if(t < -500 || t > 500) failCh = true;
1015  yDebug() << i << " " << std::stoi(tempbuf);
1016  yarp::os::Time::delay(0.2);
1017  }
1018 
1019  if(failCh){
1020  yError() << "Strange value on Channels ADC readings...";
1021  return false;
1022  }else{
1023  yInfo() << "Good values in ADC channels reading!";
1024  }
1025 
1026  /* if(device.contains("ETH")){
1027  ret = setBoardToApplication(core,device,id,board);
1028  if(core->isBoardInMaintenanceMode(board)){
1029  yError("ETH board not switched to application mode!!\n");
1030  return false;
1031  } else yInfo() << "ETH board ready!";
1032  } */
1033 
1034 
1035  return -1;
1036 }
1037 
1038 int setStrainSn(FirmwareUpdaterCore *core,QString device,QString id,QString board,QString canLine,QString canId, QString serialNumber)
1039 {
1040  //10-2020 - davide.tome@iit.it
1041  //This method is used to set the SN in the STRAIN EEPROM
1042  // i.e. FirmwareUpdater -g -e ETH -i eth1 -t 10.0.1.1 -c 1 -n 13 -z -w SN001
1043 
1044  QList <sBoard> canBoards;
1045  QString retString;
1046  string msg;
1047 
1048  QByteArray string = serialNumber.toLatin1();
1049  char * sn = string.data();
1050 
1051  if(device.contains("SOCKETCAN"))
1052  {
1053  if (canId.toInt() <1 || canId.toInt() >= 15){
1054  yError("Invalid board address!\n");
1055  return false;
1056  }
1057 
1058  canBoards = core->getCanBoardsFromDriver(device,id.toInt(),&retString,true);
1059 
1060  }
1061  else if(device.contains("ETH"))
1062  {
1063  QString result, ret;
1064  ret = setBoardToMaintenance(core,device,id,board);
1065  if(!core->isBoardInMaintenanceMode(board)){
1066  yError("ETH board is not present or not in maintenace mode!!\n");
1067  return false;
1068  }
1069  canBoards = core->getCanBoardsFromEth(board,&result,canLine.toInt(),true);
1070  }
1071 
1072 
1073  if(canBoards.count() > 0 && ( (icubCanProto_boardType__strain2 == canBoards[0].type) || (icubCanProto_boardType__strain2c == canBoards[0].type) ) )
1074  {
1075 
1076 
1077  core->getDownloader()->strain_set_serial_number(canLine.toInt(),canId.toInt(), sn);
1078  core->getDownloader()->strain_save_to_eeprom(canLine.toInt(),canId.toInt(), &msg);
1079 
1080  yInfo() << "Serial Number Saved!";
1081 
1082 
1083  } else {
1084  yError() << "No STRAIN2 board found, stopped!";
1085  return false;
1086  }
1087 
1088  /* if(device.contains("ETH")){
1089  ret = setBoardToApplication(core,device,id,board);
1090  if(core->isBoardInMaintenanceMode(board)){
1091  yError("ETH board not switched to application mode!!\n");
1092  return false;
1093  } else yInfo() << "ETH board ready!";
1094  } */
1095 
1096  return -1;
1097 }
1098 
1099 int loadDatFileStrain2(FirmwareUpdaterCore *core,QString device,QString id,QString board,QString canLine,QString canId,QString file,bool eraseEEprom)
1100 {
1101  //09-2020 - davide.tome@iit.it
1102  //This method is used to load a calibration file into the eeprom of the STRAIN2 using the dedicated CLI option -z/--load-dat-file (and -l/--file option to specify the file to be loaded)
1103  // i.e. FirmwareUpdater -g -e SOCKETCAN -i 0 -c 1 -n 13 -z -l calibrationDataSN003.dat
1104  // i.e. FirmwareUpdater -g -e ETH -i eth1 -t 10.0.1.1 -c 1 -n 13 -z -l calibrationDataSN003.dat
1105 
1106  QList <sBoard> canBoards;
1107  QString retString;
1108  char sn[256];
1109  int index = 0;
1110  unsigned int CHANNEL_COUNT = 6;
1111  strain2_ampl_regs_t amp_registers[6];
1112  unsigned int offset[6];
1113  unsigned int calib_matrix[3][6][6];
1114  int calib_bias[6];
1115  unsigned int full_scale_const[3][6];
1116  string msg;
1117 
1118 
1119  if (file==NULL){
1120  yError("File not found!\n");
1121  return false;
1122  }
1123 
1124 
1125  if(device.contains("SOCKETCAN"))
1126  {
1127  if (canId.toInt() <1 || canId.toInt() >= 15){
1128  yError("Invalid board address!\n");
1129  return false;
1130  }
1131 
1132  canBoards = core->getCanBoardsFromDriver(device,id.toInt(),&retString,true);
1133 
1134 
1135  }
1136  else if(device.contains("ETH"))
1137  {
1138  QString result, ret;
1139  ret = setBoardToMaintenance(core,device,id,board);
1140  if(!core->isBoardInMaintenanceMode(board)){
1141  yError("ETH board is not present or not in maintenace mode!!\n");
1142  return false;
1143  }
1144  canBoards = core->getCanBoardsFromEth(board,&result,canLine.toInt(),true);
1145  }
1146 
1147  //Flash the .dat file
1148  if(canBoards.count() > 0 && ( (icubCanProto_boardType__strain2 == canBoards[0].type) || (icubCanProto_boardType__strain2c == canBoards[0].type) ) )
1149  {
1150  int ret = core->getDownloader()->get_serial_no(canLine.toInt(),canId.toInt(),sn);
1151  if(canBoards.count() > 0)
1152  {
1153  int boardtype = canBoards[0].type;
1154  int regset = canBoards[0].strainregsetinuse;
1155 
1156  int file_version=0;
1157  fstream filestr;
1158  filestr.open (file.toLatin1().data(), fstream::in);
1159  if (!filestr.is_open()){
1160  yError("Error opening calibration file!\n");
1161  return false;
1162  }
1163 
1164  unsigned int i=0;
1165  char buffer[256];
1166 
1167  //file version
1168  filestr.getline (buffer,256);
1169  filestr.getline (buffer,256);
1170  sscanf (buffer,"%d",&file_version);
1171 
1172 
1173  if( ( (icubCanProto_boardType__strain2 == boardtype) || (icubCanProto_boardType__strain2c == boardtype) ) && (3 != file_version))
1174  {
1175  yError("Wrong file. Calibration version not supported for strain2: %d\n", file_version);
1176  return false;
1177  }
1178  else if((icubCanProto_boardType__strain == boardtype) && (2 != file_version))
1179  {
1180  yError("Wrong file. Calibration version not supported: %d\n", file_version);
1181  return false;
1182  }
1183 
1184  if(3 == file_version)
1185  {
1186  // Board type:
1187  filestr.getline (buffer,256);
1188  filestr.getline (buffer,256);
1189  if(0 != strcmp(buffer, "strain2"))
1190  {
1191  yError("Wrong file. Board type not supported: %s\n", buffer);
1192  return false;
1193  }
1194 
1195  // Serial number:
1196  filestr.getline (buffer,256);
1197  filestr.getline (buffer,256);
1198  sprintf(sn,"%s", buffer);
1199  core->getDownloader()->strain_set_serial_number(canLine.toInt(),canId.toInt(), sn);
1200  //yDebug() << buffer;
1201 
1202  // Amplifier registers:
1203  filestr.getline (buffer,256);
1204  for (i=0;i<CHANNEL_COUNT; i++)
1205  {
1206  filestr.getline (buffer,256);
1207  yDebug() << buffer;
1208  unsigned int t08[6] = {0};
1209  sscanf (buffer,"0x%02x 0x%02x 0x%02x 0x%02x 0x%02x 0x%02x", &t08[0], &t08[1], &t08[2], &t08[3], &t08[4], &t08[5]);
1210  for(int j=0; j<6; j++) amp_registers[i].data[j] = t08[j];
1211 
1212  core->getDownloader()->strain_set_amplifier_regs(canLine.toInt(),canId.toInt(), i, amp_registers[i], regset);
1213 
1214  // downloader.strain_set_offset (downloader.board_list[selected].bus, downloader.board_list[selected].pid, i, offset[i]);
1215  //core->getDownloader()->strain_set_offset (bus,id, i, offset[i]);
1216  //printf("0X%02x, 0X%02x, 0X%02x, 0X%02x, 0X%02x,0X%02x", amp_registers[i].data[0], amp_registers[i].data[1], amp_registers[i].data[2], amp_registers[i].data[3], amp_registers[i].data[4], amp_registers[i].data[5]);
1217  //fflush(stdout);
1218  drv_sleep(10);
1219  }
1220 
1221  }
1222  else
1223  {
1224 
1225  //serial number
1226  filestr.getline (buffer,256);
1227  filestr.getline (buffer,256);
1228  sprintf(sn,"%s", buffer);
1229  core->getDownloader()->strain_set_serial_number(canLine.toInt(),canId.toInt(), sn);
1230 
1231  //offsets
1232  filestr.getline (buffer,256);
1233  for (i=0;i<CHANNEL_COUNT; i++)
1234  {
1235  filestr.getline (buffer,256);
1236  sscanf (buffer,"%d",&offset[i]);
1237  // downloader.strain_set_offset (downloader.board_list[selected].bus, downloader.board_list[selected].pid, i, offset[i]);
1238  core->getDownloader()->strain_set_offset (canLine.toInt(),canId.toInt(), i, offset[i], regset);
1239  drv_sleep(200);
1240  }
1241  }
1242 
1243  //calibration matrix
1244  filestr.getline (buffer,256);
1245  for (i=0;i<36; i++){
1246  int ri=i/6;
1247  int ci=i%6;
1248  filestr.getline (buffer,256);
1249  sscanf (buffer,"%x",&calib_matrix[index][ri][ci]);
1250  //printf("%d %x\n", calib_matrix[index][ri][ci],calib_matrix[index][ri][ci]);
1251  core->getDownloader()->strain_set_matrix_rc(canLine.toInt(),canId.toInt(), ri, ci, calib_matrix[index][ri][ci], regset);
1252  }
1253 
1254  //matrix gain
1255  filestr.getline (buffer,256);
1256  filestr.getline (buffer,256);
1257  int cc=0;
1258  sscanf (buffer,"%d",&cc);
1259  core->getDownloader()->strain_set_matrix_gain(canLine.toInt(),canId.toInt(), cc, regset);
1260 
1261  //tare
1262  filestr.getline (buffer,256);
1263  for (i=0;i<CHANNEL_COUNT; i++){
1264  filestr.getline (buffer,256);
1265  sscanf (buffer,"%d",&calib_bias[i]);
1266  core->getDownloader()->strain_set_calib_bias(canLine.toInt(),canId.toInt(), i, calib_bias[i], regset);
1267  }
1268 
1269  //full scale values
1270  filestr.getline (buffer,256);
1271  for (i=0;i<CHANNEL_COUNT; i++){
1272  filestr.getline (buffer,256);
1273  sscanf (buffer,"%d",&full_scale_const[index][i]);
1274  core->getDownloader()->strain_set_full_scale(canLine.toInt(),canId.toInt(), i, full_scale_const[index][i], regset);
1275  }
1276  filestr.close();
1277  filestr.clear();
1278 
1279  core->getDownloader()->strain_save_to_eeprom(canLine.toInt(),canId.toInt(), &msg);
1280 
1281  yInfo() << "Calibration file loaded!";
1282  }
1283 
1284  } else {
1285  yError() << "No STRAIN2 board found, stopped!";
1286  return false;
1287  }
1288 
1289  /* if(device.contains("ETH")){
1290  ret = setBoardToApplication(core,device,id,board);
1291  if(core->isBoardInMaintenanceMode(board)){
1292  yError("ETH board not switched to application mode!!\n");
1293  return false;
1294  } else yInfo() << "ETH board ready!";
1295  } */
1296 
1297  return -1;
1298 }
1299 
1300 int saveDatFileStrain2(FirmwareUpdaterCore *core,QString device,QString id,QString board,QString canLine,QString canId,bool eraseEEprom)
1301 {
1302  //09-2020 - davide.tome@iit.it
1303  //This method is used to saves the calibration of the STRAIN2
1304  // i.e. FirmwareUpdater -g -e ETH -i eth1 -t 10.0.1.1 -c 1 -n 13 -u
1305 
1306  QList <sBoard> canBoards;
1307  QString retString;
1308  unsigned int CHANNEL_COUNT = 6;
1309  strain2_ampl_regs_t amp_registers[6];
1310  unsigned int offset[6];
1311  int calib_bias[6];
1312  float amp_gains[6];
1313  uint16_t amp_offsets[6];
1314  unsigned int full_scale_const[3][6];
1315  unsigned int matrix[3][6][6];
1316  unsigned int calib_const[3];
1317  char serial_no[8];
1318  string msg;
1319 
1320  calib_const[0] = 1;
1321  calib_const[1] = 1;
1322  calib_const[2] = 1;
1323 
1324 
1325  int index = 0;
1326 
1327  char path[256] = { 0 };
1328  std::string filename;
1329 
1330 
1331  unsigned int i=0;
1332  char buffer[256];
1333 
1334  if(device.contains("SOCKETCAN"))
1335  {
1336  if (canId.toInt() <1 || canId.toInt() >= 15){
1337  yError("Invalid board address!\n");
1338  return false;
1339  }
1340 
1341  canBoards = core->getCanBoardsFromDriver(device,id.toInt(),&retString,true);
1342 
1343  }
1344  else if(device.contains("ETH"))
1345  {
1346  QString result, ret;
1347  ret = setBoardToMaintenance(core,device,id,board);
1348  if(!core->isBoardInMaintenanceMode(board)){
1349  yError("ETH board is not present or not in maintenace mode!!\n");
1350  return false;
1351  }
1352  canBoards = core->getCanBoardsFromEth(board,&result,canLine.toInt(),true);
1353  }
1354 
1355  //Flash the .dat file
1356  if(canBoards.count() > 0 && ( (icubCanProto_boardType__strain2 == canBoards[0].type) || (icubCanProto_boardType__strain2c == canBoards[0].type) ) )
1357  {
1358  core->getDownloader()->strain_get_serial_number(canLine.toInt(),canId.toInt(), serial_no);
1359 
1360  filename += "calibrationData";
1361  filename += serial_no;
1362  filename += ".dat";
1363  fstream filestr;
1364  filestr.open (filename.c_str(), fstream::out);
1365 
1366  for(int i=0; i<6; i++)
1367  {
1368  core->getDownloader()->strain_get_amplifier_regs(canLine.toInt(),canId.toInt(), i, amp_registers[i], cDownloader::strain_regset_inuse, &msg);
1369  core->getDownloader()->strain_get_amplifier_gain_offset(canLine.toInt(),canId.toInt(), i, amp_gains[i], amp_offsets[i], cDownloader::strain_regset_inuse, &msg);
1370  core->getDownloader()->strain_get_offset (canLine.toInt(),canId.toInt(), i, offset[i], cDownloader::strain_regset_inuse, &msg);
1371  }
1372 
1373  for(int mi=0;mi<1;mi++){
1374 
1375  for (unsigned int ri=0; ri < CHANNEL_COUNT; ri++){
1376  for (unsigned int ci=0;ci<CHANNEL_COUNT;ci++){
1377  core->getDownloader()->strain_get_matrix_rc(canLine.toInt(),canId.toInt(), ri, ci, matrix[mi][ri][ci], cDownloader::strain_regset_inuse, &msg);
1378  core->getDownloader()->strain_get_full_scale(canLine.toInt(),canId.toInt(), ri, full_scale_const[mi][ri], cDownloader::strain_regset_inuse, &msg);
1379  }
1380  }
1381  }
1382 
1383  if(icubCanProto_boardType__strain2 == canBoards[0].type || icubCanProto_boardType__strain2c == canBoards[0].type)
1384  {
1385  // file version
1386  filestr<<"File version:"<<endl;
1387  filestr<<"3"<<endl;
1388  // board type
1389  filestr<<"Board type:"<<endl;
1390  filestr<<"strain2"<<endl;
1391  // serial number
1392  filestr<<"Serial number:"<<endl;
1393  sprintf (buffer,"%s",serial_no);
1394  filestr<<buffer<<endl;
1395  // amplifier registers
1396  filestr<<"Amplifier registers:"<<endl;
1397  for (i=0;i<CHANNEL_COUNT; i++){
1398  sprintf (buffer,"0x%02x 0x%02x 0x%02x 0x%02x 0x%02x 0x%02x",
1399  amp_registers[i].data[0], amp_registers[i].data[1], amp_registers[i].data[2],
1400  amp_registers[i].data[3], amp_registers[i].data[4], amp_registers[i].data[5]);
1401  filestr<<buffer<<endl;
1402  }
1403  }
1404  else
1405  {
1406  //file version
1407  filestr<<"File version:"<<endl;
1408  filestr<<"2"<<endl;
1409 
1410  //serial number
1411  filestr<<"Serial number:"<<endl;
1412  sprintf (buffer,"%s",serial_no);
1413  filestr<<buffer<<endl;
1414 
1415  //offsets
1416  filestr<<"Offsets:"<<endl;
1417  for (i=0;i<CHANNEL_COUNT; i++){
1418  sprintf (buffer,"%d",offset[i]);
1419  filestr<<buffer<<endl;
1420  }
1421  }
1422 
1423 
1424 
1425  //calibration matrix
1426  filestr<<"Calibration matrix:"<<endl;
1427  for (i=0;i<36; i++){
1428  sprintf (buffer,"%x",matrix[index][i/6][i%6]);
1429  filestr<<buffer<<endl;
1430  }
1431 
1432 
1433  //matrix gain
1434  filestr<<"Matrix gain:"<<endl;
1435  sprintf (buffer,"%d",calib_const[index]);
1436  filestr<<buffer<<endl;
1437 
1438 
1439  //tare
1440  filestr<<"Tare:"<<endl;
1441  for (i=0;i<CHANNEL_COUNT; i++){
1442  sprintf (buffer,"%d",calib_bias[i]);
1443  filestr<<buffer<<endl;
1444  }
1445 
1446  //full scale values
1447  filestr<<"Full scale values:"<<endl;
1448  for (i=0;i<CHANNEL_COUNT; i++){
1449  sprintf (buffer,"%d",full_scale_const[index][i]);
1450  filestr<<buffer<<endl;
1451  }
1452 
1453  yInfo() << "Calibration file saved!";
1454  filestr.close();
1455  } else {
1456  yError() << "No STRAIN2 board found, stopped!";
1457  return false;
1458  }
1459 
1460  return -1;
1461 }
1462 
1463 int setBoardToApplication(FirmwareUpdaterCore *core,QString device,QString id,QString board)
1464 {
1465  int boards = core->connectTo(device,id);
1466  if(boards > 0){
1467  if(device.contains("ETH")){
1468  core->setSelectedEthBoard(board,true);
1469  core->goToApplication();
1470  }
1471  }
1472  return 0;
1473 }
1474 
1475 int setBoardToMaintenance(FirmwareUpdaterCore *core,QString device,QString id,QString board)
1476 {
1477  int boards = core->connectTo(device,id);
1478  if(boards > 0){
1479  if(device.contains("ETH")){
1480  core->setSelectedEthBoard(board,true);
1481  core->goToMaintenance();
1482  }
1483  }
1484 
1485  return 0;
1486 }
1487 
1488 
1489 int programCanDevice(FirmwareUpdaterCore *core,QString device,QString id,QString board,QString canLine,QString canId,QString file,bool eraseEEprom)
1490 {
1491  QString retString;
1492  if(device.contains("ETH")){
1493  int boards = core->connectTo(device,id);
1494  if(boards > 0){
1495  char board_ipaddr[16];
1496  for(int i=0;i<core->getEthBoardList().size();i++){
1497  EthBoard ethBoard = core->getEthBoardList()[i];
1498  snprintf(board_ipaddr, sizeof(board_ipaddr), "%s", ethBoard.getIPV4string().c_str());
1499 
1500  if(board.contains(board_ipaddr)){
1501  core->setSelectedEthBoard(i,true);
1502  QList <sBoard> canBoards = core->getCanBoardsFromEth(board,&retString,canLine.toInt(),true);
1503  if(canBoards.count() > 0){
1504  int selectedCount = 0;
1505  for(int j=0;j<canBoards.count();j++){
1506  sBoard b = canBoards.at(j);
1507  if(b.bus == canLine.toInt() && b.pid == canId.toInt()){
1508  b.selected = true;
1509  b.eeprom = eraseEEprom;
1510  canBoards.replace(j,b);
1511  selectedCount++;
1512  }
1513 
1514  }
1515  if(selectedCount > 0){
1516  core->setSelectedCanBoards(canBoards,board);
1517  bool ret = core->uploadCanApplication(file, &retString, eraseEEprom, board);
1518  if(verbosity >= 1) qDebug() << retString;
1519  return ret ? 0 : -1;
1520  }else{
1521  if(verbosity >= 1) qDebug() << "No board selected";
1522  return -1;
1523  }
1524  }else{
1525  if(verbosity >= 1) qDebug() << retString;
1526  return -1;
1527  }
1528 
1529  }
1530  }
1531 
1532  }
1533  }else{
1534  QList <sBoard> canBoards = core->getCanBoardsFromDriver(device,id.toInt(),&retString,true);
1535  if(canBoards.count() > 0){
1536  int selectedCount = 0;
1537  for(int j=0;j<canBoards.count();j++){
1538  sBoard b = canBoards.at(j);
1539  if(b.bus == canLine.toInt() && b.pid == canId.toInt()){
1540  b.selected = true;
1541  b.eeprom = eraseEEprom;
1542  canBoards.replace(j,b);
1543  selectedCount++;
1544  }
1545  }
1546  if(selectedCount > 0){
1547  core->setSelectedCanBoards(canBoards,device,id.toInt());
1548  bool ret = core->uploadCanApplication(file, &retString, eraseEEprom, device, id.toInt());
1549  if(verbosity >= 1) qDebug() << retString;
1550  return ret ? 0 : -1;
1551  }else{
1552  if(verbosity >= 1) qDebug() << "No board selected";
1553  return -1;
1554  }
1555  }else{
1556  if(verbosity >= 1) qDebug() << retString;
1557  return -1;
1558  }
1559  }
1560  return -1;
1561 }
1562 
1563 
1564 int programEthDevice(FirmwareUpdaterCore *core,QString device,QString id,QString board,QString file)
1565 {
1566  int boards = core->connectTo(device,id);
1567  if(boards > 0){
1568  if(device.contains("ETH")){
1569  char board_ipaddr[16];
1570  for(int i=0;i<core->getEthBoardList().size();i++){
1571  EthBoard ethBoard = core->getEthBoardList()[i];
1572  snprintf(board_ipaddr, sizeof(board_ipaddr), "%s", ethBoard.getIPV4string().c_str());
1573 
1574  if(board.contains(board_ipaddr)){
1575  core->setSelectedEthBoard(i,true);
1576  QString resultString;
1577  bool b = core->uploadEthApplication(file,&resultString);
1578  if(!b){
1579  if(verbosity >= 1) qDebug() << resultString;
1580  return -1;
1581  }else{
1582  if(verbosity >= 1) qDebug() << "Update Done";
1583  return 0;
1584  }
1585  break;
1586  }
1587  }
1588  }
1589 
1590  }else{
1591  if(verbosity >= 1) qDebug() << "No boards found";
1592  }
1593  return -1;
1594 
1595 }
1596 
1597 int printSecondLevelDevices(FirmwareUpdaterCore *core,QString device,QString id, bool slimprint)
1598 {
1599  if(device.contains("ETH")){
1600  int boards = core->connectTo(device,id);
1601  if(boards > 0){
1602 
1603  char board_ipaddr[16];
1604  char board_mac[32];
1605 
1606  char board_version[16];
1607  char board_date[24];
1608  char board_built[24];
1609  char board_type[24];
1610  char running_process[24];
1611  char board_info[32];
1612  char appl_version[32] = {0};
1613 
1614  memset(board_ipaddr,0,sizeof(board_ipaddr));
1615  memset(board_mac,0,sizeof(board_mac));
1616  memset(board_version,0,sizeof(board_version));
1617  memset(board_date,0,sizeof(board_date));
1618  memset(board_built,0,sizeof(board_built));
1619  memset(board_type,0,sizeof(board_type));
1620  memset(running_process,0,sizeof(running_process));
1621  memset(board_info,0,sizeof(board_info));
1622 
1623 
1624  if(verbosity >= 1) qDebug() << "-------------------------------------------------------------";
1625  for(int i=0;i<core->getEthBoardList().size();i++){
1626  EthBoard board = core->getEthBoardList()[i];
1627 
1628  snprintf(board_ipaddr, sizeof(board_ipaddr), "%s", board.getIPV4string().c_str());
1629 
1630  ACE_UINT64 mac = board.getInfo().macaddress;
1631 
1632  snprintf(board_mac, sizeof(board_mac), "%02X-%02X-%02X-%02X-%02X-%02X",
1633  (uint8_t)(mac >> 40) & 0xff,
1634  (uint8_t)(mac >> 32) & 0xff,
1635  (uint8_t)(mac >> 24) & 0xff,
1636  (uint8_t)(mac >> 16) & 0xff,
1637  (uint8_t)(mac >> 8 ) & 0xff,
1638  (uint8_t)(mac ) & 0xff
1639  );
1640 
1641 
1642  snprintf(board_version, sizeof(board_version), "%s", board.getVersionfRunning().c_str());
1643  snprintf(board_type, sizeof(board_type), "%s", eoboards_type2string2(eoboards_ethtype2type(board.getInfo().boardtype), eobool_true));
1644  snprintf(running_process, sizeof(running_process), "%s", eouprot_process2string((eOuprot_process_t)board.getInfo().processes.runningnow));
1645  snprintf(board_info, sizeof(board_info), "%s", board.getInfoOnEEPROM().c_str());
1646  snprintf(board_date, sizeof(board_date), "%s", board.getDatefRunning().c_str());
1647  snprintf(board_built, sizeof(board_date), "%s", board.getCompilationDateOfRunning().c_str());
1648  snprintf(appl_version, sizeof(appl_version), "%d.%d", board.getInfo().processes.info[2].version.major, board.getInfo().processes.info[2].version.minor);
1649 
1650  if(true == slimprint)
1651  {
1652  char IPslimstring[512] = {0};
1653  snprintf(IPslimstring, sizeof(IPslimstring), "%s: type = %s, application = %d.%d, updater = %d.%d, loader = %d.%d",
1654  board.getIPV4string().c_str(),
1655  eoboards_type2string2(eoboards_ethtype2type(board.getInfo().boardtype), eobool_true),
1656  board.getInfo().processes.info[2].version.major, board.getInfo().processes.info[2].version.minor,
1657  board.getInfo().processes.info[1].version.major, board.getInfo().processes.info[1].version.minor,
1658  board.getInfo().processes.info[0].version.major, board.getInfo().processes.info[0].version.minor);
1659 
1660  qDebug() << IPslimstring;
1661  }
1662  else
1663  {
1664  if(verbosity >= 1) qDebug() << "************** Device " << i << " ******************";
1665  if(verbosity >= 1) qDebug() << "Ip: "<< board_ipaddr;
1666  if(verbosity >= 1) qDebug() << "Mac: "<< board_mac;
1667  if(verbosity >= 1) qDebug() << "Version: "<< board_version;
1668  if(verbosity >= 1) qDebug() << "Appl Ver: "<< appl_version;
1669  if(verbosity >= 1) qDebug() << "Type: "<< board_type;
1670  if(verbosity >= 1) qDebug() << "Process: "<< running_process;
1671  if(verbosity >= 1) qDebug() << "Info: "<< board_info;
1672  if(verbosity >= 1) qDebug() << "Date: "<< board_date;
1673  if(verbosity >= 1) qDebug() << "Built: "<< board_built;
1674  if(verbosity >= 1) qDebug() << "\n";
1675  }
1676 
1677  }
1678  if(verbosity >= 1) qDebug() << "-------------------------------------------------------------";
1679 
1680  }
1681  }else{
1682  QString retString;
1683  QList <sBoard> canBoards = core->getCanBoardsFromDriver(device,id.toInt(),&retString,true);
1684  if(canBoards.count() <= 0){
1685  if(verbosity >= 1) qDebug() << retString;
1686  }else{
1687  QString empty;
1688  printCanDevices(canBoards, empty, slimprint);
1689  }
1690  }
1691  return 0;
1692 }
1693 
1694 int printThirdLevelDevices(FirmwareUpdaterCore *core,QString device,QString id,QString board, bool forceMaintenance, bool forceApplication, bool slimprint)
1695 {
1696 
1697 // if(forceMaintenance)
1698 // {
1699 // yDebug() << "printThirdLevelDevices() is sending in manteinance mode:" << board.toStdString();
1700 // int ret = setBoardToMaintenance(core,device,id,board);
1701 // yDebug() << "ret is " << ret;
1702 // }
1703 
1704  int boards = core->connectTo(device,id);
1705  if(boards > 0){
1706  if(device.contains("ETH")){
1707  if(forceMaintenance){
1708  core->setSelectedEthBoard(board,true);
1709  core->goToMaintenance();
1710  }else if(forceApplication){
1711  core->setSelectedEthBoard(board,true);
1712  core->goToApplication();
1713  }
1714  if(core->isBoardInMaintenanceMode(board)){
1715  QString retString;
1716  QList <sBoard> canBoards = core->getCanBoardsFromEth(board,&retString);
1717  if(canBoards.count() <= 0){
1718  if(verbosity >= 1) qDebug() << retString;
1719  }else{
1720  printCanDevices(canBoards, board, slimprint);
1721  }
1722 
1723  }else{
1724  if(verbosity >= 1) qDebug() << "for board" << board << "You have to put the device in maintenace mode to perform this operation.";
1725  }
1726 
1727  }
1728  }else{
1729  if(verbosity >= 1) qDebug() << "No boards Found";
1730  }
1731 
1732  return 0;
1733 }
1734 
1735 void printCanDevices(QList<sBoard> canBoards, QString onIPboard, bool slimprint)
1736 {
1737  if(verbosity >= 1) qDebug() << "-------------------------------------------------------------";
1738  for(int i=0;i<canBoards.count();i++){
1739  sBoard board = canBoards.at(i);
1740 
1741  char board_type [50]; memset (board_type, 0, sizeof(board_type));
1742  char board_process [50]; memset (board_process, 0, sizeof(board_process));
1743  char board_status [50]; memset (board_status, 0, sizeof(board_status));
1744  char board_add_info [50]; memset (board_add_info, 0, sizeof(board_add_info));
1745  char board_firmware_version [32]; memset (board_firmware_version, 0, sizeof(board_firmware_version));
1746  char board_appl_minor [10]; memset (board_appl_minor, 0, sizeof(board_appl_minor));
1747  char board_appl_build [10]; memset (board_appl_build, 0, sizeof(board_appl_build));
1748  char board_serial [50]; memset (board_serial, 0, sizeof(board_serial));
1749  char board_protocol [10]; memset (board_protocol, 0, sizeof(board_protocol));
1750 
1751  snprintf(board_type, sizeof(board_type), "%s", eoboards_type2string2((eObrd_type_t)board.type, eobool_true));
1752 
1753  switch (board.status)
1754  {
1755  case BOARD_RUNNING:
1756  strcpy(board_status, "RUNNING");
1757  break;
1758  case BOARD_WAITING:
1759  strcpy(board_status, "WAITING");
1760  break;
1761  case BOARD_WAITING_ACK:
1762  strcpy(board_status, "WAITING_ACK");
1763  break;
1764  case BOARD_DOWNLOADING:
1765  strcpy(board_status, "DOWNLOADING");
1766  break;
1767  case BOARD_OK :
1768  strcpy(board_status, "OK");
1769  break;
1770  case BOARD_ERR:
1771  strcpy(board_status, "ERR");
1772  break;
1773  default:
1774  strcpy(board_status, "UNKNOWN");
1775  break;
1776  }
1777 
1778  if(true == board.applicationisrunning){
1779  strcpy(board_process, "canApplication");
1780  } else {
1781  strcpy(board_process, "canBootloader");
1782  }
1783 
1784  strncpy (board_add_info, board.add_info,32);
1785 
1786  if(-1 == board.appl_vers_build){
1787  snprintf (board_firmware_version, sizeof(board_firmware_version), "%d.%d", board.appl_vers_major, board.appl_vers_minor);
1788  } else {
1789  snprintf (board_firmware_version, sizeof(board_firmware_version), "%d.%d.%d", board.appl_vers_major, board.appl_vers_minor, board.appl_vers_build);
1790  }
1791 
1792  snprintf (board_appl_minor, sizeof(board_appl_minor), "%d",board.appl_vers_minor);
1793  snprintf (board_appl_build, sizeof(board_appl_build), "%d",board.appl_vers_build);
1794  snprintf (board_serial, sizeof(board_serial), "%s", board.serial);
1795 
1796  if((0 == board.prot_vers_major) && (0 == board.prot_vers_minor))
1797  {
1798  snprintf (board_protocol, sizeof(board_protocol), "N/A");
1799  }
1800  else
1801  {
1802  snprintf (board_protocol, sizeof(board_protocol), "%d.%d", board.prot_vers_major, board.prot_vers_minor);
1803  }
1804 
1805  if(true == slimprint)
1806  {
1807  char CANslimstring[512] = {0};
1808  char IPstr[24] = {0};
1809  if(false == onIPboard.isEmpty())
1810  {
1811  snprintf(IPstr, sizeof(IPstr), "%s:", onIPboard.toStdString().c_str());
1812  }
1813  snprintf(CANslimstring, sizeof(CANslimstring), "%sCAN%d:%d: type = %s, application = %s",
1814  IPstr,
1815  board.bus, board.pid,
1816  //board.getIPV4string().c_str(),
1817  eoboards_type2string2((eObrd_type_t)board.type, eobool_true),
1818  board_firmware_version);
1819 
1820  qDebug() << CANslimstring;
1821  }
1822  else
1823  {
1824  if(verbosity >= 1) qDebug() << "************** Board " << i << " ******************";
1825  if(verbosity >= 1) qDebug() << "Type: " << board_type;
1826  if(verbosity >= 1) qDebug() << "Id: " << board.pid;
1827  if(verbosity >= 1) qDebug() << "Address: " << "CAN_" << board.bus;
1828  if(verbosity >= 1) qDebug() << "Process: " << board_process;
1829  if(verbosity >= 1) qDebug() << "Status: " << board_status;
1830  if(verbosity >= 1) qDebug() << "Info: " << board_add_info;
1831  if(verbosity >= 1) qDebug() << "Firmware Version: " << board_firmware_version;
1832  if(verbosity >= 1) qDebug() << "Serial: " << board_serial;
1833  if(verbosity >= 1) qDebug() << "Protocol: " << board_protocol;
1834  if(verbosity >= 1) qDebug() << "\n";
1835  }
1836  }
1837  if(verbosity >= 1) qDebug() << "-------------------------------------------------------------";
1838 }
1839 
1840 bool checkApplicationLock()
1841 {
1842  QString tempFile;
1843 #ifdef Q_OS_WIN
1844  tempFile = QDir::homePath() + "/firmwareUpdater.singleton";
1845 #else
1846  tempFile = QDir::homePath() + "/.firmwareUpdater.singleton";
1847 #endif
1848 
1849  QFileInfo fInfo(tempFile);
1850  if(fInfo.exists()){
1851  return false;
1852  }
1853 
1854  QFile f(tempFile);
1855  f.open(QIODevice::WriteOnly);
1856  f.write("busy");
1857  f.flush();
1858  f.close();
1859 
1860 #ifdef Q_OS_WIN
1861  LPCSTR a = (const char*)fInfo.filePath().utf16();
1862  BOOL b = SetFileAttributes(a,FILE_ATTRIBUTE_HIDDEN);
1863 #endif
1864 
1865  return true;
1866 
1867 }
1868 
1869 
1870 void removeApplicationLock()
1871 {
1872  QString tempFile;
1873 #ifdef Q_OS_WIN
1874  tempFile = QDir::homePath() + "/firmwareUpdater.singleton";
1875 #else
1876  tempFile = QDir::homePath() + "/.firmwareUpdater.singleton";
1877 #endif
1878 
1879  QFileInfo fInfo(tempFile);
1880  if(!fInfo.exists()){
1881  return;
1882  }
1883 
1884  QFile f(tempFile);
1885  f.remove();
1886 
1887 }
1888 
1889 int verifyOnSecondLevel(FirmwareUpdaterCore *core, QString device, QString id, const QString &targetIPaddr, const QString &targetCANline, const QString &targetCANaddr, const QString &targetFWvers)
1890 {
1891  int ret = 1;
1892 
1893  if(device.contains("ETH"))
1894  {
1895  int boards = core->connectTo(device, id);
1896  if(boards > 0)
1897  {
1898 
1899  if(verbosity >= 1) qDebug() << "-------------------------------------------------------------";
1900 
1901  bool found = false;
1902  for(int i=0;i<core->getEthBoardList().size();i++)
1903  {
1904  EthBoard board = core->getEthBoardList()[i];
1905 
1906  if(targetIPaddr.toStdString() == board.getIPV4string())
1907  {
1908  found = true;
1909 
1910  char board_ipaddr[16] = {0};
1911  char appl_version[32] = {0};
1912 
1913  snprintf(board_ipaddr, sizeof(board_ipaddr), "%s", board.getIPV4string().c_str());
1914  snprintf(appl_version, sizeof(appl_version), "%d.%d", board.getInfo().processes.info[2].version.major, board.getInfo().processes.info[2].version.minor);
1915 
1916  if(targetFWvers == appl_version)
1917  {
1918  ret = 0;
1919  if(verbosity >= 1) qDebug() << "MATCHED";
1920  }
1921  else
1922  {
1923  ret = 1;
1924  if(verbosity >= 1) qDebug() << "NOT MATCHED";
1925  }
1926 
1927  break;
1928  }
1929 
1930 
1931 
1932  }
1933 
1934  if(!found)
1935  {
1936  ret = 1;
1937  if(verbosity >= 1) qDebug() << "NOT MATCHED (IP = " << targetIPaddr << " not in found boards)";
1938  }
1939  if(verbosity >= 1) qDebug() << "-------------------------------------------------------------";
1940 
1941  }
1942  else
1943  {
1944  ret = 1;
1945  if(verbosity >= 1) qDebug() << "NOT MATCHED (found no board)";
1946  }
1947  }
1948  else
1949  {
1950  QString retString;
1951  QList <sBoard> canBoards = core->getCanBoardsFromDriver(device,id.toInt(),&retString,true);
1952  if(canBoards.count() <= 0)
1953  {
1954  ret = 1;
1955  if(verbosity >= 1) qDebug() << retString;
1956  }
1957  else
1958  {
1959  ret = verifyCanDevices(canBoards, targetCANline, targetCANaddr, targetFWvers);
1960  }
1961  }
1962 
1963  return ret;
1964 }
1965 
1966 
1967 int verifyOnSecondLevel_ETHboard(FirmwareUpdaterCore *core, QString device, QString id, const QString &targetIPaddr, const QString &targetFWvers)
1968 {
1969  int ret = 2;
1970 
1971 // if(device.contains("ETH"))
1972 // {
1973  int boards = core->connectTo(device, id);
1974  if(boards > 0)
1975  {
1976 
1977  if(verbosity >= 1) qDebug() << "-------------------------------------------------------------";
1978 
1979  bool found = false;
1980  for(int i=0;i<core->getEthBoardList().size();i++)
1981  {
1982  EthBoard board = core->getEthBoardList()[i];
1983 
1984  if(targetIPaddr.toStdString() == board.getIPV4string())
1985  {
1986  found = true;
1987  ret = 1;
1988 
1989  char board_ipaddr[16] = {0};
1990  char appl_version[32] = {0};
1991 
1992  snprintf(board_ipaddr, sizeof(board_ipaddr), "%s", board.getIPV4string().c_str());
1993  snprintf(appl_version, sizeof(appl_version), "%d.%d", board.getInfo().processes.info[2].version.major, board.getInfo().processes.info[2].version.minor);
1994 
1995  if(targetFWvers == appl_version)
1996  {
1997  ret = 0;
1998  if(verbosity >= 1) qDebug() << "ETH FOUND + FW MATCHED";
1999  }
2000  else
2001  {
2002  ret = 1;
2003  if(verbosity >= 1) qDebug() << "ETH FOUND + FW NOT MATCHED";
2004  }
2005 
2006  break;
2007  }
2008 
2009 
2010 
2011  }
2012 
2013  if(!found)
2014  {
2015  ret = 2;
2016  if(verbosity >= 1) qDebug() << "NOT MATCHED (IP = " << targetIPaddr << " not in found boards)";
2017  }
2018  if(verbosity >= 1) qDebug() << "-------------------------------------------------------------";
2019 
2020  }
2021  else
2022  {
2023  ret = 2;
2024  if(verbosity >= 1) qDebug() << "NOT MATCHED (found no board)";
2025  }
2026 
2027 // }
2028 // else
2029 // {
2030 // QString retString;
2031 // QList <sBoard> canBoards = core->getCanBoardsFromDriver(device,id.toInt(),&retString,true);
2032 // if(canBoards.count() <= 0)
2033 // {
2034 // ret = 1;
2035 // if(verbosity >= 1) qDebug() << retString;
2036 // }
2037 // else
2038 // {
2039 // ret = verifyCanDevices(canBoards, targetCANline, targetCANaddr, targetFWvers);
2040 // }
2041 // }
2042 
2043  return ret;
2044 }
2045 
2046 int verifyOnSecondLevel_CANboard(FirmwareUpdaterCore *core, QString device, QString id, const QString &targetCANline, const QString &targetCANaddr, const QString &targetFWvers)
2047 {
2048  int ret = 2; // not found, not matched
2049 
2050  QString retString;
2051  QList <sBoard> canBoards = core->getCanBoardsFromDriver(device, id.toInt(), &retString, true);
2052  if(canBoards.count() <= 0)
2053  {
2054  ret = 2;
2055  if(verbosity >= 1) qDebug() << retString;
2056  }
2057  else
2058  {
2059  ret = verifyCanDevices(canBoards, targetCANline, targetCANaddr, targetFWvers);
2060  }
2061 
2062 
2063  return ret;
2064 }
2065 
2066 int verifyCanDevices(QList<sBoard> canBoards, const QString &targetCANline, const QString &targetCANaddr, const QString &targetFWvers)
2067 {
2068  int ret = 2; // not found, not matched
2069 
2070  bool found = false;
2071 
2072  for(int i=0;i<canBoards.count();i++)
2073  {
2074  sBoard board = canBoards.at(i);
2075 
2076  if(verbosity >= 1) qDebug() << "---------------------------------------------------------";
2077 
2078  // see if address matches
2079  char line[8] = {0};
2080  snprintf(line, sizeof(line), "%d", board.bus);
2081  char addr[8] = {0};
2082  snprintf(addr, sizeof(addr), "%d", board.pid);
2083 
2084  //if(verbosity >= 1) qDebug() << targetCANline << targetCANaddr;
2085  //printf("line+addr = %s %s", line, addr);
2086 
2087  if((targetCANline.toStdString() == string(line)) && (targetCANaddr.toStdString() == string(addr)) )
2088  {
2089  found = true;
2090  ret = 1; // found, maybe not yet fw match
2091 
2092  if(verbosity >= 1) qDebug() << "CAN ADDRESS: FOUND";
2093 
2094  //snprintf(board_type, sizeof(board_type), "%s", eoboards_type2string2((eObrd_type_t)board.type, eobool_true));
2095 
2096  if(true == board.applicationisrunning)
2097  {
2098  char board_firmware_version [32] = {0};
2099  snprintf (board_firmware_version, sizeof(board_firmware_version), "%d.%d.%d", board.appl_vers_major, board.appl_vers_minor, board.appl_vers_build);
2100  //printf("ss %s", board_firmware_version);
2101 
2102  if(string(board_firmware_version) == targetFWvers.toStdString())
2103  {
2104  ret = 0; // match!
2105  if(verbosity >= 1) qDebug() << "CAN FW VERSION: MATCHES";
2106  }
2107  }
2108 
2109  break;
2110  }
2111  }
2112 
2113  if(verbosity >= 1) qDebug() << "-------------------------------------------------------------";
2114 
2115  return ret;
2116 }
2117 
2118 
2119 int verifyOnThirdLevel_CANunderETH(FirmwareUpdaterCore *core, QString device, QString id, QString board, const QString &targetCANline, const QString &targetCANaddr, const QString &targetFWvers)
2120 {
2121  int ret = 2;
2122 
2123  const bool forceMaintenance = true;
2124 
2125  int boards = core->connectTo(device, id);
2126 
2127  if(boards > 0)
2128  {
2129  if(device.contains("ETH"))
2130  {
2131  if(forceMaintenance)
2132  {
2133  core->setSelectedEthBoard(board, true);
2134  core->goToMaintenance();
2135  }
2136 
2137  if(core->isBoardInMaintenanceMode(board))
2138  {
2139  QString retString;
2140  QList <sBoard> canBoards = core->getCanBoardsFromEth(board, &retString);
2141  if(canBoards.count() <= 0)
2142  {
2143  if(verbosity >= 1) qDebug() << retString;
2144  }
2145  else
2146  {
2147  ret = verifyCanDevices(canBoards, targetCANline, targetCANaddr, targetFWvers);
2148  }
2149 
2150  }
2151  else
2152  {
2153  if(verbosity >= 1) qDebug() << "You have to put the device in maintenace mode to perform this operation.";
2154  }
2155 
2156  }
2157  }
2158  else
2159  {
2160  if(verbosity >= 1) qDebug() << "No boards Found";
2161  }
2162 
2163  return ret;
2164 }
2165 
2166 
2167 int queryOnSecondLevel_ETHboard(FirmwareUpdaterCore *core, QString device, QString id, const QString &targetIPaddr)
2168 {
2169  int ret = 1;
2170 
2171  const bool slimprint = true;
2172 
2173  bool found = false;
2174 
2175  if(verbosity >= 1) qDebug() << "-------------------------------------------------------------";
2176 
2177  int boards = core->connectTo(device, id);
2178  if(boards > 0)
2179  {
2180  for(int i=0;i<core->getEthBoardList().size();i++)
2181  {
2182  EthBoard board = core->getEthBoardList()[i];
2183 
2184  if(targetIPaddr.toStdString() == board.getIPV4string())
2185  {
2186  found = true;
2187  ret = 0;
2188 
2189  if(true == slimprint)
2190  {
2191  char IPslimstring[512] = {0};
2192  snprintf(IPslimstring, sizeof(IPslimstring), "%s: type = %s, application = %d.%d, updater = %d.%d, loader = %d.%d",
2193  board.getIPV4string().c_str(),
2194  eoboards_type2string2(eoboards_ethtype2type(board.getInfo().boardtype), eobool_true),
2195  board.getInfo().processes.info[2].version.major, board.getInfo().processes.info[2].version.minor,
2196  board.getInfo().processes.info[1].version.major, board.getInfo().processes.info[1].version.minor,
2197  board.getInfo().processes.info[0].version.major, board.getInfo().processes.info[0].version.minor);
2198 
2199  qDebug() << IPslimstring;
2200  }
2201 
2202  break;
2203  }
2204 
2205 
2206  }
2207 
2208 
2209  }
2210 
2211  if(!found)
2212  {
2213  ret = 1;
2214  char notfound[512] = {0};
2215  snprintf(notfound, sizeof(notfound), "%s: not found",
2216  targetIPaddr.toStdString().c_str());
2217 
2218  qDebug() << notfound;
2219  }
2220  if(verbosity >= 1) qDebug() << "-------------------------------------------------------------";
2221 
2222 
2223  return ret;
2224 }
2225 
2226 
2227 int queryOnThirdLevel_CANunderETH(FirmwareUpdaterCore *core, QString device, QString id, const QString board, const QString &targetCANline, const QString &targetCANaddr)
2228 {
2229  int ret = 1;
2230 
2231  const bool forceMaintenance = true;
2232 
2233  char notfound[256] = {0};
2234 
2235  int boards = core->connectTo(device, id);
2236 
2237  if(boards > 0)
2238  {
2239  if(device.contains("ETH"))
2240  {
2241  if(forceMaintenance)
2242  {
2243  core->setSelectedEthBoard(board, true);
2244  core->goToMaintenance();
2245  }
2246 
2247  if(core->isBoardInMaintenanceMode(board))
2248  {
2249  QString retString;
2250  QList <sBoard> canBoards = core->getCanBoardsFromEth(board, &retString);
2251  if(canBoards.count() <= 0)
2252  {
2253  if(verbosity >= 1) qDebug() << retString;
2254  snprintf(notfound, sizeof(notfound), "%s: no can board beneath", board.toStdString().c_str());
2255  qDebug() << notfound;
2256  }
2257  else
2258  {
2259  ret = queryCanDevices(canBoards, board, targetCANline, targetCANaddr);
2260  }
2261 
2262  }
2263  else
2264  {
2265  if(verbosity >= 1) qDebug() << "You have to put the device in maintenace mode to perform this operation.";
2266  }
2267 
2268  }
2269  }
2270  else
2271  {
2272  if(verbosity >= 1) qDebug() << "No boards Found";
2273  snprintf(notfound, sizeof(notfound), "%s: cannot find it", board.toStdString().c_str());
2274  qDebug() << notfound;
2275  }
2276 
2277  return ret;
2278 }
2279 
2280 
2281 int queryCanDevices(QList<sBoard> canBoards, const QString onIPboard, const QString &targetCANline, const QString &targetCANaddr)
2282 {
2283  int ret = 1; // not found
2284 
2285  bool found = false;
2286  const bool slimprint = true;
2287 
2288  for(int i=0;i<canBoards.count();i++)
2289  {
2290  sBoard board = canBoards.at(i);
2291 
2292  if(verbosity >= 1) qDebug() << "---------------------------------------------------------";
2293 
2294  // see if address matches
2295  char line[8] = {0};
2296  snprintf(line, sizeof(line), "%d", board.bus);
2297  char addr[8] = {0};
2298  snprintf(addr, sizeof(addr), "%d", board.pid);
2299 
2300 
2301  if((targetCANline.toStdString() == string(line)) && (targetCANaddr.toStdString() == string(addr)) )
2302  {
2303  found = true;
2304  ret = 0; // found
2305 
2306  char board_firmware_version[32] = {0};
2307 
2308  if(true == board.applicationisrunning)
2309  {
2310  snprintf (board_firmware_version, sizeof(board_firmware_version), "%d.%d.%d", board.appl_vers_major, board.appl_vers_minor, board.appl_vers_build);
2311  }
2312  else
2313  {
2314  snprintf (board_firmware_version, sizeof(board_firmware_version), "%d.%d", board.appl_vers_major, board.appl_vers_minor);
2315  }
2316 
2317  if(true == slimprint)
2318  {
2319  char CANslimstring[512] = {0};
2320  char IPstr[24] = {0};
2321  if(false == onIPboard.isEmpty())
2322  {
2323  snprintf(IPstr, sizeof(IPstr), "%s:", onIPboard.toStdString().c_str());
2324  }
2325  snprintf(CANslimstring, sizeof(CANslimstring), "%sCAN%d:%d: type = %s, application = %s",
2326  IPstr,
2327  board.bus, board.pid,
2328  eoboards_type2string2((eObrd_type_t)board.type, eobool_true),
2329  board_firmware_version);
2330 
2331  qDebug() << CANslimstring;
2332  }
2333 
2334  break;
2335  }
2336  }
2337 
2338  if(!found)
2339  {
2340  ret = 1;
2341  char notfound[512] = {0};
2342  char IPstr[24] = {0};
2343  if(false == onIPboard.isEmpty())
2344  {
2345  snprintf(IPstr, sizeof(IPstr), "%s:", onIPboard.toStdString().c_str());
2346  }
2347  snprintf(notfound, sizeof(notfound), "%sCAN%s:%s: not found",
2348  IPstr,
2349  targetCANline.toStdString().c_str(), targetCANaddr.toStdString().c_str());
2350 
2351  qDebug() << notfound;
2352  }
2353 
2354  if(verbosity >= 1) qDebug() << "-------------------------------------------------------------";
2355 
2356  return ret;
2357 }
2358 
2359 
2360 int queryOnSecondLevel_CANboard(FirmwareUpdaterCore *core, QString device, QString id, const QString &targetCANline, const QString &targetCANaddr)
2361 {
2362  int ret = 1; // not found
2363 
2364  char notfound[256] = {0};
2365 
2366  QString retString;
2367  QList <sBoard> canBoards = core->getCanBoardsFromDriver(device, id.toInt(), &retString, true);
2368  if(canBoards.count() <= 0)
2369  {
2370  ret = 1;
2371  if(verbosity >= 1) qDebug() << retString;
2372  snprintf(notfound, sizeof(notfound), "<%s>: no can boards beneath", device.toStdString().c_str());
2373  qDebug() << notfound;
2374  }
2375  else
2376  {
2377  QString none;
2378  ret = queryCanDevices(canBoards, targetCANline, none, targetCANaddr);
2379  }
2380 
2381 
2382  return ret;
2383 }
2384 
2385 
data
@ data
Definition: ST_M1_dataType.h:64
CHANNEL_COUNT
#define CHANNEL_COUNT
Definition: calibrationwindow.cpp:11
EthBoard::getIPV4string
string getIPV4string()
Definition: EthBoard.cpp:65
FirmwareUpdaterCore::getCanBoardsFromDriver
QList< sBoard > getCanBoardsFromDriver(QString driver, int networkId, QString *retString, bool force=false)
Definition: firmwareupdatercore.cpp:342
FirmwareUpdaterCore::connectTo
int connectTo(QString device, QString id)
Definition: firmwareupdatercore.cpp:190
FirmwareUpdaterCore::setSelectedCanBoards
void setSelectedCanBoards(QList< sBoard > selectedBoards, QString address, int deviceId=-1)
Definition: firmwareupdatercore.cpp:252
FirmwareUpdaterCore::setEthBoardAddress
bool setEthBoardAddress(int index, QString newAddress)
Definition: firmwareupdatercore.cpp:656
FirmwareUpdaterCore::uploadCanApplication
bool uploadCanApplication(QString filename, QString *resultString, bool ee, QString address="", int deviceId=-1, QList< sBoard > *resultCanBoards=NULL)
Definition: firmwareupdatercore.cpp:969
FirmwareUpdaterCore::getCanBoardsFromEth
QList< sBoard > getCanBoardsFromEth(QString address, QString *retString, int canID=CanPacket::everyCANbus, bool force=false)
Definition: firmwareupdatercore.cpp:421
FirmwareUpdaterCore::setSelectedEthBoard
void setSelectedEthBoard(int index, bool selected)
Definition: firmwareupdatercore.cpp:229
FirmwareUpdaterCore::getEthBoardList
EthBoardList getEthBoardList()
Definition: firmwareupdatercore.cpp:224
FirmwareUpdaterCore::isBoardInMaintenanceMode
bool isBoardInMaintenanceMode(QString ip)
Definition: firmwareupdatercore.cpp:213
FirmwareUpdaterCore::setCanBoardAddress
bool setCanBoardAddress(int bus, int id, int canType, QString newAddress, QString ethAddress="", int deviceId=-1, QString *resultString=NULL)
Definition: firmwareupdatercore.cpp:607
FirmwareUpdaterCore::uploadEthApplication
bool uploadEthApplication(QString filename, QString *resultString)
Definition: firmwareupdatercore.cpp:1147
FirmwareUpdaterCore::init
bool init(Searchable &config, int port, QString address, int VerbositY)
Definition: firmwareupdatercore.cpp:54
cDownloader::strain_get_serial_number
int strain_get_serial_number(int bus, int target_id, char *serial_number, string *errorstring=NULL)
Definition: downloader.cpp:672
cDownloader::strain_set_matrix_gain
int strain_set_matrix_gain(int bus, int target_id, unsigned int gain, int regset=strain_regset_inuse, string *errorstring=NULL)
Definition: downloader.cpp:891
cDownloader::strain_get_offset
int strain_get_offset(int bus, int target_id, char channel, unsigned int &offset, int regset=strain_regset_inuse, string *errorstring=NULL)
Definition: downloader.cpp:399
cDownloader::change_card_address
int change_card_address(int bus, int target_id, int new_id, int board_type)
Definition: downloader.cpp:2414
cDownloader::strain_get_full_scale
int strain_get_full_scale(int bus, int target_id, unsigned char channel, unsigned int &full_scale, int regset=strain_regset_inuse, string *errorstring=NULL)
Definition: downloader.cpp:1184
cDownloader::strain_set_offset
int strain_set_offset(int bus, int target_id, char channel, unsigned int offset, int regset=strain_regset_inuse, string *errorstring=NULL)
Definition: downloader.cpp:1316
cDownloader::strain_set_serial_number
int strain_set_serial_number(int bus, int target_id, const char *serial_number, string *errorstring=NULL)
Definition: downloader.cpp:644
cDownloader::strain_save_to_eeprom
int strain_save_to_eeprom(int bus, int target_id, string *errorstring=NULL)
Definition: downloader.cpp:214
cDownloader::strain_get_adc
int strain_get_adc(int bus, int target_id, char channel, unsigned int &adc, int type, string *errorstring=NULL)
Definition: downloader.cpp:348
cDownloader::strain_regset_inuse
@ strain_regset_inuse
Definition: downloader.h:147
cDownloader::get_serial_no
int get_serial_no(int bus, int target_id, char *board_info)
Definition: downloader.cpp:2123
cDownloader::strain_get_matrix_rc
int strain_get_matrix_rc(int bus, int target_id, char r, char c, unsigned int &elem, int regset=strain_regset_inuse, string *errorstring=NULL)
Definition: downloader.cpp:1245
cDownloader::strain_set_full_scale
int strain_set_full_scale(int bus, int target_id, unsigned char channel, unsigned int full_scale, int regset=strain_regset_inuse, string *errorstring=NULL)
Definition: downloader.cpp:1221
cDownloader::strain_set_calib_bias
int strain_set_calib_bias(int bus, int target_id, string *errorstring=NULL)
Definition: downloader.cpp:476
cDownloader::strain_get_amplifier_regs
int strain_get_amplifier_regs(int bus, int target_id, unsigned char channel, strain2_ampl_regs_t &ampregs, int regset=strain_regset_inuse, string *errorstring=NULL)
Definition: downloader.cpp:947
cDownloader::strain_get_amplifier_gain_offset
int strain_get_amplifier_gain_offset(int bus, int target_id, unsigned char channel, float &gain, uint16_t &offset, int regset=strain_regset_inuse, string *errorstring=NULL)
Definition: downloader.cpp:1088
cDownloader::strain_set_matrix_rc
int strain_set_matrix_rc(int bus, int target_id, char r, char c, unsigned int elem, int regset=strain_regset_inuse, string *errorstring=NULL)
Definition: downloader.cpp:1291
cDownloader::strain_set_amplifier_regs
int strain_set_amplifier_regs(int bus, int target_id, unsigned char channel, const strain2_ampl_regs_t &ampregs, int regset=strain_regset_inuse, string *errorstring=NULL)
Definition: downloader.cpp:913
cDownloader::strain_calibrate_offset2
int strain_calibrate_offset2(int bus, int target_id, icubCanProto_boardType_t boardtype, const std::vector< strain2_ampl_discretegain_t > &gains, const std::vector< int16_t > &targets, string *errorstring=NULL)
Definition: downloader.cpp:1699
e
e
Definition: compute_ekf_fast.m:13
f
f
Definition: compute_ekf_sym.m:22
drv_sleep
void drv_sleep(double time)
Definition: downloader.cpp:26
BOARD_WAITING_ACK
#define BOARD_WAITING_ACK
Definition: downloader.h:47
BOARD_ERR
#define BOARD_ERR
Definition: downloader.h:50
BOARD_RUNNING
#define BOARD_RUNNING
Definition: downloader.h:45
BOARD_DOWNLOADING
#define BOARD_DOWNLOADING
Definition: downloader.h:48
BOARD_OK
#define BOARD_OK
Definition: downloader.h:49
BOARD_WAITING
#define BOARD_WAITING
Definition: downloader.h:46
ampl_gain08
@ ampl_gain08
Definition: downloader.h:107
ampl_gain24
@ ampl_gain24
Definition: downloader.h:106
ampl_gain10
@ ampl_gain10
Definition: downloader.h:107
DEFAULT_IP_ADDRESS
#define DEFAULT_IP_ADDRESS
Definition: firmwareupdatercore.h:15
DEFAULT_IP_PORT
#define DEFAULT_IP_PORT
Definition: firmwareupdatercore.h:16
main
int main(int argc, char *argv[])
Definition: main.cpp:31
changeCanId
int changeCanId(FirmwareUpdaterCore *core, QString device, QString id, QString board, QString canLine, QString canId, QString canIdNew)
Definition: main.cpp:807
verifyOnSecondLevel_CANboard
int verifyOnSecondLevel_CANboard(FirmwareUpdaterCore *core, QString device, QString id, const QString &targetCANline, const QString &targetCANaddr, const QString &targetFWvers)
Definition: main.cpp:2046
verbosity
int verbosity
Definition: main.cpp:17
queryOnSecondLevel_ETHboard
int queryOnSecondLevel_ETHboard(FirmwareUpdaterCore *core, QString device, QString id, const QString &targetIPaddr)
Definition: main.cpp:2167
checkForAction
void checkForAction(bool &actionIsValid, action_t const &actionValue, action_t &actionResult)
Definition: main.cpp:732
printCanDevices
void printCanDevices(QList< sBoard > canBoards, QString onIPboard, bool slimprint)
Definition: main.cpp:1735
programCanDevice
int programCanDevice(FirmwareUpdaterCore *, QString device, QString id, QString board, QString canLine, QString canId, QString file, bool eraseEEprom)
Definition: main.cpp:1489
verifyCanDevices
int verifyCanDevices(QList< sBoard > canBoards, const QString &targetCANline, const QString &targetCANaddr, const QString &targetFWvers)
Definition: main.cpp:2066
getCanBoardVersion
int getCanBoardVersion(FirmwareUpdaterCore *core, QString device, QString id, QString board, QString canLine, QString canId, bool save)
Definition: main.cpp:863
printSecondLevelDevices
int printSecondLevelDevices(FirmwareUpdaterCore *, QString device, QString id, bool slimprint)
Definition: main.cpp:1597
SensorModel
SensorModel
Definition: main.cpp:44
changeBoardIp
int changeBoardIp(FirmwareUpdaterCore *core, QString device, QString id, QString board, QString newipaddr)
Definition: main.cpp:779
printThirdLevelDevices
int printThirdLevelDevices(FirmwareUpdaterCore *, QString device, QString id, QString board, bool forceMaintenance, bool forceApplication, bool slimprint)
Definition: main.cpp:1694
setBoardToApplication
int setBoardToApplication(FirmwareUpdaterCore *core, QString device, QString id, QString board)
Definition: main.cpp:1463
verifyOnThirdLevel_CANunderETH
int verifyOnThirdLevel_CANunderETH(FirmwareUpdaterCore *core, QString device, QString id, QString board, const QString &targetCANline, const QString &targetCANaddr, const QString &targetFWvers)
Definition: main.cpp:2119
removeApplicationLock
void removeApplicationLock()
Definition: main.cpp:1870
saveDatFileStrain2
int saveDatFileStrain2(FirmwareUpdaterCore *core, QString device, QString id, QString board, QString canLine, QString canId, bool eraseEEprom)
Definition: main.cpp:1300
checkApplicationLock
bool checkApplicationLock()
Definition: main.cpp:1840
setStrainSn
int setStrainSn(FirmwareUpdaterCore *core, QString device, QString id, QString board, QString canLine, QString canId, QString serialNumber)
Definition: main.cpp:1038
setBoardToMaintenance
int setBoardToMaintenance(FirmwareUpdaterCore *core, QString device, QString id, QString board)
Definition: main.cpp:1475
queryOnThirdLevel_CANunderETH
int queryOnThirdLevel_CANunderETH(FirmwareUpdaterCore *core, QString device, QString id, const QString board, const QString &targetCANline, const QString &targetCANaddr)
Definition: main.cpp:2227
verifyOnSecondLevel_ETHboard
int verifyOnSecondLevel_ETHboard(FirmwareUpdaterCore *core, QString device, QString id, const QString &targetIPaddr, const QString &targetFWvers)
Definition: main.cpp:1967
verifyOnSecondLevel
int verifyOnSecondLevel(FirmwareUpdaterCore *core, QString device, QString id, const QString &targetIPaddr, const QString &targetCANline, const QString &targetCANaddr, const QString &targetFWvers)
Definition: main.cpp:1889
queryCanDevices
int queryCanDevices(QList< sBoard > canBoards, const QString onIPboard, const QString &targetCANline, const QString &targetCANaddr)
Definition: main.cpp:2281
loadDatFileStrain2
int loadDatFileStrain2(FirmwareUpdaterCore *core, QString device, QString id, QString board, QString canLine, QString canId, QString file, bool eraseEEprom)
Definition: main.cpp:1099
programEthDevice
int programEthDevice(FirmwareUpdaterCore *, QString device, QString id, QString board, QString file)
Definition: main.cpp:1564
action_t
action_t
Definition: main.cpp:22
action_query
@ action_query
Definition: main.cpp:30
action_discover
@ action_discover
Definition: main.cpp:25
action_setstrainft45gainsoffsets
@ action_setstrainft45gainsoffsets
Definition: main.cpp:38
action_forceapplication
@ action_forceapplication
Definition: main.cpp:29
action_none
@ action_none
Definition: main.cpp:24
action_changeBoardIp
@ action_changeBoardIp
Definition: main.cpp:37
action_setstraingainsspecificoffsets
@ action_setstraingainsspecificoffsets
Definition: main.cpp:40
action_impossible
@ action_impossible
Definition: main.cpp:23
action_setstrainft58gainsoffsets
@ action_setstrainft58gainsoffsets
Definition: main.cpp:39
action_setstrainsn
@ action_setstrainsn
Definition: main.cpp:32
action_loaddatfile
@ action_loaddatfile
Definition: main.cpp:31
action_savedatfile
@ action_savedatfile
Definition: main.cpp:35
action_setstraingainsoffsets
@ action_setstraingainsoffsets
Definition: main.cpp:33
action_verify
@ action_verify
Definition: main.cpp:26
action_forcemaintenance
@ action_forcemaintenance
Definition: main.cpp:28
action_getcanboardversion
@ action_getcanboardversion
Definition: main.cpp:34
action_changeCanId
@ action_changeCanId
Definition: main.cpp:36
action_program
@ action_program
Definition: main.cpp:27
queryOnSecondLevel_CANboard
int queryOnSecondLevel_CANboard(FirmwareUpdaterCore *core, QString device, QString id, const QString &targetCANline, const QString &targetCANaddr)
Definition: main.cpp:2360
setStrainGainsOffsets
int setStrainGainsOffsets(FirmwareUpdaterCore *core, QString device, QString id, QString board, QString canLine, QString canId, SensorModel model)
Definition: main.cpp:934
file
FILE * file
Definition: main.cpp:81
board
uint8_t board
Definition: main.cpp:123
yarp
Copyright (C) 2008 RobotCub Consortium.
Definition: DebugInterfaces.h:51
z
z
Definition: show_eyes_axes.m:22
out
out
Definition: sine.m:8
offset
degrees offset
Definition: sine.m:4
sBoard::eeprom
bool eeprom
Definition: downloader.h:39
sBoard::bus
int bus
Definition: downloader.h:25
sBoard::pid
int pid
Definition: downloader.h:26
sBoard::selected
bool selected
Definition: downloader.h:38
strain2_ampl_regs_t
Definition: downloader.h:95
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