ThymioBootloader.cpp

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#include <QFileDialog>
#include <QCloseEvent>
#include <QMessageBox>
#include <QDebug>
#include <QPushButton>

#include "../../utils/HexFile.h"

#include "ThymioBootloader.h"

#include "ThymioBootloader.moc"

using namespace std;

namespace Aseba
{
        ThymioBootloaderDialog::ThymioBootloaderDialog(NodeTab* nodeTab):
                InvasivePlugin(nodeTab),
                nodeId(getNodeId()),
                target(getTarget()),
                stream(getDashelStream())
        {
                // Create the gui ...
                setWindowTitle(tr("Thymio Firmware Updater"));
                resize(544,182);

                verticalLayout = new QVBoxLayout(this);
                fileLayout = new QHBoxLayout();
                lineEdit = new QLineEdit(this);
                fileLayout->addWidget(lineEdit);
                
                fileButton = new QPushButton(tr("File..."), this);
                fileLayout->addWidget(fileButton);

                verticalLayout->addLayout(fileLayout);

                progressBar = new QProgressBar(this);
                progressBar->setValue(0);

                verticalLayout->addWidget(progressBar);

                flashLayout = new QHBoxLayout();

                spacer = new QSpacerItem(40,20,QSizePolicy::Expanding,
                                QSizePolicy::Minimum);

                flashLayout->addItem(spacer);

                flashButton = new QPushButton(tr("Update"), this);
                flashLayout->addWidget(flashButton);

                quitButton = new QPushButton(tr("Quit"), this);
                flashLayout->addWidget(quitButton);

                verticalLayout->addItem(flashLayout);

                connect(fileButton, SIGNAL(clicked()),this,SLOT(openFile()));
                connect(flashButton, SIGNAL(clicked()), this, SLOT(doFlash()));
                connect(quitButton, SIGNAL(clicked()), this, SLOT(doClose()));

                deleteMyself = false;
        }
        
        ThymioBootloaderDialog::~ThymioBootloaderDialog()
        {
        }
        
        QWidget* ThymioBootloaderDialog::createMenuEntry()
        {
                QPushButton *flashButton = new QPushButton(tr("Update firmware"));
                connect(flashButton, SIGNAL(clicked()), SLOT(showFlashDialog()));
                return flashButton;
        }
        
        void ThymioBootloaderDialog::closeAsSoonAsPossible()
        {
                // FIXME: is it correct, what to do if someone requsted a close
                // of the main window while we are flashing?
                close();
        }
        
        bool ThymioBootloaderDialog::surviveTabDestruction() const 
        {
                return deleteMyself;
        }
        
        void ThymioBootloaderDialog::showFlashDialog()
        {
                progressBar->setValue(0);
                fileButton->setEnabled(true);
                flashButton->setEnabled(true);
                lineEdit->setEnabled(true);

                exec();
                // Note that now nodeTab is not valid anymore
                
                // we must delete ourself, because the tab is not there any more to do bookkeeping for us
                if(deleteMyself)
                        deleteLater();
        }
        
        void ThymioBootloaderDialog::openFile(void)
        {
                QString name = QFileDialog::getOpenFileName(this, tr("Select hex file"), QString(), tr("Hex files (*.hex)"));
                lineEdit->setText(name);
        }

        void ThymioBootloaderDialog::doFlash(void) 
        {
                const int warnRet = QMessageBox::warning(this, tr("Pre-update warning"), tr("Your are about to write a new firmware to the Thymio II. Make sure that the robot is charged and that the USB cable is properly connected.<p><b>Do not unplug the robot during the update!</b></p>Are you sure you want to proceed?"), QMessageBox::No|QMessageBox::Yes, QMessageBox::No);
                if (warnRet != QMessageBox::Yes)
                        return;
                
                HexFile hex;
                try {
                        hex.read(lineEdit->text().toStdString());
                }
                catch(HexFile::Error& e) {
                        QMessageBox::critical(this, tr("Update Error"), tr("Unable to read Hex file"));
                        return;
                }
                quitButton->setEnabled(false);
                flashButton->setEnabled(false);
                fileButton->setEnabled(false);
                lineEdit->setEnabled(false);
                
                // make target ready for flashing
                target->blockWrite();
                connect(target, SIGNAL(bootloaderAck(uint,uint)), this, SLOT(ackReceived(uint,uint)));
                connect(target, SIGNAL(nodeDisconnected(uint)), this, SLOT(vmDisconnected(unsigned)));

                // Now we have a valid hex file ...
                pageMap.clear();

                for (HexFile::ChunkMap::iterator it = hex.data.begin(); it != hex.data.end(); it ++)
                {
                        // get page number
                        unsigned chunkAddress = it->first;
                        // index inside data chunk
                        unsigned chunkDataIndex = 0;
                        // size of chunk in bytes
                        unsigned chunkSize = it->second.size();
                        // copy data from chunk to page
                        do
                        {
                                // get page number
                                unsigned pageIndex = (chunkAddress + chunkDataIndex) / 2048;
                                // get address inside page
                                unsigned byteIndex = (chunkAddress + chunkDataIndex) % 2048;
                                // if page does not exists, create it
                                if (pageMap.find(pageIndex) == pageMap.end())
                                        pageMap[pageIndex] = vector<uint8>(2048, (uint8)0);
                                // copy data
                                unsigned amountToCopy = min(2048 - byteIndex, chunkSize - chunkDataIndex);
                                copy(it->second.begin() + chunkDataIndex, it->second.begin() + chunkDataIndex + amountToCopy, pageMap[pageIndex].begin() + byteIndex);
                                // increment chunk data pointer
                                chunkDataIndex += amountToCopy;
                        }
                        while(chunkDataIndex < chunkSize);
                }

                progressBar->setMaximum(pageMap.size());
                progressBar->setValue(0);
                
                // Ask the pic to switch into bootloader
                Reboot msg(nodeId);
                try
                {
                        msg.serialize(stream);
                        stream->flush();
                        // now, wait until the disconnect event is sent.
                }
                catch(Dashel::DashelException e)
                {
                        handleDashelException(e);
                }
        }
        
        void ThymioBootloaderDialog::doClose(void) 
        {
                done(0);
        }

        void ThymioBootloaderDialog::ackReceived(unsigned error_code, unsigned address) 
        {
                qDebug() << "Got ack: " << error_code;
                if(error_code != 0)
                {
                        // Fixme should not ignore errors...
                }
                progressBar->setValue(progressBar->value()+1);
                if(currentPage->first == 0) {
                        // End of flash operation
                        flashDone();
                        return;
                }
                currentPage++;
                if(currentPage == pageMap.end()) {
                        currentPage = pageMap.find(0);
                        if(currentPage == pageMap.end()) {
                                qDebug() << "BUG: No page 0 !";
                                 // ARG FIXME HACK no 0 page, write null byte instead, bootloader will understand ...
                                pageMap[0] = vector<uint8>(2048,(uint8)0);
                                currentPage = pageMap.find(0);
                        }
                }
                writePage(currentPage->first, &currentPage->second[0]);
        }
        
        void ThymioBootloaderDialog::vmDisconnected(unsigned node)
        {
                deleteMyself = true;

                qDebug() << "Bootloader entered " << node;
                if(node != nodeId)
                        abort();

                currentPage = pageMap.begin();
                if(currentPage == pageMap.end()) {
                        flashDone();
                        return;
                }
                while(currentPage->first == 0 && currentPage != pageMap.end())
                        currentPage++;
                if(currentPage == pageMap.end())
                        currentPage = pageMap.find(0);
                writePage(currentPage->first, &currentPage->second[0]);
        }
        
        void ThymioBootloaderDialog::writePage(unsigned page, unsigned char * data)
        {
                qDebug() << "Write page: " << page;
                BootloaderWritePage writePage;
                writePage.dest = nodeId;
                writePage.pageNumber = page;

                try
                {
                        writePage.serialize(stream);
                        stream->write(data,2048);
                        stream->flush();
                }
                catch(Dashel::DashelException e)
                {
                        handleDashelException(e);
                }
        }

        void ThymioBootloaderDialog::flashDone(void)
        {
                pageMap.clear();
                // Send exit bootloader, send presence
                
                qDebug() << "Flash done, switch back to VM";

                BootloaderReset msg(nodeId);
                try
                {
                        msg.serialize(stream);
                        stream->flush();
                }
                catch(Dashel::DashelException e)
                {
                        handleDashelException(e);
                }
                
                // make target behave normally again
                disconnect(target, SIGNAL(nodeDisconnected(uint)),this, SLOT(vmDisconnected(unsigned)));
                disconnect(target, SIGNAL(bootloaderAck(uint,uint)), this, SLOT(ackReceived(uint,uint)));
                target->unblockWrite();
                
                // send GetDescription 100 ms later
                startTimer(100);
        }
        
        void ThymioBootloaderDialog::timerEvent(QTimerEvent *event)
        {
                killTimer(event->timerId());
                
                GetDescription message;
                try
                {
                        message.serialize(stream);
                        stream->flush();
                }
                catch(Dashel::DashelException e)
                {
                        handleDashelException(e);
                }
                
                // automatically close
                done(0);
                // Don't allow to immediatly reflash, we want studio to redisplay a new tab ! 
                //quitButton->setEnabled(true);
        }

        void ThymioBootloaderDialog::closeEvent(QCloseEvent *event)
        { 
                if(quitButton->isEnabled())
                        event->accept();
                else
                        event->ignore();
        }

        void ThymioBootloaderDialog::handleDashelException(Dashel::DashelException e)
        {
                switch(e.source)
                {
                default:
                        // oops... we are doomed
                        // non-modal message box
                        QMessageBox* message = new QMessageBox(QMessageBox::Critical, tr("Dashel Unexpected Error"), tr("A communication error happened during the update process:") + " (" + QString::number(e.source) + ") " + e.what(), QMessageBox::NoButton, this);
                        message->setWindowModality(Qt::NonModal);
                        message->show();
                }
        }
};