pouyan
/
kinect
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity
kinect/codes/Azure-Kinect-Sensor-SDK/tests/FirmwareTests/firmware_helper.cpp

886 lines
34 KiB
C++
Raw Permalink Blame History

// Copyright (c) Microsoft Corporation. All rights reserved.
// Licensed under the MIT License.
#include "firmware_helper.h"
#include <utcommon.h>
#include <k4ainternal/logging.h>
#include <k4ainternal/usbcommand.h>
#include <azure_c_shared_utility/tickcounter.h>
#include <azure_c_shared_utility/threadapi.h>
#define K4A_TEST_VERIFY_SUCCEEDED(_result_) \
if (K4A_FAILED(TRACE_CALL(_result_))) \
{ \
return K4A_RESULT_FAILED; \
}
#define K4A_TEST_VERIFY_TRUE(_condition_) \
if (!(_condition_)) \
{ \
LOG_ERROR("\"" #_condition_ "\" was false but was expected to be true."); \
return K4A_RESULT_FAILED; \
}
#define K4A_TEST_VERIFY_LE(_val1_, _val2_) \
if ((_val1_) > (_val2_)) \
{ \
LOG_ERROR("\"" #_val1_ "\" > \"" #_val2_ "\" but was expected to be less than or equal."); \
std::cout << "\"" #_val1_ "\" = " << (_val1_) << " \"" #_val2_ "\" = " << (_val2_) << std::endl; \
return K4A_RESULT_FAILED; \
}
#define K4A_TEST_VERIFY_EQUAL(_val1_, _val2_) \
if ((_val1_) != (_val2_)) \
{ \
LOG_ERROR("\"" #_val1_ "\" != \"" #_val2_ "\" but was expected to be equal."); \
std::cout << "\"" #_val1_ "\" = " << (_val1_) << " \"" #_val2_ "\" = " << (_val2_) << std::endl; \
return K4A_RESULT_FAILED; \
}
#define K4A_TEST_VERIFY_NOT_EQUAL(_val1_, _val2_) \
if ((_val1_) == (_val2_)) \
{ \
LOG_ERROR("\"" #_val1_ "\" == \"" #_val2_ "\" but was expected to not be equal."); \
std::cout << "\"" #_val1_ "\" = " << (_val1_) << " \"" #_val2_ "\" = " << (_val2_) << std::endl; \
return K4A_RESULT_FAILED; \
}
int g_k4a_port_number = -1;
connection_exerciser *g_connection_exerciser = nullptr;
char *g_serial_number;
char *g_candidate_firmware_path = nullptr;
uint8_t *g_candidate_firmware_buffer = nullptr;
size_t g_candidate_firmware_size = 0;
firmware_package_info_t g_candidate_firmware_package_info = { 0 };
char *g_test_firmware_path = nullptr;
uint8_t *g_test_firmware_buffer = nullptr;
size_t g_test_firmware_size = 0;
firmware_package_info_t g_test_firmware_package_info = { 0 };
char *g_lkg_firmware_path = nullptr;
uint8_t *g_lkg_firmware_buffer = nullptr;
size_t g_lkg_firmware_size = 0;
firmware_package_info_t g_lkg_firmware_package_info = { 0 };
char *g_factory_firmware_path = nullptr;
uint8_t *g_factory_firmware_buffer = nullptr;
size_t g_factory_firmware_size = 0;
firmware_package_info_t g_factory_firmware_package_info = { 0 };
static bool common_initialized = false;
k4a_result_t setup_common_test()
{
int port;
float voltage;
float current;
if (common_initialized)
{
return K4A_RESULT_SUCCEEDED;
}
if (g_candidate_firmware_path == nullptr)
{
std::cout << "The firmware path setting is required and wasn't supplied.\n\n";
return K4A_RESULT_FAILED;
}
g_k4a_port_number = -1;
g_connection_exerciser = new (std::nothrow) connection_exerciser();
std::cout << "Searching for the connection exerciser and device..." << std::endl;
LOG_INFO("Searching for the connection exerciser...", 0);
K4A_TEST_VERIFY_SUCCEEDED(g_connection_exerciser->find_connection_exerciser());
std::cout << "Found it, searching ports\n";
K4A_TEST_VERIFY_SUCCEEDED(g_connection_exerciser->set_usb_port(0));
LOG_INFO("Searching for device...", 0);
for (int i = 0; i < CONN_EX_MAX_NUM_PORTS; ++i)
{
std::cout << "Inspecting port " << i << "\n";
K4A_TEST_VERIFY_SUCCEEDED(g_connection_exerciser->set_usb_port(i));
port = g_connection_exerciser->get_usb_port();
K4A_TEST_VERIFY_EQUAL(port, i);
voltage = g_connection_exerciser->get_voltage_reading();
K4A_TEST_VERIFY_NOT_EQUAL(voltage, -1);
current = g_connection_exerciser->get_current_reading();
K4A_TEST_VERIFY_NOT_EQUAL(current, -1);
if (current < 0)
{
current = current * -1;
}
if (voltage > 4.5 && voltage < 5.5 && current > 0.1)
{
if (g_k4a_port_number != -1)
{
std::cout << "More than one device was detected on the connection exerciser." << std::endl;
return K4A_RESULT_FAILED;
}
std::cout << "Found a device on port " << i << "\n";
g_k4a_port_number = port;
}
LOG_INFO("On port #%d: %4.2fV %4.2fA\n", port, voltage, current);
}
if (g_k4a_port_number == -1)
{
std::cout << "The Azure Kinect DK was not detected on any port of the connection exerciser." << std::endl;
return K4A_RESULT_FAILED;
}
// Get the serial number of the connected device
{
depthmcu_t depthmcu;
size_t serial_number_size = 0;
std::cout << "Reading serial number of Azure Kinect\n";
K4A_TEST_VERIFY_SUCCEEDED(g_connection_exerciser->set_usb_port(g_k4a_port_number));
ThreadAPI_Sleep(3000);
K4A_TEST_VERIFY_EQUAL(K4A_RESULT_SUCCEEDED, depthmcu_create(K4A_DEVICE_DEFAULT, &depthmcu));
K4A_TEST_VERIFY_EQUAL(K4A_BUFFER_RESULT_TOO_SMALL,
depthmcu_get_serialnum(depthmcu, nullptr, &serial_number_size));
K4A_TEST_VERIFY_NOT_EQUAL(NULL, g_serial_number = (char *)malloc(serial_number_size));
K4A_TEST_VERIFY_EQUAL(K4A_BUFFER_RESULT_SUCCEEDED,
depthmcu_get_serialnum(depthmcu, g_serial_number, &serial_number_size));
depthmcu_destroy(depthmcu);
std::cout << "Azure Kinect S/N is " << g_serial_number << std::endl;
}
K4A_TEST_VERIFY_SUCCEEDED(g_connection_exerciser->set_usb_port(0));
std::cout << "Loading Release Candidate firmware package: " << g_candidate_firmware_path << std::endl;
load_firmware_files(g_candidate_firmware_path, &g_candidate_firmware_buffer, &g_candidate_firmware_size);
g_candidate_firmware_package_info.buffer = g_candidate_firmware_buffer;
g_candidate_firmware_package_info.size = g_candidate_firmware_size;
parse_firmware_package(&g_candidate_firmware_package_info);
std::cout << "Loading Test firmware package: " << g_test_firmware_path << std::endl;
load_firmware_files(g_test_firmware_path, &g_test_firmware_buffer, &g_test_firmware_size);
g_test_firmware_package_info.buffer = g_test_firmware_buffer;
g_test_firmware_package_info.size = g_test_firmware_size;
parse_firmware_package(&g_test_firmware_package_info);
std::cout << "Loading LKG firmware package: " << g_lkg_firmware_path << std::endl;
load_firmware_files(g_lkg_firmware_path, &g_lkg_firmware_buffer, &g_lkg_firmware_size);
g_lkg_firmware_package_info.buffer = g_lkg_firmware_buffer;
g_lkg_firmware_package_info.size = g_lkg_firmware_size;
parse_firmware_package(&g_lkg_firmware_package_info);
std::cout << "Loading Factory firmware package: " << g_factory_firmware_path << std::endl;
load_firmware_files(g_factory_firmware_path, &g_factory_firmware_buffer, &g_factory_firmware_size);
g_factory_firmware_package_info.buffer = g_factory_firmware_buffer;
g_factory_firmware_package_info.size = g_factory_firmware_size;
parse_firmware_package(&g_factory_firmware_package_info);
common_initialized = true;
return K4A_RESULT_SUCCEEDED;
}
void tear_down_common_test()
{
if (g_connection_exerciser != nullptr)
{
g_k4a_port_number = -1;
delete g_connection_exerciser;
g_connection_exerciser = nullptr;
}
if (g_test_firmware_buffer != nullptr)
{
free(g_test_firmware_buffer);
g_test_firmware_buffer = nullptr;
}
if (g_candidate_firmware_buffer != nullptr)
{
free(g_candidate_firmware_buffer);
g_candidate_firmware_buffer = nullptr;
}
if (g_lkg_firmware_buffer != nullptr)
{
free(g_lkg_firmware_buffer);
g_lkg_firmware_buffer = nullptr;
}
if (g_factory_firmware_buffer != nullptr)
{
free(g_factory_firmware_buffer);
g_factory_firmware_buffer = nullptr;
}
if (g_serial_number != nullptr)
{
free(g_serial_number);
g_serial_number = nullptr;
}
common_initialized = false;
}
k4a_result_t load_firmware_files(char *firmware_path, uint8_t **firmware_buffer, size_t *firmware_size)
{
RETURN_VALUE_IF_ARG(K4A_RESULT_FAILED, firmware_path == NULL);
RETURN_VALUE_IF_ARG(K4A_RESULT_FAILED, firmware_buffer == NULL);
RETURN_VALUE_IF_ARG(K4A_RESULT_FAILED, firmware_size == NULL);
k4a_result_t result = K4A_RESULT_FAILED;
FILE *pFirmwareFile = NULL;
size_t numRead = 0;
uint8_t *tempFirmwareBuffer = NULL;
if ((pFirmwareFile = fopen(firmware_path, "rb")) != NULL)
{
fseek(pFirmwareFile, 0, SEEK_END);
size_t tempFirmwareSize = (size_t)ftell(pFirmwareFile);
if (tempFirmwareSize == (size_t)-1L)
{
LOG_ERROR("Failed to get size of the firmware package.", 0);
return K4A_RESULT_FAILED;
}
fseek(pFirmwareFile, 0, SEEK_SET);
tempFirmwareBuffer = (uint8_t *)malloc(tempFirmwareSize);
if (tempFirmwareBuffer == NULL)
{
LOG_ERROR("Failed to allocate memory.", 0);
return K4A_RESULT_FAILED;
}
LOG_INFO("Loaded: \"%s\", File size: %d bytes.", firmware_path, tempFirmwareSize);
numRead = fread(tempFirmwareBuffer, tempFirmwareSize, 1, pFirmwareFile);
fclose(pFirmwareFile);
if (numRead != 1)
{
LOG_ERROR("Failed to read all of the data from the file.", 0);
}
else
{
*firmware_buffer = tempFirmwareBuffer;
*firmware_size = tempFirmwareSize;
tempFirmwareBuffer = NULL;
result = K4A_RESULT_SUCCEEDED;
}
}
else
{
LOG_ERROR("Failed to open \"%s\" errno=%d", firmware_path, errno);
}
if (tempFirmwareBuffer)
{
free(tempFirmwareBuffer);
}
return result;
}
firmware_operation_status_t calculate_overall_component_status(const firmware_component_status_t status)
{
if (status.overall == FIRMWARE_OPERATION_SUCCEEDED)
{
return FIRMWARE_OPERATION_SUCCEEDED;
}
if (status.overall == FIRMWARE_OPERATION_INPROGRESS)
{
return FIRMWARE_OPERATION_INPROGRESS;
}
// If the version check failed, this component's update was skipped. This could because the new version is
// an unsafe downgrade or the versions are the same and no update is required.
if (status.version_check == FIRMWARE_OPERATION_FAILED)
{
return FIRMWARE_OPERATION_SUCCEEDED;
}
printf("Overall Component Status failed: A:%d V:%d T:%d E:%d W:%d O:%d\n",
status.authentication_check,
status.version_check,
status.image_transfer,
status.flash_erase,
status.flash_write,
status.overall);
return FIRMWARE_OPERATION_FAILED;
}
bool compare_version(k4a_version_t left_version, k4a_version_t right_version)
{
return left_version.major == right_version.major && left_version.minor == right_version.minor &&
left_version.iteration == right_version.iteration;
}
bool compare_version(k4a_hardware_version_t device_version, firmware_package_info_t firmware_version)
{
bool are_equal = true;
if (!compare_version(device_version.audio, firmware_version.audio))
{
printf("Audio version mismatch.\n");
are_equal = false;
}
if (!compare_version_list(device_version.depth_sensor,
firmware_version.depth_config_number_versions,
firmware_version.depth_config_versions))
{
printf("Depth sensor does not exist in package.\n");
are_equal = false;
}
if (!compare_version(device_version.depth, firmware_version.depth))
{
printf("Depth version mismatch.\n");
are_equal = false;
}
if (!compare_version(device_version.rgb, firmware_version.rgb))
{
printf("RGB version mismatch.\n");
are_equal = false;
}
return are_equal;
}
bool compare_version_list(k4a_version_t device_version, uint8_t count, k4a_version_t versions[5])
{
for (int i = 0; i < count; ++i)
{
if (device_version.major == versions[i].major && device_version.minor == versions[i].minor)
{
return true;
}
}
return false;
}
void log_firmware_build_config(k4a_firmware_build_t build_config)
{
std::cout << " Build Config: ";
switch (build_config)
{
case K4A_FIRMWARE_BUILD_RELEASE:
std::cout << "Production" << std::endl;
break;
case K4A_FIRMWARE_BUILD_DEBUG:
std::cout << "Debug" << std::endl;
break;
default:
std::cout << "Unknown" << std::endl;
}
}
void log_firmware_signature_type(k4a_firmware_signature_t signature_type, bool certificate)
{
if (certificate)
{
std::cout << " Certificate Type: ";
}
else
{
std::cout << " Signature Type: ";
}
switch (signature_type)
{
case K4A_FIRMWARE_SIGNATURE_MSFT:
std::cout << "Microsoft" << std::endl;
break;
case K4A_FIRMWARE_SIGNATURE_TEST:
std::cout << "Test" << std::endl;
break;
case K4A_FIRMWARE_SIGNATURE_UNSIGNED:
std::cout << "Unsigned" << std::endl;
break;
default:
std::cout << "Unknown (" << signature_type << ")" << std::endl;
}
}
void log_firmware_version(firmware_package_info_t firmware_version)
{
printf("Firmware Package Versions:\n");
printf(" RGB camera firmware: %d.%d.%d\n",
firmware_version.rgb.major,
firmware_version.rgb.minor,
firmware_version.rgb.iteration);
printf(" Depth camera firmware: %d.%d.%d\n",
firmware_version.depth.major,
firmware_version.depth.minor,
firmware_version.depth.iteration);
printf(" Depth config file: ");
for (size_t i = 0; i < firmware_version.depth_config_number_versions; i++)
{
printf("%d.%d ",
firmware_version.depth_config_versions[i].major,
firmware_version.depth_config_versions[i].minor);
}
printf("\n");
printf(" Audio firmware: %d.%d.%d\n",
firmware_version.audio.major,
firmware_version.audio.minor,
firmware_version.audio.iteration);
log_firmware_build_config(firmware_version.build_config);
log_firmware_signature_type(firmware_version.certificate_type, true);
log_firmware_signature_type(firmware_version.signature_type, false);
}
void log_device_version(k4a_hardware_version_t firmware_version)
{
printf("Current Firmware Versions:\n");
printf(" RGB camera firmware: %d.%d.%d\n",
firmware_version.rgb.major,
firmware_version.rgb.minor,
firmware_version.rgb.iteration);
printf(" Depth camera firmware: %d.%d.%d\n",
firmware_version.depth.major,
firmware_version.depth.minor,
firmware_version.depth.iteration);
printf(" Depth config file: %d.%d\n",
firmware_version.depth_sensor.major,
firmware_version.depth_sensor.minor);
printf(" Audio firmware: %d.%d.%d\n",
firmware_version.audio.major,
firmware_version.audio.minor,
firmware_version.audio.iteration);
log_firmware_build_config((k4a_firmware_build_t)firmware_version.firmware_build);
log_firmware_signature_type((k4a_firmware_signature_t)firmware_version.firmware_signature, true);
}
k4a_result_t open_firmware_device(firmware_t *firmware_handle)
{
int retry = 0;
uint32_t device_count = 0;
while (device_count == 0 && retry++ < 20)
{
K4A_TEST_VERIFY_SUCCEEDED(usb_cmd_get_device_count(&device_count));
if (device_count == 0)
{
ThreadAPI_Sleep(500);
}
}
K4A_TEST_VERIFY_LE(retry, 20);
LOG_INFO("Opening firmware device...", 0);
K4A_TEST_VERIFY_SUCCEEDED(firmware_create(g_serial_number, false, firmware_handle));
K4A_TEST_VERIFY_TRUE(*firmware_handle != nullptr);
return K4A_RESULT_SUCCEEDED;
}
k4a_result_t reset_device(firmware_t *firmware_handle)
{
LOG_INFO("Resetting device...", 0);
K4A_TEST_VERIFY_SUCCEEDED(firmware_reset_device(*firmware_handle));
firmware_destroy(*firmware_handle);
*firmware_handle = nullptr;
ThreadAPI_Sleep(1000);
// Re-open the device to ensure it is ready for use.
return TRACE_CALL(open_firmware_device(firmware_handle));
}
k4a_result_t disconnect_device(firmware_t *firmware_handle)
{
LOG_INFO("Disconnecting device...", 0);
K4A_TEST_VERIFY_SUCCEEDED(g_connection_exerciser->set_usb_port(0));
ThreadAPI_Sleep(1000);
K4A_TEST_VERIFY_SUCCEEDED(g_connection_exerciser->set_usb_port(g_k4a_port_number));
firmware_destroy(*firmware_handle);
*firmware_handle = nullptr;
ThreadAPI_Sleep(1000);
// Re-open the device to ensure it is ready for use.
return TRACE_CALL(open_firmware_device(firmware_handle));
}
k4a_result_t interrupt_operation(firmware_t *firmware_handle, firmware_operation_interruption_t interruption)
{
switch (interruption)
{
case FIRMWARE_INTERRUPTION_RESET:
return TRACE_CALL(reset_device(firmware_handle));
break;
case FIRMWARE_INTERRUPTION_DISCONNECT:
return TRACE_CALL(disconnect_device(firmware_handle));
break;
default:
LOG_ERROR("Unknown interruption type");
return K4A_RESULT_FAILED;
}
}
k4a_result_t interrupt_device_at_update_stage(firmware_t *firmware_handle,
firmware_operation_component_t component,
firmware_operation_interruption_t interruption,
firmware_status_summary_t *final_status,
bool verbose_logging)
{
RETURN_VALUE_IF_ARG(K4A_RESULT_FAILED, firmware_handle == nullptr);
RETURN_VALUE_IF_ARG(K4A_RESULT_FAILED, final_status == nullptr);
bool all_complete = false;
k4a_result_t result = K4A_RESULT_FAILED;
firmware_status_summary_t previous_status = {};
tickcounter_ms_t start_time_ms, now;
TICK_COUNTER_HANDLE tick = tickcounter_create();
K4A_TEST_VERIFY_TRUE(tick != nullptr);
K4A_TEST_VERIFY_EQUAL(0, tickcounter_get_current_ms(tick, &start_time_ms));
do
{
// This is not necessarily the final status we will get, but at any point could return and the caller needs to
// know the state of the update when we return.
result = firmware_get_download_status(*firmware_handle, final_status);
if (result == K4A_RESULT_SUCCEEDED)
{
if (verbose_logging)
{
if (memcmp(&previous_status.audio, &final_status->audio, sizeof(firmware_component_status_t)) != 0)
{
LOG_INFO("Audio: A:%d V:%d T:%d E:%d W:%d O:%d",
final_status->audio.authentication_check,
final_status->audio.version_check,
final_status->audio.image_transfer,
final_status->audio.flash_erase,
final_status->audio.flash_write,
final_status->audio.overall);
}
if (memcmp(&previous_status.depth_config,
&final_status->depth_config,
sizeof(firmware_component_status_t)) != 0)
{
LOG_INFO("Depth Config: A:%d V:%d T:%d E:%d W:%d O:%d",
final_status->depth_config.authentication_check,
final_status->depth_config.version_check,
final_status->depth_config.image_transfer,
final_status->depth_config.flash_erase,
final_status->depth_config.flash_write,
final_status->depth_config.overall);
}
if (memcmp(&previous_status.depth, &final_status->depth, sizeof(firmware_component_status_t)) != 0)
{
LOG_INFO("Depth: A:%d V:%d T:%d E:%d W:%d O:%d",
final_status->depth.authentication_check,
final_status->depth.version_check,
final_status->depth.image_transfer,
final_status->depth.flash_erase,
final_status->depth.flash_write,
final_status->depth.overall);
}
if (memcmp(&previous_status.rgb, &final_status->rgb, sizeof(firmware_component_status_t)) != 0)
{
LOG_INFO("RGB: A:%d V:%d T:%d E:%d W:%d O:%d",
final_status->rgb.authentication_check,
final_status->rgb.version_check,
final_status->rgb.image_transfer,
final_status->rgb.flash_erase,
final_status->rgb.flash_write,
final_status->rgb.overall);
}
previous_status = *final_status;
}
all_complete = ((final_status->audio.overall > FIRMWARE_OPERATION_INPROGRESS) &&
(final_status->depth_config.overall > FIRMWARE_OPERATION_INPROGRESS) &&
(final_status->depth.overall > FIRMWARE_OPERATION_INPROGRESS) &&
(final_status->rgb.overall > FIRMWARE_OPERATION_INPROGRESS));
// Check to see if now is the correct time to interrupt the device.
switch (component)
{
case FIRMWARE_OPERATION_START:
// As early as possible reset the device.
return TRACE_CALL(interrupt_operation(firmware_handle, interruption));
case FIRMWARE_OPERATION_AUDIO_ERASE:
if (final_status->audio.image_transfer == FIRMWARE_OPERATION_SUCCEEDED)
{
// The erase takes places after the transfer is complete and takes about 7.8 seconds.
int sleepTime = (int)((rand() / (float)RAND_MAX) * 7600);
sleepTime = 3800;
LOG_INFO("Audio Erase started, waiting %dms.", sleepTime);
ThreadAPI_Sleep(sleepTime);
TRACE_CALL(firmware_get_download_status(*firmware_handle, final_status));
return TRACE_CALL(interrupt_operation(firmware_handle, interruption));
}
break;
case FIRMWARE_OPERATION_AUDIO_WRITE:
if (final_status->audio.flash_erase == FIRMWARE_OPERATION_SUCCEEDED)
{
// The write takes places after the erase is complete and takes about 20 seconds.
int sleepTime = (int)((rand() / (float)RAND_MAX) * 19700);
sleepTime = 9850;
LOG_INFO("Audio Write started, waiting %dms.", sleepTime);
ThreadAPI_Sleep(sleepTime);
TRACE_CALL(firmware_get_download_status(*firmware_handle, final_status));
return TRACE_CALL(interrupt_operation(firmware_handle, interruption));
}
break;
case FIRMWARE_OPERATION_DEPTH_ERASE:
if (final_status->depth.image_transfer == FIRMWARE_OPERATION_SUCCEEDED)
{
// The erase takes places after the transfer is complete and takes about 0.25 seconds.
int sleepTime = (int)((rand() / (float)RAND_MAX) * 100);
sleepTime = 50;
LOG_INFO("Depth Erase started, waiting %dms.", sleepTime);
ThreadAPI_Sleep(sleepTime);
TRACE_CALL(firmware_get_download_status(*firmware_handle, final_status));
return TRACE_CALL(interrupt_operation(firmware_handle, interruption));
}
break;
case FIRMWARE_OPERATION_DEPTH_WRITE:
if (final_status->depth.flash_erase == FIRMWARE_OPERATION_SUCCEEDED)
{
// The write takes places after the transfer is complete and takes about 5.8 seconds.
int sleepTime = (int)((rand() / (float)RAND_MAX) * 5700);
sleepTime = 2850;
LOG_INFO("Depth Write started, waiting %dms.", sleepTime);
ThreadAPI_Sleep(sleepTime);
TRACE_CALL(firmware_get_download_status(*firmware_handle, final_status));
return TRACE_CALL(interrupt_operation(firmware_handle, interruption));
}
break;
case FIRMWARE_OPERATION_RGB_ERASE:
if (final_status->rgb.image_transfer == FIRMWARE_OPERATION_SUCCEEDED)
{
// The erase takes places after the transfer is complete and takes about 0.05 seconds.
LOG_INFO("RGB erase started...");
TRACE_CALL(firmware_get_download_status(*firmware_handle, final_status));
return TRACE_CALL(interrupt_operation(firmware_handle, interruption));
}
break;
case FIRMWARE_OPERATION_RGB_WRITE:
if (final_status->rgb.flash_erase == FIRMWARE_OPERATION_SUCCEEDED)
{
// The write takes places after the transfer is complete and takes about 6.1 seconds.
int sleepTime = (int)((rand() / (float)RAND_MAX) * 6000);
sleepTime = 3000;
LOG_INFO("RGB Write started, waiting %dms.", sleepTime);
ThreadAPI_Sleep(sleepTime);
TRACE_CALL(firmware_get_download_status(*firmware_handle, final_status));
return TRACE_CALL(interrupt_operation(firmware_handle, interruption));
}
break;
default:
break;
}
}
else
{
// Failed to get the status of the update operation. Attempt to reset the device and return.
LOG_ERROR("Failed to get the firmware update status.");
TRACE_CALL(interrupt_operation(firmware_handle, interruption));
return K4A_RESULT_FAILED;
}
K4A_TEST_VERIFY_EQUAL(0, tickcounter_get_current_ms(tick, &now));
if (!all_complete && (now - start_time_ms > UPDATE_TIMEOUT_MS))
{
// The update hasn't completed and too much time as passed. Attempt to reset the device and return.
LOG_ERROR("Timeout waiting for the update to complete.");
TRACE_CALL(interrupt_operation(firmware_handle, interruption));
return K4A_RESULT_FAILED;
}
if (!all_complete)
{
ThreadAPI_Sleep(UPDATE_POLL_INTERVAL_MS);
}
} while (!all_complete);
// At this point the update has completed, the device needs to be reset after the
// update has progressed.
return TRACE_CALL(interrupt_operation(firmware_handle, interruption));
}
k4a_result_t perform_device_update(firmware_t *firmware_handle,
uint8_t *firmware_buffer,
size_t firmware_size,
firmware_package_info_t firmware_package_info,
bool verbose_logging)
{
firmware_status_summary_t finalStatus;
k4a_hardware_version_t current_version;
K4A_TEST_VERIFY_SUCCEEDED(firmware_get_device_version(*firmware_handle, &current_version));
log_device_version(current_version);
log_firmware_version(firmware_package_info);
// Perform upgrade...
K4A_TEST_VERIFY_SUCCEEDED(firmware_download(*firmware_handle, firmware_buffer, firmware_size));
interrupt_device_at_update_stage(firmware_handle,
FIRMWARE_OPERATION_FULL_DEVICE,
FIRMWARE_INTERRUPTION_RESET,
&finalStatus,
verbose_logging);
K4A_TEST_VERIFY_EQUAL(FIRMWARE_OPERATION_SUCCEEDED, calculate_overall_component_status(finalStatus.audio));
K4A_TEST_VERIFY_EQUAL(FIRMWARE_OPERATION_SUCCEEDED, calculate_overall_component_status(finalStatus.depth_config));
K4A_TEST_VERIFY_EQUAL(FIRMWARE_OPERATION_SUCCEEDED, calculate_overall_component_status(finalStatus.depth));
K4A_TEST_VERIFY_EQUAL(FIRMWARE_OPERATION_SUCCEEDED, calculate_overall_component_status(finalStatus.rgb));
// Check upgrade...
K4A_TEST_VERIFY_SUCCEEDED(firmware_get_device_version(*firmware_handle, &current_version));
printf("Post full update ");
log_device_version(current_version);
K4A_TEST_VERIFY_TRUE(compare_version(current_version, firmware_package_info));
return K4A_RESULT_SUCCEEDED;
}
int main(int argc, char **argv)
{
bool error = false;
srand((unsigned int)time(0)); // use current time as seed for random generator
k4a_unittest_init();
::testing::InitGoogleTest(&argc, argv);
for (int i = 1; i < argc; ++i)
{
char *argument = argv[i];
for (int j = 0; argument[j]; j++)
{
argument[j] = (char)tolower(argument[j]);
}
if (strcmp(argument, "-cf") == 0 || strcmp(argument, "--candidate-firmware") == 0)
{
if (i + 1 <= argc)
{
g_candidate_firmware_path = argv[++i];
printf("Setting g_candidate_firmware_path = %s\n", g_candidate_firmware_path);
}
else
{
printf("Error: candidate firmware path parameter missing\n");
error = true;
}
}
if (strcmp(argument, "-tf") == 0 || strcmp(argument, "--test-firmware") == 0)
{
if (i + 1 <= argc)
{
g_test_firmware_path = argv[++i];
printf("Setting g_test_firmware_path = %s\n", g_test_firmware_path);
}
else
{
printf("Error: test firmware path parameter missing\n");
error = true;
}
}
if (strcmp(argument, "-lf") == 0 || strcmp(argument, "--lkg-firmware") == 0)
{
if (i + 1 <= argc)
{
g_lkg_firmware_path = argv[++i];
printf("Setting g_lkg_firmware_path = %s\n", g_lkg_firmware_path);
}
else
{
printf("Error: lkg firmware path parameter missing\n");
error = true;
}
}
if (strcmp(argument, "-ff") == 0 || strcmp(argument, "--factory-firmware") == 0)
{
if (i + 1 <= argc)
{
g_factory_firmware_path = argv[++i];
printf("Setting g_factory_firmware_path = %s\n", g_factory_firmware_path);
}
else
{
printf("Error: factory firmware path parameter missing\n");
error = true;
}
}
if ((strcmp(argument, "-h") == 0) || (strcmp(argument, "/h") == 0) || (strcmp(argument, "-?") == 0) ||
(strcmp(argument, "/?") == 0))
{
error = true;
}
}
if (error)
{
printf("\n\nCustom Test Settings:\n");
printf(" -cf | --candidate-firmware <firmware path>\n");
printf(" This is the path to the candidate firmware that should be tested.\n");
printf(" -tf | --test-firmware <firmware path>\n");
printf(" This is the path to the test firmware that will be used to test the candidate. It should have a "
"different version for all components.\n");
printf(" -lf | --lkg-firmware <firmware path>\n");
printf(" This is the path to the LKG firmware that will be used as a starting point for updating to the "
"candidate.\n");
printf(" -ff | --factory-firmware <firmware path>\n");
printf(" This is the path to the factory firmware that will be used as a starting point for updating to "
"the candidate.\n");
return 1; // Indicates an error or warning
}
int result = RUN_ALL_TESTS();
tear_down_common_test();
k4a_unittest_deinit();
return result;
}
Reference in New Issue View Git Blame Copy Permalink