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codeloader.cpp
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/*
Copyright 2022 - 2025 Benjamin Vedder [email protected]
This file is part of VESC Tool.
VESC Tool is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
VESC Tool is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "codeloader.h"
#include "utility.h"
#include <QEventLoop>
#include <QFileDialog>
#include <QMessageBox>
#include <QNetworkAccessManager>
#include <QUrl>
#include <QNetworkRequest>
#include <QNetworkReply>
#include <QEventLoop>
#include <QQmlEngine>
#include <QQmlComponent>
#include <QQuickItem>
CodeLoader::CodeLoader(QObject *parent) : QObject(parent)
{
mVesc = nullptr;
mAbortDownloadUpload = false;
reloadPackageArchive();
}
VescInterface *CodeLoader::vesc() const
{
return mVesc;
}
void CodeLoader::setVesc(VescInterface *vesc)
{
mVesc = vesc;
}
bool CodeLoader::lispErase(int size)
{
if (!mVesc) {
return false;
}
if (!mVesc->isPortConnected()) {
mVesc->emitMessageDialog(tr("Erase old code"), tr("Not Connected"), false);
return false;
}
auto waitEraseRes = [this]() {
int res = -10;
QEventLoop loop;
QTimer timeoutTimer;
timeoutTimer.setSingleShot(true);
timeoutTimer.start(8000);
auto conn = connect(mVesc->commands(), &Commands::lispEraseCodeRx,
[&res,&loop](bool erRes) {
res = erRes ? 1 : -1;
loop.quit();
});
connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
loop.exec();
disconnect(conn);
return res;
};
mVesc->commands()->lispEraseCode(size);
int erRes = waitEraseRes();
if (erRes != 1) {
QString msg = tr("Unknown failure");
if (erRes == -10) {
msg = tr("Erase timed out");
} else if (erRes == -1) {
msg = tr("Erasing Lisp Code failed");
}
mVesc->emitMessageDialog(tr("Erase Lisp"), msg, false);
return false;
}
return true;
}
QString CodeLoader::reduceLispFile(QString fileData)
{
QString res;
auto lines = fileData.split("\n");
foreach (auto line, lines) {
int indComment = line.indexOf(";");
if (indComment >= 0) {
line.truncate(indComment);
}
while (line.startsWith(" ") || line.startsWith("\t")) {
line.remove(0, 1);
}
while (line.endsWith(" ") || line.endsWith("\t")) {
line.chop(1);
}
if (!line.startsWith("(import", Qt::CaseInsensitive) &&
!line.isEmpty()) {
res.append(line + "\n");
}
}
// Print files before and after reduction
#if 0
QDir().mkpath("lispReduceBefore");
QDir().mkpath("lispReduceAfter");
int fileNum = QDir("lispReduceBefore").
entryInfoList(QDir::NoFilter, QDir::Name).size();
QFile fBefore(QString("lispReduceBefore/lispBeforeReduce%1.lisp").arg(fileNum));
if (fBefore.open(QIODevice::WriteOnly | QIODevice::Text)) {
fBefore.write(fileData.toUtf8());
fBefore.close();
}
QFile fAfter(QString("lispReduceAfter/lispAfterBefore%1.lisp").arg(fileNum));
if (fAfter.open(QIODevice::WriteOnly | QIODevice::Text)) {
fAfter.write(res.toUtf8());
fAfter.close();
}
#endif
return res;
}
QByteArray CodeLoader::lispPackImports(QString codeStr, QString editorPath, bool reduceLisp)
{
VByteArray vb;
vb.vbAppendUint16(0); // Flags: 0
if (reduceLisp) {
vb.append(reduceLispFile(codeStr).toLocal8Bit());
} else {
vb.append(codeStr.toLocal8Bit());
}
if (vb.at(vb.size() - 1) != '\0') {
vb.append('\0');
}
auto dbg = [this](QString title, QString msg, bool isGood) {
if (mVesc) {
mVesc->emitMessageDialog(title, msg, isGood);
} else {
if (isGood) {
qDebug() << title << ":" << msg;
} else {
qWarning() << title << ":" << msg;
}
}
};
// Create and append data table
{
QList<QPair<QString, QByteArray> > files;
auto lines = codeStr.split("\n");
int line_num = 0;
foreach (auto line, lines) {
line_num++;
QString path;
QString tag;
bool isInvalid;
if (getImportFromLine(line, path, tag, isInvalid)) {
if (isInvalid) {
dbg(tr("Append Imports"),
tr("Line: %1: Invalid import tag.").arg(line_num),
false);
return QByteArray();
}
auto pkgErrorMsg = "If you are importing from a package downloaded from the package store, "
"you might need to update the package archive. That can be done from "
"the VESC Packages page.";
bool isPkgImport = false;
QString pkgImportName;
if (path.startsWith("pkg::")) {
path.remove(0, 5);
auto atInd = path.indexOf("@");
if (atInd > 0) {
pkgImportName = path.mid(0, atInd);
path.remove(0, atInd + 1);
} else {
dbg(tr("Append Imports"),
tr("Line: %1: Invalid import tag.").arg(line_num),
false);
return QByteArray();
}
isPkgImport = true;
} else if (path.startsWith("pkg@")) {
path.remove(0, 4);
isPkgImport = true;
}
QFileInfo fi(editorPath + "/" + path);
if (!fi.exists()) {
fi = QFileInfo(path);
}
if (fi.exists()) {
QFile f(fi.absoluteFilePath());
if (f.open(QIODevice::ReadOnly)) {
auto fileData = f.readAll();
if (isPkgImport) {
auto pkg = unpackVescPackage(fileData);
auto imports = lispUnpackImports(pkg.lispData);
if (pkgImportName.isEmpty()) {
auto importData = imports.first.toLocal8Bit();
importData.append('\0'); // Pad with 0 in case it is a text file
files.append(qMakePair(tag, importData));
} else {
bool found = false;
foreach (auto i, imports.second) {
if (i.first == pkgImportName) {
auto importData = i.second;
importData.append('\0'); // Pad with 0 in case it is a text file
files.append(qMakePair(tag, importData));
found = true;
break;
}
}
if (!found) {
mVesc->emitMessageDialog(tr("Append Imports"),
tr("Tag %1 not found in package %2. %3").
arg(pkgImportName).arg(path).arg(pkgErrorMsg),
false);
return QByteArray();
}
}
} else {
if (reduceLisp && fi.absoluteFilePath().endsWith(".lisp", Qt::CaseInsensitive)) {
fileData = reduceLispFile(QString::fromUtf8(fileData)).toUtf8();
}
fileData.append('\0'); // Pad with 0 in case it is a text file
files.append(qMakePair(tag, fileData));
}
} else {
dbg(tr("Append Imports"),
tr("Line: %1: Imported file cannot be opened.").arg(line_num),
false);
return QByteArray();
}
} else {
dbg(tr("Append Imports"),
tr("Line: %1: Imported file not found: %2. %3").
arg(line_num).arg(fi.absoluteFilePath()).arg(pkgErrorMsg),
false);
return QByteArray();
}
}
}
int file_table_size = 0;
for (auto f: files) {
file_table_size += f.first.length() + 9;
}
vb.vbAppendInt16(files.size());
int file_offset = vb.size() + file_table_size - 2;
for (auto f: files) {
// Align on 4 bytes in case this is loaded as code
while (file_offset % 4 != 0) {
file_offset++;
}
vb.vbAppendString(f.first);
vb.vbAppendInt32(file_offset);
vb.vbAppendInt32(f.second.size());
file_offset += f.second.size();
}
for (auto f: files) {
while ((vb.size() - 2) % 4 != 0) {
vb.append('\0');
}
vb.append(f.second);
}
}
return std::move(vb);
}
QPair<QString, QList<QPair<QString, QByteArray> > > CodeLoader::lispUnpackImports(QByteArray data)
{
// In case the import starts with a flag it is removed here. Note: The flag is a
// bit confusing and there is a slightly more consistent way of handling it, but
// I left it as is to not break compatibility.
if (data.size() > 2 && data[0] == '\0' && data[1] == '\0') {
data.remove(0, 2);
}
QList<QPair<QString, QByteArray> > imports;
int end = data.indexOf(QByteArray("\0", 1));
if (end > 0) {
VByteArray vb = data.mid(end + 1);
if (vb.size() > 3) {
auto num_imports = vb.vbPopFrontInt16();
if (num_imports > 0 && num_imports < 500) {
for (int i = 0;i < num_imports;i++) {
auto name = vb.vbPopFrontString();
auto offset = vb.vbPopFrontInt32();
auto len = vb.vbPopFrontInt32() - 1; // Remove 1 as the files are padded with one 0
imports.append(qMakePair(name, data.mid(offset, len)));
}
}
}
data = data.left(end);
}
return qMakePair(QString::fromLocal8Bit(data), imports);
}
bool CodeLoader::lispUpload(VByteArray vb)
{
quint16 crc = Packet::crc16((const unsigned char*)vb.constData(), uint32_t(vb.size()));
VByteArray data;
data.vbAppendUint32(vb.size() - 2);
data.vbAppendUint16(crc);
data.append(vb);
// The ESP32 partition table has 512k space for lisp scripts. The STM32
// has one 128k flash page.
auto fwParams = mVesc->getLastFwRxParams();
int max_size = 1024 * 500;
if (fwParams.hwType == HW_TYPE_VESC) {
max_size = 1024 * 120;
}
if (data.size() > max_size) {
mVesc->emitMessageDialog(tr("Upload Code"), tr("Not enough space"), false);
return false;
}
auto waitWriteRes = [this]() {
int res = -10;
QEventLoop loop;
QTimer timeoutTimer;
timeoutTimer.setSingleShot(true);
timeoutTimer.start(1000);
auto conn = connect(mVesc->commands(), &Commands::lispWriteCodeRx,
[&res,&loop](bool erRes, quint32 offset) {
(void)offset;
res = erRes ? 1 : -1;
loop.quit();
});
connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
loop.exec();
disconnect(conn);
return res;
};
auto writeChunk = [this, waitWriteRes](QByteArray data, quint32 offset) {
int tries = 5;
int res = -10;
while (tries > 0) {
mVesc->commands()->lispWriteCode(data, offset);
if ((res = waitWriteRes()) >= 0) {
return res;
}
tries--;
}
return res;
};
auto sizeTotal = data.size();
quint32 offset = 0;
bool ok = true;
mAbortDownloadUpload = false;
while (data.size() > 0 && !mAbortDownloadUpload) {
const int chunkSize = 384;
int sz = data.size() > chunkSize ? chunkSize : data.size();
if (writeChunk(data.mid(0, sz), offset) < 0) {
mVesc->emitMessageDialog(tr("Upload Code"), tr("Write failed"), false);
ok = false;
break;
}
emit lispUploadProgress(sizeTotal - data.size(), sizeTotal);
offset += sz;
data.remove(0, sz);
}
if (mAbortDownloadUpload) {
ok = false;
}
emit lispUploadProgress(sizeTotal, sizeTotal);
return ok;
}
bool CodeLoader::lispUpload(QString codeStr, QString editorPath, bool reduceLisp)
{
VByteArray vb = lispPackImports(codeStr, editorPath, reduceLisp);
if (vb.isEmpty()) {
return false;
}
return lispUpload(vb);
}
bool CodeLoader::lispUploadFromPath(QString path, bool reduceLisp)
{
QFile f(path);
if (f.open(QIODevice::ReadOnly)) {
QFileInfo fi(f);
VByteArray lispData = lispPackImports(f.readAll(), fi.canonicalPath(), reduceLisp);
f.close();
if (!lispData.isEmpty()) {
bool ok = lispErase(lispData.size() + 100);
if (ok) {
return lispUpload(lispData);
}
}
}
return false;
}
bool CodeLoader::lispStream(VByteArray vb, qint8 mode)
{
if (!mVesc->isPortConnected()) {
mVesc->emitMessageDialog(tr("Stream code"), tr("Not Connected"), false);
return false;
}
auto waitWriteRes = [this]() {
int res = -10;
QEventLoop loop;
QTimer timeoutTimer;
timeoutTimer.setSingleShot(true);
timeoutTimer.start(4000);
auto conn = connect(mVesc->commands(), &Commands::lispStreamCodeRx,
[&res,&loop](qint32 offset, qint16 result) {
(void)offset;
res = result;
loop.quit();
});
connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
loop.exec();
disconnect(conn);
return res;
};
qint32 offset = 0;
qint32 size_tot = vb.size();
bool ok = true;
while (vb.size() > 0) {
const int chunkSize = 384;
int sz = vb.size() > chunkSize ? chunkSize : vb.size();
mVesc->commands()->lispStreamCode(vb.mid(0, sz), offset, size_tot, mode);
auto writeRes = waitWriteRes();
if (writeRes != 0) {
mVesc->emitMessageDialog(tr("Stream Code"), tr("Stream failed. Result: %1").arg(writeRes), false);
ok = false;
break;
}
offset += sz;
vb.remove(0, sz);
}
return ok;
}
QString CodeLoader::lispRead(QWidget *parent, QString &lispPath)
{
if (!mVesc->isPortConnected()) {
mVesc->emitMessageDialog(tr("Read code"), tr("Not Connected"), false);
return "";
}
QByteArray lispData;
int lenLispLast = 0;
auto conn = connect(mVesc->commands(), &Commands::lispReadCodeRx,
[&](int lenLisp, int ofsLisp, QByteArray data) {
if (lispData.size() <= ofsLisp) {
lispData.append(data);
}
lenLispLast = lenLisp;
});
auto getLispChunk = [&](int size, int offset, int tries, int timeout) {
bool res = false;
for (int j = 0;j < tries;j++) {
mVesc->commands()->lispReadCode(size, offset);
res = Utility::waitSignal(mVesc->commands(), SIGNAL(lispReadCodeRx(int,int,QByteArray)), timeout);
if (res) {
break;
}
}
return res;
};
QString res = "";
mAbortDownloadUpload = false;
if (getLispChunk(10, 0, 5, 1500)) {
while (lispData.size() < lenLispLast && !mAbortDownloadUpload) {
int dataLeft = lenLispLast - lispData.size();
if (!getLispChunk(dataLeft > 400 ? 400 : dataLeft, lispData.size(), 5, 1500)) {
break;
}
emit lispUploadProgress(lispData.size(), lenLispLast);
}
if (mAbortDownloadUpload) {
return res;
}
if (lispData.size() == lenLispLast) {
auto unpacked = lispUnpackImports(lispData);
res = unpacked.first;
auto num_imports = unpacked.second.length();
if (num_imports > 0) {
auto reply = QMessageBox::warning(parent,
tr("Imports"),
tr("%1 imports found. Do you want to save them as files?").arg(num_imports),
QMessageBox::Yes | QMessageBox::No);
QMap<QString, QString> importPaths;
foreach (auto line, res.split('\n')) {
QString path;
QString tag;
bool isInvalid;
if (getImportFromLine(line, path, tag, isInvalid)) {
if (!isInvalid) {
importPaths.insert(tag, path);
}
}
}
if (reply == QMessageBox::Yes) {
QString dirName = QFileDialog::getExistingDirectory(parent, tr("Choose Directory"));
if (!dirName.isEmpty()) {
QFile fileLisp(dirName + "/From VESC.lisp");
if (!fileLisp.exists()) {
if (fileLisp.open(QIODevice::WriteOnly)) {
fileLisp.write(res.toUtf8());
fileLisp.close();
lispPath = QFileInfo(fileLisp).canonicalFilePath();
}
}
foreach (auto i, unpacked.second) {
QString fileName = dirName + "/" + i.first + ".bin";
if (importPaths.contains(i.first)) {
const auto &path = importPaths[i.first];
if (!path.startsWith("/") &&
!path.startsWith("\\") &&
!path.startsWith("pkg::") &&
!path.startsWith("pkg@")) {
fileName = dirName + "/" + path;
}
}
QFile file(fileName);
QFileInfo fi(file);
QDir().mkpath(fi.path());
if (file.exists()) {
auto reply = QMessageBox::question(parent,
tr("Replace File"),
tr("File %1 exists. Do you want to replace it?").arg(i.first));
if (reply != QMessageBox::Yes) {
continue;
}
}
if (!file.open(QIODevice::WriteOnly)) {
QMessageBox::critical(parent, tr("Save Import"),
"Could not open\n" + file.fileName() + "\nfor writing");
return QByteArray();
}
file.write(i.second);
file.close();
}
}
}
}
return res;
}
}
mVesc->emitMessageDialog(tr("Get Lisp"),
tr("Could not read Lisp code"),
false);
disconnect(conn);
return "";
}
bool CodeLoader::qmlErase(int size)
{
if (!mVesc) {
return false;
}
if (!mVesc->isPortConnected()) {
mVesc->emitMessageDialog(tr("Erase Qml"), tr("Not Connected"), false);
return false;
}
auto waitEraseRes = [this]() {
int res = -10;
QEventLoop loop;
QTimer timeoutTimer;
timeoutTimer.setSingleShot(true);
timeoutTimer.start(6000);
auto conn = connect(mVesc->commands(), &Commands::eraseQmluiResReceived,
[&res,&loop](bool erRes) {
res = erRes ? 1 : -1;
loop.quit();
});
connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
loop.exec();
disconnect(conn);
return res;
};
mVesc->commands()->qmlUiErase(size);
int erRes = waitEraseRes();
if (erRes != 1) {
QString msg = "Unknown failure";
if (erRes == -10) {
msg = "Erase timed out";
} else if (erRes == -1) {
msg = "Erasing QMLUI failed";
}
mVesc->emitMessageDialog(tr("Erase Qml"), msg, false);
return false;
}
return true;
}
QByteArray CodeLoader::qmlCompress(QString script)
{
script.prepend("import \"qrc:/mobile\";");
script.prepend("import Vedder.vesc.vescinterface 1.0;");
return qCompress(script.toUtf8(), 9);
}
bool CodeLoader::qmlUpload(QByteArray script, bool isFullscreen)
{
auto waitWriteRes = [this]() {
int res = -10;
QEventLoop loop;
QTimer timeoutTimer;
timeoutTimer.setSingleShot(true);
timeoutTimer.start(1000);
auto conn = connect(mVesc->commands(), &Commands::writeQmluiResReceived,
[&res,&loop](bool erRes, quint32 offset) {
(void)offset;
res = erRes ? 1 : -1;
loop.quit();
});
connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
loop.exec();
disconnect(conn);
return res;
};
auto writeChunk = [this, waitWriteRes](QByteArray data, quint32 offset) {
int tries = 5;
int res = -10;
while (tries > 0) {
mVesc->commands()->qmlUiWrite(data, offset);
if ((res = waitWriteRes()) >= 0) {
return res;
}
tries--;
}
return res;
};
VByteArray vb;
vb.vbAppendUint16(isFullscreen ? 2 : 1);
vb.append(script);
quint16 crc = Packet::crc16((const unsigned char*)vb.constData(),
uint32_t(vb.size()));
VByteArray data;
data.vbAppendUint32(vb.size() - 2);
data.vbAppendUint16(crc);
data.append(vb);
if (data.size() > (1024 * 120)) {
mVesc->emitMessageDialog(tr("Upload Qml"), tr("Not enough space"), false);
return false;
}
quint32 offset = 0;
bool ok = true;
while (data.size() > 0) {
const int chunkSize = 384;
int sz = data.size() > chunkSize ? chunkSize : data.size();
if (writeChunk(data.mid(0, sz), offset) < 0) {
mVesc->emitMessageDialog(tr("Upload Qml"), tr("Qml write failed"), false);
ok = false;
break;
}
offset += sz;
data.remove(0, sz);
}
return ok;
}
QByteArray CodeLoader::packVescPackage(VescPackage pkg)
{
VByteArray data;
data.vbAppendString("VESC Packet");
if (!pkg.name.isEmpty()) {
auto dataRaw = pkg.name.toUtf8();
data.vbAppendString("name");
data.vbAppendInt32(dataRaw.size());
data.append(dataRaw);
}
if (!pkg.description.isEmpty()) {
auto dataRaw = pkg.description.toUtf8();
data.vbAppendString("description");
data.vbAppendInt32(dataRaw.size());
data.append(dataRaw);
}
if (!pkg.description_md.isEmpty()) {
auto dataRaw = pkg.description_md.toUtf8();
data.vbAppendString("description_md");
data.vbAppendInt32(dataRaw.size());
data.append(dataRaw);
}
if (!pkg.lispData.isEmpty()) {
data.vbAppendString("lispData");
data.vbAppendInt32(pkg.lispData.size());
data.append(pkg.lispData);
}
if (!pkg.qmlFile.isEmpty()) {
auto dataRaw = pkg.qmlFile.toUtf8();
data.vbAppendString("qmlFile");
data.vbAppendInt32(dataRaw.size());
data.append(dataRaw);
}
if (!pkg.pkgDescQml.isEmpty()) {
auto dataRaw = pkg.pkgDescQml.toUtf8();
data.vbAppendString("pkgDescQml");
data.vbAppendInt32(dataRaw.size());
data.append(dataRaw);
}
data.vbAppendString("qmlIsFullscreen");
data.vbAppendInt32(1);
data.vbAppendInt8(pkg.qmlIsFullscreen);
return qCompress(data, 9);
}
VescPackage CodeLoader::unpackVescPackage(QByteArray data)
{
VescPackage pkg;
VByteArray vb(qUncompress(data));
// Yes, packet is a typo and should say package...
// That does not matter in practice and changing that now breaks
// compatibility.
if (vb.vbPopFrontString() != "VESC Packet") {
qWarning() << "Invalid VESC Packet";
return pkg;
}
pkg.compressedData = data;
while (!vb.isEmpty()) {
QString name = vb.vbPopFrontString();
if (name.isEmpty()) {
qWarning() << "Empty name";
break;
}
if (name == "name") {
auto len = vb.vbPopFrontInt32();
auto dataRaw = vb.left(len);
vb.remove(0, len);
pkg.name = QString::fromUtf8(dataRaw);
pkg.loadOk = true;
} else if (name == "description") {
auto len = vb.vbPopFrontInt32();
auto dataRaw = vb.left(len);
vb.remove(0, len);
pkg.description = QString::fromUtf8(dataRaw);
pkg.loadOk = true;
} else if (name == "description_md") {
auto len = vb.vbPopFrontInt32();
auto dataRaw = vb.left(len);
vb.remove(0, len);
pkg.description_md = QString::fromUtf8(dataRaw);
pkg.loadOk = true;
} else if (name == "lispData") {
auto len = vb.vbPopFrontInt32();
auto dataRaw = vb.left(len);
vb.remove(0, len);
pkg.lispData = dataRaw;
pkg.loadOk = true;
} else if (name == "qmlFile") {
auto len = vb.vbPopFrontInt32();
auto dataRaw = vb.left(len);
vb.remove(0, len);
pkg.qmlFile = QString::fromUtf8(dataRaw);
pkg.loadOk = true;
} else if (name == "qmlIsFullscreen") {
vb.vbPopFrontInt32(); // Discard length
pkg.qmlIsFullscreen = vb.vbPopFrontInt8();
} else if (name == "pkgDescQml") {
auto len = vb.vbPopFrontInt32();
auto dataRaw = vb.left(len);
vb.remove(0, len);
pkg.pkgDescQml = QString::fromUtf8(dataRaw);
pkg.loadOk = true;
} else {
// Unknown identifier, skip
auto len = vb.vbPopFrontInt32();
vb.remove(0, len);
}
}
return pkg;
}
bool CodeLoader::installVescPackage(VescPackage pkg)
{
if (!pkg.loadOk) {
mVesc->emitMessageDialog(tr("Write Package"), tr("Package is not valid."), false);
return false;
}
bool res = true;
QByteArray qml;
if (!pkg.qmlFile.isEmpty()) {
qml = qmlCompress(pkg.qmlFile);
res = qmlErase(qml.size() + 100);
if (res) {
res = qmlUpload(qml, pkg.qmlIsFullscreen);
}
} else {
res = qmlErase(16);
}
if (res) {
if (!pkg.lispData.isEmpty()) {
res = lispErase(pkg.lispData.size() + 100);
if (res) {
res = lispUpload(VByteArray(pkg.lispData));
if (res) {
mVesc->commands()->lispSetRunning(1);
}
}
} else {
res = lispErase(16);
}
}
Utility::sleepWithEventLoop(500);
mVesc->reloadFirmware();
return res;
}
bool CodeLoader::installVescPackage(QByteArray data)
{
return installVescPackage(unpackVescPackage(data));
}
bool CodeLoader::installVescPackageFromPath(QString path)
{
if (path.startsWith("file:/")) {
path.remove(0, 6);
}
QFile f(path);
if (!f.open(QIODevice::ReadOnly)) {
mVesc->emitMessageDialog(tr("Write Package"),
tr("Could not open package file for reading."),
false, false);
return false;
}
return installVescPackage(f.readAll());
}
QVariantList CodeLoader::reloadPackageArchive()
{
QVariantList res;
QString appDataLoc = QStandardPaths::writableLocation(QStandardPaths::AppDataLocation);
if(!QDir(appDataLoc).exists()) {
QDir().mkpath(appDataLoc);
}
QString path = appDataLoc + "/vesc_pkg_all.rcc";
QFile file(path);
if (file.exists()) {
QResource::unregisterResource(path);
QResource::registerResource(path);
QString pkgDir = "://vesc_packages";
QDirIterator it(pkgDir);
while (it.hasNext()) {
QFileInfo fi(it.next());
QDirIterator it2(fi.absoluteFilePath());
while (it2.hasNext()) {
QFileInfo fi2(it2.next());
if (fi2.absoluteFilePath().toLower().endsWith(".vescpkg")) {
QString name = fi2.fileName();
QFile f(fi2.absoluteFilePath());
if (f.open(QIODevice::ReadOnly)) {
auto pkg = unpackVescPackage(f.readAll());
name = pkg.name;
pkg.isLibrary = fi2.absoluteFilePath().startsWith("://vesc_packages/lib_");
res.append(QVariant::fromValue(pkg));