ATBUpdateTool/DownloadDCFirmware/dc_download.cpp

#include "dc_download.h"
#include <DeviceController/interfaces.h>

#include <QFile>
#include <QDebug>
#include <QDateTime>
#include <QThread>


DcDownload::DcDownload(hwinf *hw)
  : m_hw(hw)
  , m_fileToDownload(m_hw->dcDownloadFileName()) {
    // connect(this, &QThread::finished,
    //        dynamic_cast<QObject const *>(m_hw), &QThread::deleteLater);
}

DcDownload::~DcDownload() {
}

/*
 ///////////////////////////////////////////////////////////////////////////////
 //
 //                        USING THE DC BOOTLOADER
 //
 ///////////////////////////////////////////////////////////////////////////////

 1  :   bl_reboot()     // send to application, want DC2 to reset (in order to
                        // start the bootloader)
                        //
                        // NOTE: this function is NOT reliable !!! Sometimes it
                        // simply does not work, in which case bl_startBL,
                        // bl_checkBL and bl_isUp do not work as well.
                        // Alas, there is no feedback if bl_reboot worked!
                        //
                        // NOTE: this function can be called only once per
                        // minute, because once called again, the controller
                        // performs some self-checks consuming some time.
                        //
                        // NOTE: after a successful bl_reboot(), the device is
                        // waiting about 4 seconds in the bootloader. To stay in
                        // the bootloader, we have to send the command
                        // bl_startBL(), which is kind of a misnomer, as it
                        // should be bl_doNotLeaveBL().
                        //
 2  :   bl_startBL():   // send within 4s after DC power-on, otherwise
                        // bootloader is left.
                        //
                        // NOTE: a running bootloader is a MUST for the download
                        // process of a device controller firmware as it does
                        // the actual writing of the memory (the bl_reboot()
                        // from above erases the available memory).
                        //
 3  :   bl_check():     // send command to verify if bl is up
                        //
                        // NOTE: this command is kind of a request that we want
                        // to check if the bootloader is up. The device
                        // (actually the bootloader) responds with its version.
                        //
 4  :   bl_isUp():      // returns true if bl is up and running
                        //
                        // NOTE: we know what the bootloader version actually is
                        // as the bootloader does not change. By comparing the
                        // string received in the previous step with this known
                        // version string we know if the bootloader is up.
                        //
                        // NOTE FOR ALL PREVIOUS STEPS: execute them in their
                        // own slots each to be sure to receive any possible
                        // responds from the device.
                        //
 5  :   bl_sendAddress(blockNumber)
                        // send start address, nr of 64-byte block, start with 0
                        // will be sent only for following block-numbers:
                        // 0, 1024, 2048, 3072 and 4096, so basically every
                        // 64kByte.
                        // for other addresses nothing happens

 6  :   bl_wasSendingAddOK()
                        // return val:  0: no response by now
                        //              1: error
                        //             10: OK

 7  :   bl_sendDataBlock()
                        // send 64 byte from bin file

 8  :   bl_sendLastBlock()
                        // send this command after all data are transferred

 9  :   bl_wasSendingDataOK()
                        // return val:  0: no response by now
                        //              1: error
                        //             10: OK

 10 :   bl_stopBL()     // leave bl and start (the new) application
                        //
                        // NOTE: this function MUST work under all conditions.
                        // Alas, there is no direct result for this command, so
                        // the only way of knowing it was successful is to ask
                        // the device if the bootloader is still running.
                        // There is no problem to repeat this command until the
                        // bootloader is really not running anymore.
 */
void DcDownload::doDownload() {
#if 0
void DcDownload::run() {
    // download thread running in ca-master sends the dc-file down to firmware
    // TODO: send the json files as well

    m_hw->dcDownloadRequestAck();

    qCritical() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs)
                << "DcDownload::run(): DOWNLOAD THREAD STARTED:";
    qCritical() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs)
                << "               DcDownload::run(): Filename:" << m_hw->dcDownloadFileName();

    QDateTime const start = QDateTime::currentDateTime();

#if 1
    QFile fn(m_hw->dcDownloadFileName());

    if (!fn.exists()) {
        // output via CONSOLE() etc
        qCritical() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs)
                    << "               DcDownload::run(): Filename:" << m_hw->dcDownloadFileName() << "DOES NOT EXIST";;
    } else {

        qCritical() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs)
                    << "DcDownload::run(): DC-CONTROLLER SW-VERSION BEFORE"
                    << m_hw->dc_getSWversion();

        // load binary device controller file into memory
        QByteArray ba = loadBinaryDCFile(m_hw->dcDownloadFileName());
        if (ba.size() > 0) {
            uint16_t const totalBlocks = (((ba.size())%64)==0) ? (ba.size()/64) : (ba.size()/64)+1;
            m_hw->dcDownloadSetTotalBlockNumber(totalBlocks);

            // fill last block of data to be sent with 0xFF
            ba = ba.leftJustified(totalBlocks*64, (char)(0xFF));

            qCritical() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs)
                        << "DcDownload::run(): TOTAL NUMBER OF BYTES TO SEND TO DC" << ba.size();
            qCritical() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs)
                        << "DcDownload::run(): TOTAL NUMBER OF BLOCKS" << totalBlocks;

            m_hw->dc_autoRequest(true); // turn auto-request setting on

            m_hw->request_DC2_HWversion();
            m_hw->request_DC2_SWversion();
            QThread::sleep(1);

            // m_hw->dc_autoRequest(false); // turn auto-request setting on

            resetDeviceController();

            qCritical() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs)
                        << "DcDownload::run(): RESET DEVICE-CONTROLLER";

            if (startBootloader()) {

                qCritical() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs)
                            << "DcDownload::run(): STARTED BOOT-LOADER";

                m_hw->dc_autoRequest(false);// turn auto-request setting off for
                                            // download of binary dc

                qCritical() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs)
                            << "DcDownload::run(): TOTAL NUMBER OF FIRMWARE BLOCKS" << totalBlocks;

                int currentBlock = 0; // download of binary dc
                DownloadResult res = DownloadResult::OK;

                while (res != DownloadResult::ERROR &&  currentBlock < totalBlocks) {
                    if ((res = sendNextAddress(currentBlock)) != DownloadResult::ERROR) {
                        if ((res = sendNextDataBlock(ba, currentBlock)) != DownloadResult::ERROR) {
                            m_hw->dcDownloadSetCurrentBlockNumber(currentBlock);

                            qCritical() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs)
                                        << "DcDownload::run(): currentBlockNumber ..." << currentBlock;

                            currentBlock += 1;
                        }
                    }
                }

                qCritical() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs)
                            << QString("DcDownload::run(): last 64-byte block %1").arg(currentBlock);

                int const rest = ba.size() % 64;
                int const offset = ba.size() - rest;
                char const *startAddress = ba.constData() + offset;

                if (rest > 0) {
                    // SHOULD NEVER HAPPEN !!!
                    uint8_t local[66];
                    memset(local, 0xFF, sizeof(local));
                    memcpy(local, startAddress, rest);
                    qCritical() << "DcDownload::run(): ERROR SEND REMAINING" << rest << "BYTES";
                    m_hw->bl_sendDataBlock(64, local);
                } else {
                    m_hw->bl_sendLastBlock();
                    m_hw->dcDownloadSetCurrentBlockNumber(currentBlock);

                    qCritical() << "DcDownload::run(): currentBlockNumber" << currentBlock;
                    // QThread::msleep(250);
                }
                qCritical() << "DcDownload::run(): last result" << (int)sendStatus(m_hw->bl_wasSendingDataOK());

                stopBootloader();   // stop bootloader several times: if it
                QThread::sleep(1);  // is not stopped, then the PSA has to be
            }
            // restarted manually (!!!)
            stopBootloader();
            QThread::sleep(1);
        }

        qCritical() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs)
                    << "DcDownload::run(): STOPPED BOOT-LOADER";

        stopBootloader();   // there is no harm in stopping the bootloader even
                            // if it was not started at all

        m_hw->dc_autoRequest(true);
    }

#else // test
    // load binary device controller file into memory
    QByteArray ba = loadBinaryDCFile(m_hw->dcDownloadFileName());
    if (ba.size() > 0) {
        uint16_t const totalBlocks = (((ba.size())%64)==0) ? (ba.size()/64) : (ba.size()/64)+1;
        m_hw->dcDownloadSetTotalBlockNumber(totalBlocks);

        // fill last block of data to be sent with 0xFF
        ba = ba.leftJustified(totalBlocks*64, (char)(0xFF));

        qCritical() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs)
                    << "DcDownload::run(): TOTAL NUMBER OF BYTES TO SEND TO DC" << ba.size();
        qCritical() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs)
                    << "DcDownload::run(): TOTAL NUMBER OF BLOCKS" << totalBlocks;

        m_hw->dc_autoRequest(true); // turn auto-request setting on

        m_hw->request_DC2_HWversion();
        m_hw->request_DC2_SWversion();
        QThread::sleep(1);

        resetDeviceController();

        qCritical() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs)
                    << "DcDownload::run(): RESET DEVICE-CONTROLLER";
        QThread::sleep(1);

        if (startBootloader()) {
            qCritical() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs)
                        << "DcDownload::run(): STARTED BOOT-LOADER";

            m_hw->dc_autoRequest(false);// turn auto-request setting off for
                                        // download of binary dc
            for (uint16_t currentBlock = 0; currentBlock <= totalBlocks; ++currentBlock) {
                m_hw->dcDownloadSetCurrentBlockNumber(currentBlock);
                qCritical() << "DcDownload::run(): currentBlockNumber" << currentBlock;
                QThread::msleep(250);
            }
            m_hw->dc_autoRequest(true); // turn auto-request setting on again
        }

        stopBootloader();   // there is no harm in stopping the bootloader even
                            // if it was not started at all
        qCritical() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs)
                    << "DcDownload::run(): STOPPED BOOT-LOADER";
    }
#endif

    m_hw->dcDownloadSetRunning(false);
    m_hw->dcDownloadSetFinished(true);

    QDateTime const end = QDateTime::currentDateTime();
    quint64 secs = start.secsTo(end);
    QString runtime;
    if (secs % 60) {
        runtime = QString("%1min %2s").arg(secs / 60).arg(secs % 60);
    } else {
        runtime = QString("%1min").arg((secs / 60) + 1);
    }

    qCritical() << end.time().toString(Qt::ISODateWithMs)
                << QString("DOWNLOAD THREAD FINISHED (RUNTIME %1)")
                   .arg(runtime);

    // the object deletes itself ! This is the last line in run().
    // Never touch the object after this statement
    // m_hw->dcDcDownloadFinalize(this);
#endif
}

DcDownload::DownloadResult DcDownload::sendStatus(int ret) const {
    switch (ret) {                  // return values of dc are:
    case 0:                         // 0: no answer by now
        return DownloadResult::NOP; // 1: error
    case 10:                        // 10: success
        return DownloadResult::OK;
    default:;
    }
    return DownloadResult::ERROR;
}

DcDownload::DownloadResult
DcDownload::sendNextAddress(int bNum) const {
    // sends address only if blockNumber is one of 0, 1024, 2048, 3072, 4096
    int noAnswerCount = 0;
    int errorCount = 0;
    if ( bNum==0 || bNum==1024 || bNum==2048 || bNum==3072 || bNum==4096 ) {
        while (noAnswerCount <= 250) {
            m_hw->bl_sendAddress(bNum);
            QThread::msleep(100);
            DownloadResult const res = sendStatus(m_hw->bl_wasSendingAddOK());
            if (res != DownloadResult::NOP) {
                if (res == DownloadResult::ERROR) {
                    if (++errorCount >= 10) {
                        qCritical() << "addr-block" << bNum << "...FAILED";
                        return res;
                    }
                } else { // res == DownloadResult::OK
                    // qInfo() << "addr-block" << bNum << "...OK";

                        // TODO: hier ins shared-mem schreiben

                    return res;
                }
            } else {
                noAnswerCount += 1; // no answer by now
            }
        }
        // wait max. about 3 seconds
        return DownloadResult::TIMEOUT;
    }
    // blockNumber is not one of 0, 1024, 2048, 3072, 4096 -> do nothing
    return DownloadResult::NOP;
}

DcDownload::DownloadResult
DcDownload::sendNextDataBlock(QByteArray const &binary, int bNum) const {
    uint8_t local[66];
    int const bAddr = bNum * 64;
    int noAnswerCount = 0;
    int errorCount = 0;

    memcpy(local, binary.constData() + bAddr, 64);
    local[64] = local[65] = 0x00;

    while (noAnswerCount <= 250) {
        m_hw->bl_sendDataBlock(64, local);
        QThread::msleep(10);
        DownloadResult const res = sendStatus(m_hw->bl_wasSendingDataOK());
        if (res != DownloadResult::NOP) {
            if (res == DownloadResult::ERROR) {
                if (++errorCount >= 10) {
                    qCritical() << "data for block" << bNum << "...FAILED";
                    return res;
                }
            } else {
                // qInfo() << "data for block" << bNum << "OK";
                // TODO: hier ins shared mem schreiben
                return res;
            }
        } else {
            noAnswerCount += 1; // no answer by now
        }
    }
    // wait max. about 3 seconds
    return DownloadResult::TIMEOUT;
}

bool DcDownload::startBootloader() const {
    qDebug() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs)
             << "starting bootloader...";
    int nTry = 5;
    while (--nTry >= 0) {
        m_hw->bl_startBL();
        qDebug() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs) << "bl_startBL() ..." << nTry;
        QThread::msleep(500);
        m_hw->bl_checkBL();
        qDebug() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs) << "bl_checkBL() ..." << nTry;
        QThread::msleep(500);
        if (m_hw->bl_isUp()) {
            qInfo() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs) << "bootloader... isUP" << nTry;
            return true;
        } else {
            qCritical() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs)
                        << "bootloader not up (" << nTry << ")";
        }
    }
    qCritical() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs)
                << "starting bootloader FAILED";
    return false;
}

bool DcDownload::stopBootloader() const {
    qDebug() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs)
             << "stopping bootloader...";
    int nTry = 5;
    while (--nTry >= 0) {
        m_hw->bl_stopBL();
        qDebug() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs)
                 << "bl_stopBL() ...";
        QThread::msleep(500);
        m_hw->bl_checkBL();
        qDebug() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs) << "bl_checkBL() ..." << nTry;
        if (!m_hw->bl_isUp()) {
            qInfo() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs)
                    << "stopping bootloader OK";
            return true;
        }
    }
    qCritical() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs)
                << "stopping bootloader FAILED";
    return false;
}

bool DcDownload::resetDeviceController() const {
    qDebug() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs)
             << "resetting device controller...";
    m_hw->bl_rebootDC();
    // wait maximally 3 seconds, before starting bootloader
    QThread::sleep(1);
    qInfo() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs)
            << "resetting device controller...OK";
    return true;
}

QByteArray DcDownload::loadBinaryDCFile(QString filename) const {
    qInfo() << QDateTime::currentDateTime().time().toString(Qt::ISODateWithMs)
            << "loading dc binary" << filename << "...";

    QFile file(filename); // closed in destructor call
    if (!file.exists()) {
        qCritical() << file.fileName() << "does not exist";
        return QByteArray();
    }
    if (!file.open(QIODevice::ReadOnly)) {
        qCritical() << "cannot open file" << file.fileName();
        return QByteArray();
    }
    qInfo() << "loading dc binary" << filename << "...OK";
    return file.readAll();
}