DP-9127 fw update client integration

.github/workflows/tiiuae-pixhawk-and-saluki.yaml

@@ -41,10 +41,10 @@ permissions:
 
 env:
   saluki_fpga_repo: "ghcr.io/tiiuae/saluki-fpga"
-  saluki_pi_fpga_version: "4.14.0"
-  saluki_v2_fpga_version: "4.14.0"
-  saluki_v3_fpga_version: "4.14.0"
-  saluki_fmu2_fpga_version: "4.14.0"
+  saluki_pi_fpga_version: "4.15.0"
+  saluki_v2_fpga_version: "4.15.0"
+  saluki_v3_fpga_version: "4.15.0"
+  saluki_fmu2_fpga_version: "4.15.0"
 
 jobs:
   fc_matrix:

.gitmodules

@@ -94,3 +94,9 @@
 [submodule "Tools/simulation/gz/plugins/px4-gzsim-plugins"]
 	path = Tools/simulation/gz/plugins/px4-gzsim-plugins
 	url = https://github.com/tiiuae/px4-gzsim-plugins.git
+[submodule "src/modules/px4_fw_update_client"]
+	path = src/modules/px4_fw_update_client
+	url = git@github.com:tiiuae/px4-fw-update-client.git
+[submodule "src/lib/secure_udp"]
+	path = src/lib/secure_udp
+	url = git@github.com:tiiuae/px4-lib-secure-udp.git

Tools/generate_basic_build_info.sh

@@ -16,7 +16,11 @@ if [ -z "${1:-}" ]; then
 fi
 
 repo=$(basename `git rev-parse --show-toplevel`)
+# short sha for compatibility
 sha=$(git rev-parse --short HEAD)
+# separate px4_sha for long sha
+px4_sha=$(git rev-parse HEAD)
+
 # github variables are set only in github
 if [ -z "${GITHUB_SERVER_URL:-}" ] || [ -z "${GITHUB_REPOSITORY:-}" ] || [ -z "${GITHUB_RUN_ID:-}" ]; then
 	build_url="undefined"
@@ -28,6 +32,7 @@ fi
 declare -A build_info
 build_info["reponame"]=${repo}
 build_info["sha"]=${sha}
+build_info["px4_firmware_sha"]=${px4_sha}
 build_info["build_url"]=${build_url}
 
 # loop thru associative array and print key value pairs

Tools/px_uploader.entrypoint

@@ -39,6 +39,7 @@ function generate_metadata() {
     saluki_file_info=$(cat ${SALUKI_FILE_INFO_JSON} |
         jq -c '.files[] | select (.filename | contains("'${px4_filename}'")) |
         .filename = "'${px4_bin_filename}'" |
+        .px4_firmware_sha = "'${px4_sha}'" |
         .type = "px4-bin"')
     echo ${saluki_file_info} > ${validation_file}
 
@@ -75,6 +76,9 @@ if [ -n "$PX4_EXPORT_DIR" ]; then
         rm ${TEMP_JSON}
     fi
 
+    # px4 sha from the original json file
+    px4_sha=$(cat ${SALUKI_FILE_INFO_JSON} | jq -r '.px4_firmware_sha')
+
     # find all px4 files in the firmware directory
     for px4_file in /firmware/*.px4; do
         extract_bin_from_px4 $px4_file $PX4_EXPORT_DIR

clone_public.sh

@@ -9,6 +9,8 @@ do
   [[ "${repo}" == *pfsoc_crypto ]]  || \
   [[ "${repo}" == *pfsoc_keystore ]]  || \
   [[ "${repo}" == *pf_crypto ]] || \
+  [[ "${repo}" == *px4_fw_update_client ]] || \
+  [[ "${repo}" == *secure_udp ]] || \
   [[ "${repo}" == *process ]] && continue
   git submodule update --init --recursive "${repo}"
 done <<< "$(git submodule status | awk '{print $2}')"

src/lib/CMakeLists.txt

@@ -75,3 +75,6 @@ add_subdirectory(version EXCLUDE_FROM_ALL)
 add_subdirectory(weather_vane EXCLUDE_FROM_ALL)
 add_subdirectory(wind_estimator EXCLUDE_FROM_ALL)
 add_subdirectory(world_magnetic_model EXCLUDE_FROM_ALL)
+if (EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/secure_udp/CMakeLists.txt")
+        add_subdirectory(secure_udp EXCLUDE_FROM_ALL)
+endif()

src/lib/version/px_update_git_header.py

@@ -107,6 +107,16 @@
     if not tag_or_branch.startswith('release-'):
         tag_or_branch = 'master'
 
+# count commits since last tag
+# git log --oneline $(git describe --tags --abbrev=0)..HEAD | wc -l
+# this has to be ran with shell=True because if uses $() subshell
+try:
+    git_tag_top = subprocess.check_output('git log --oneline $(git describe --tags --abbrev=0)..HEAD | wc -l',
+                                           shell=True,
+                                           stderr=subprocess.STDOUT).decode('utf-8').strip()
+except:
+    git_tag_top = 0
+
 # build timestamp in epoch format
 build_timestamp = subprocess.check_output('date -u +%s'.split(),
                                           stderr=subprocess.STDOUT).decode('utf-8').strip()
@@ -119,6 +129,7 @@
 #define PX4_GIT_OEM_VERSION_STR  "{oem_tag}"
 
 #define PX4_GIT_TAG_OR_BRANCH_NAME "{tag_or_branch}" // special variable: git tag, release or master branch
+#define PX4_GIT_VERSION_TOP {git_tag_top}
 #define PX4_BUILD_TIME {build_timestamp}
 """
 

src/lib/version/version.c

@@ -242,6 +242,11 @@ uint32_t px4_firmware_vendor_version(void)
 	return version_tag_to_vendor_version_number(PX4_GIT_TAG_STR);
 }
 
+uint32_t px4_firmware_git_top_number(void)
+{
+	return PX4_GIT_VERSION_TOP;
+}
+
 const char *px4_firmware_git_branch(void)
 {
 	return PX4_GIT_BRANCH_NAME;

src/lib/version/version.h

@@ -141,6 +141,12 @@ __EXPORT uint32_t version_tag_to_vendor_version_number(const char *tag);
  */
 __EXPORT uint32_t px4_firmware_vendor_version(void);
 
+/**
+ * get the PX4 Firmware vendor version git tag top number
+ * @return number of git commits after git tag
+ */
+__EXPORT uint32_t px4_firmware_git_top_number(void);
+
 /**
  * get the board version (last 8 bytes should be silicon ID, if any)
  */