From 36077dc0b04b90cf21a32fd8495674a5e9b30a17 Mon Sep 17 00:00:00 2001
From: Timo Sairiala <timo.sairiala@unikie.com>
Date: Fri, 26 Apr 2024 10:30:09 +0300
Subject: [PATCH] Export px4 binaries to temp dir

Removed old shell commands which were for the update with old
bootloader and didn't work anymore.

Added "tail -f /dev/null" to keep the container running in drone
so the px4 binaries are available when the update happens.
---
 .../workflows/tiiuae-pixhawk-and-saluki.yaml  |  2 +-
 Tools/px_uploader.Dockerfile                  | 23 ++-------
 Tools/px_uploader.entrypoint                  | 50 ++++++++++++++++---
 3 files changed, 48 insertions(+), 27 deletions(-)

diff --git a/.github/workflows/tiiuae-pixhawk-and-saluki.yaml b/.github/workflows/tiiuae-pixhawk-and-saluki.yaml
index 4b14fe7578a0..f26dffb60110 100644
--- a/.github/workflows/tiiuae-pixhawk-and-saluki.yaml
+++ b/.github/workflows/tiiuae-pixhawk-and-saluki.yaml
@@ -11,7 +11,7 @@ on:
   workflow_dispatch:
     inputs:
       jfrog-upload:
-        description: 'upload to Artifactory'
+        description: 'upload to UAE Artifactory'
         required: false
         default: false
         type: boolean
diff --git a/Tools/px_uploader.Dockerfile b/Tools/px_uploader.Dockerfile
index 21672738036c..1757676aa39b 100644
--- a/Tools/px_uploader.Dockerfile
+++ b/Tools/px_uploader.Dockerfile
@@ -2,24 +2,8 @@ FROM python:alpine3.14
 
 ARG saluki_fpga_directory
 ARG SALUKI_FILE_INFO_JSON=saluki_file_info.json
-
-# run this with something like:
-#
-#   $ docker run --rm -it --network=host --device=/dev/ttyS7:/dev/px4serial px4-fw-updater \
-#     --udp-addr=192.168.200.101 \
-#     --udp-port=14541 \
-#     --port=/dev/px4serial \
-#     --baud-bootloader=2000000 \
-#     px4_fmu-v5_ssrc.px4
-
-# This gets built in environment with somewhat unorthodox paths:
-# - The build context is at /
-# - The repository itself is mounted in /px4-firmware/
-# - Built firmware files are in /bin/
-#
-# ("/" above is relative to GH action runner home dir)
-# (see .github/workflows/tiiuae-pixhawk.yaml)
-
+ARG PX4_EXPORT_DIR
+ENV PX4_EXPORT_DIR=$PX4_EXPORT_DIR
 
 COPY $saluki_fpga_directory /firmware/fpga
 COPY $SALUKI_FILE_INFO_JSON /$SALUKI_FILE_INFO_JSON
@@ -27,6 +11,9 @@ WORKDIR /firmware
 
 ENTRYPOINT ["/entrypoint.sh"]
 
+# tools needed to extract binaries from px4 files
+RUN apk add pigz jq
+
 # dependency of px_uploader.py
 RUN pip3 install --user pyserial
 
diff --git a/Tools/px_uploader.entrypoint b/Tools/px_uploader.entrypoint
index 1d9b7f87b36b..5fbafce2bc88 100755
--- a/Tools/px_uploader.entrypoint
+++ b/Tools/px_uploader.entrypoint
@@ -1,13 +1,47 @@
 #!/bin/sh -e
 
-aframe=""
-if [ ! -z "$AIRFRAME" ]; then
-	aframe="--airframe ${AIRFRAME}"
-fi
+SALUKI_FILE_INFO="/saluki_file_info.json"
+
+extract_bin_from_px4() {
+    local px4_file=$1
+    local target_dir=$2
+    local target=${target_dir}/$(basename ${px4_file%.px4}).bin
+
+    # check file exists
+    if [ ! -f $px4_file ]; then
+        echo "File $px4_file does not exist"
+        exit 1
+    fi
+
+    echo "Extracting $target from $px4_file"
+    # binary is stored in the 'image' field of the json file
+    # as base64 encoded and gzipped
+    cat ${px4_file} | jq -r '.image' | base64 -d | pigz -d > $target
+    validation_file=${target_dir}/$(basename ${px4_file%.px4})-validation.txt
+    generate_validation_file ${px4_file} ${validation_file}
+}
+
+function generate_validation_file() {
+    local px4_filename=${1}
+    local validation_file=${2}
+    echo "generating validation file for ${px4_filename} to ${validation_file}"
+
+    cat ${SALUKI_FILE_INFO} |jq -c '.files[] |select (.filename | contains("'${px4_filename}'"))' > ${validation_file}
+}
+
+# export px4 files if the container is started with the PX4_EXPORT_DIR
+if [ -n "$PX4_EXPORT_DIR" ]; then
+    echo "Exporting PX4 files to $PX4_EXPORT_DIR"
+
+    # find all px4 files in the firmware directory
+    for px4_file in /firmware/*.px4; do
+        extract_bin_from_px4 $px4_file $PX4_EXPORT_DIR
+    done
 
-mode=""
-if [ ! -z "$FLIGHT_MODE" ]; then
-	mode="--flightmode ${FLIGHT_MODE}"
+    # copy saluki_file_info.json to the export directory
+    cp ${SALUKI_FILE_INFO} $PX4_EXPORT_DIR/saluki_file_info.json
 fi
 
-/bin/px_uploader.py --port=/dev/px4serial --udp-addr=192.168.200.101 --baud-flightstack=57600,115200,1000000,2000000 --baud-bootloader=2000000 px4_fmu-v5x_ssrc-*.px4 ssrc_saluki-v1_default-*.px4 ssrc_saluki-v2_default-*.px4
+# keep the container running so px4 update can get the
+# px4 firmware files from the container
+# tail -f /dev/null