flash-firmware fix

Dockerfile.hardware

@@ -1,17 +1,5 @@
-
 ARG ROS_DISTRO=melodic
 
-## ============================ STM32FLASH =================================
-# stm32flash needs an older version of glibc (2.28), which is why ubuntu 18.04 was used
-FROM ubuntu:18.04 AS stm32flash_builder
-
-# official releases are only for intel archs, so we need to build stm32flash from sources
-RUN apt-get update && apt-get install -y \
-		git \
-		build-essential && \
-	git clone https://github.com/stm32duino/stm32flash.git && \
-	cd stm32flash/ && \
-	make all
 
 ## =========================== STM32 firmware===============================
 # FROM --platform=linux/amd64 ubuntu:18.04 as stm32_firmware_builder
@@ -71,7 +59,7 @@ RUN export LC_ALL=C.UTF-8 && \
 		-DJOINT_STATES_ENABLE=1 \
 		-DROS_NOETIC_MSGS=${ROS_NOETIC_MSGS} \
 		-DKINEMATIC_TYPE=1" && \
-	pio run 
+	pio run
 
 ## =========================== ROS package builder ===============================
 
@@ -82,7 +70,7 @@ SHELL ["/bin/bash", "-c"]
 RUN apt update && apt install -y \
 		git \
 		python3-pip \
-		ros-$ROS_DISTRO-rosserial-python \ 
+		ros-$ROS_DISTRO-rosserial-python \
 		ros-$ROS_DISTRO-rosserial-server \
 		ros-$ROS_DISTRO-rosserial-client \
 		ros-$ROS_DISTRO-rosserial-msgs \
@@ -111,15 +99,16 @@ RUN mkdir -p src && \
 RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
 	catkin_make -DCATKIN_ENABLE_TESTING=0 -DCMAKE_BUILD_TYPE=Release
 
-## =========================== ROS image ===============================
 
-FROM ros:$ROS_DISTRO-ros-core 
+## =========================== Final Stage ===============================
+FROM ros:$ROS_DISTRO-ros-core
 
 SHELL ["/bin/bash", "-c"]
 
 RUN apt update && apt install -y \
 		python3-pip \
-		ros-$ROS_DISTRO-rosserial-python \ 
+		stm32flash \
+		ros-$ROS_DISTRO-rosserial-python \
 		ros-$ROS_DISTRO-rosserial-server \
 		ros-$ROS_DISTRO-rosserial-client \
 		ros-$ROS_DISTRO-rosserial-msgs \
@@ -143,7 +132,6 @@ COPY --from=pkg-builder /ros_ws /ros_ws
 # copy firmware built in previous stage
 COPY --from=stm32_firmware_builder /rosbot-stm32-firmware/.pio/build/core2_diff/firmware.bin /root/firmware_diff.bin
 COPY --from=stm32_firmware_builder /rosbot-stm32-firmware/.pio/build/core2_mec/firmware.bin /root/firmware_mecanum.bin
-COPY --from=stm32flash_builder /stm32flash/stm32flash /usr/bin/stm32flash
 
 # copy scripts
 COPY ./flash-firmware.py /
@@ -156,4 +144,4 @@ RUN echo ". /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc && \
 	echo ". /ros_ws/devel/setup.bash" >> ~/.profile
 
 ENTRYPOINT ["/ros_entrypoint.sh"]
-CMD ["bash"]
+CMD ["bash"]

flash-firmware.py

@@ -1,38 +1,50 @@
 #!/usr/bin/python3
 
-import sh 
+# Copyright 2023 Husarion
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import sh
 import time
 import sys
 import argparse
 from periphery import GPIO
 
 
-class FirmwareFlasher: 
+class FirmwareFlasher:
     def __init__(self, sys_arch, binary_file):
-
         self.binary_file = binary_file
         self.sys_arch = sys_arch
 
-        self.max_approach_no = 5
+        self.max_approach_no = 3
 
         print(f"System architecture: {self.sys_arch}")
 
-        if self.sys_arch.stdout == b'armv7l\n':
+        if self.sys_arch.stdout == b"armv7l\n":
             # Setups ThinkerBoard pins
             print("Device: ThinkerBoard\n")
             self.port = "/dev/ttyS1"
             boot0_pin_no = 164
             reset_pin_no = 184
-
 
-        elif self.sys_arch.stdout == b'x86_64\n':
+        elif self.sys_arch.stdout == b"x86_64\n":
             # Setups UpBoard pins
             print("Device: UpBoard\n")
             self.port = "/dev/ttyS4"
             boot0_pin_no = 17
             reset_pin_no = 18
-        
-        elif self.sys_arch.stdout == b'aarch64\n':
+
+        elif self.sys_arch.stdout == b"aarch64\n":
             # Setups RPi pins
             print("Device: RPi\n")
             self.port = "/dev/ttyAMA0"
@@ -45,79 +57,68 @@ def __init__(self, sys_arch, binary_file):
         self.boot0_pin = GPIO(boot0_pin_no, "out")
         self.reset_pin = GPIO(reset_pin_no, "out")
 
-
     def enter_bootloader_mode(self):
-
         self.boot0_pin.write(True)
         self.reset_pin.write(True)
         time.sleep(0.2)
         self.reset_pin.write(False)
         time.sleep(0.2)
-
 
     def exit_bootloader_mode(self):
-
         self.boot0_pin.write(False)
         self.reset_pin.write(True)
         time.sleep(0.2)
         self.reset_pin.write(False)
         time.sleep(0.2)
 
+    def try_flash_operation(self, operation_name, flash_command, flash_args):
+        for i in range(self.max_approach_no):
+            try:
+                flash_command(self.port, *flash_args, _out=sys.stdout)
+                time.sleep(0.2)
+                break
+            except Exception as e:
+                print(f"{operation_name} error! Trying again.")
+                print(f"Error: {e}")
+                print("---------------------------------------")
+        else:
+            print(f"WARNING! {operation_name} went wrong.")
 
     def flash_firmware(self):
-
         self.enter_bootloader_mode()
 
-        # Flashing the firmware
-        succes_no = 0
-        for i in range(self.max_approach_no):
-            try:      
-                if succes_no == 0:
-                    # Disable the flash write-protection
-                    sh.stm32flash(self.port, "-u", _out=sys.stdout)
-                    time.sleep(0.2)
-                    succes_no += 1
-
-                if succes_no == 1:
-                    # Disable the flash read-protection
-                    sh.stm32flash(self.port, "-k", _out=sys.stdout) 
-                    time.sleep(0.2)
-                    succes_no += 1
-
-                if succes_no == 2:
-                    # Flashing the firmware
-                    sh.stm32flash(self.port, "-v", w=self.binary_file, b="115200", _out=sys.stdout)
-                    time.sleep(0.2)
-                    break
-            except:
-                pass
+        # Disable the flash write-protection
+        self.try_flash_operation("Write-UnProtection", sh.stm32flash, ["-u"])
 
-        else:
-            print('ERROR! Something goes wrong. Try again.')
+        # Disable the flash read-protection
+        self.try_flash_operation("Read-UnProtection", sh.stm32flash, ["-k"])
 
+        # Flashing the firmware
+        flash_args = ["-v", "-w", self.binary_file, "-b", "115200"]
+        self.try_flash_operation("Flashing", sh.stm32flash, flash_args)
 
         self.exit_bootloader_mode()
 
 
-
 def main():
-
     parser = argparse.ArgumentParser(
-        description='Flashing the firmware on STM32 microcontroller in ROSbot')
-
+        description="Flashing the firmware on STM32 microcontroller in ROSbot"
+    )
+
     parser.add_argument(
-        "file", 
-        nargs='?', 
-        default="/root/firmware_diff.bin", 
-        help="Path to a firmware file. Default = /root/firmware_diff.bin")
-
-    binary_file = parser.parse_args().file 
-    sys_arch = sh.uname('-m')
+        "file",
+        nargs="?",
+        default="/root/firmware_diff.bin",
+        help="Path to a firmware file. Default = /root/firmware.bin",
+    )
+
+    binary_file = parser.parse_args().file
+    sys_arch = sh.uname("-m")
 
     flasher = FirmwareFlasher(sys_arch, binary_file)
     flasher.flash_firmware()
-    print("Done.")
+    print("Done!")
 
 
 if __name__ == "__main__":
-    main()
+    main()