flash.h

Go to the documentation of this file.

#pragma once
 
#include <chrono>
#include <functional>
#include <map>
#include <vector>
 
#include "core/containers/thread_safe_queue.h"
#include "motion-master.pb.h"
 
class EthercatSlave;
class MotionMasterError;
class VirtualDeviceManager;
 
class Flash {
 public:
  Flash(VirtualDeviceManager& vdm, uint32_t device_address, const char* data,
        size_t size, bool skip_sii_installation,
        std::vector<std::string> skip_files);

  MotionMasterError start();
 
  mm::core::containers::ThreadSafeQueue<
      motionmaster::MotionMasterMessage::Status*>&
  get_status_message_queue();
 
 private:
  VirtualDeviceManager& vdm_;
  EthercatSlave* slave_;
 
  uint32_t device_address_;
  std::vector<uint8_t> zip_data_;
  std::map<std::string, std::vector<uint8_t>> unzipped_files_;
  std::string sii_file_name_;
  std::string app_file_name_;
  std::string com_file_name_;
 
  bool skip_sii_installation_ = false;
 
  std::vector<std::string> skip_files_;
 
  std::pair<uint8_t, uint8_t> progress_range_;
  uint8_t progress_percentage_ = 0;
  std::string progress_message_;
 
  mm::core::containers::ThreadSafeQueue<
      motionmaster::MotionMasterMessage::Status*>
      outgoing_status_message_queue_;
 
  std::function<void(uint8_t)> progress_callback_;

  MotionMasterError flash_bin_file(const std::string& file_name,
                                   const std::vector<uint8_t>& content);

  void send_progress(uint8_t percentage, const std::string& message = "");

  void send_warning(motionmaster::MotionMasterMessage::Status::
                        DeviceFirmwareInstallation::Warning::Code warning_code,
                    const std::string& message);
};