vcs.maemo.org Git - mardrone/blob - mardrone/ARDrone_SDK_Version_1_8_20110726/Examples/iPhone/FreeFlight/Classes/Menus/MenuUpdater.m

   1 //
   2 //  ARUpdaterViewController.m
   3 //  AR.Updater
   4 //
   5 //  Created by Robert Ryll on 10-05-14.
   6 //  Copyright Playsoft 2010. All rights reserved.
   7 //
   8
   9 #import "MenuUpdater.h"
  10 #include <sys/socket.h>
  11 #include <netinet/in.h>
  12 #include <arpa/inet.h>
  13 #include <unistd.h>
  14 #include "plf.h"
  15
  16 #define UPDATER_ASSERT(var, value)                                                                      \
  17 if (var != value)                                                                                                       \
  18 {                                                                                                                                       \
  19         NSLog(@"oO ! "#var" is #%u (should be #%u)", (var), (value));   \
  20         return;                                                                                                                 \
  21 }
  22
  23 static NSArray *documentPath = nil;
  24
  25 static const NSString *stepKeys[] =
  26 {
  27         @"Connecting",
  28         @"Checking/updating bootloader",
  29         @"Checking version",
  30         @"Sending file",
  31         @"Restarting AR.Drone",
  32         @"Installing",
  33 };
  34
  35 enum
  36 {
  37         STEP_IMAGE_EMPTY,
  38         STEP_IMAGE_PASS,
  39         STEP_IMAGE_FAIL,
  40         STEP_IMAGE_PROBLEM
  41 };
  42
  43 #define LINE_H                   22
  44 #define STATUS_LINE_NR    2
  45 #define INDICATOR_S              10
  46
  47 #define IPAD_LINE_H                       50
  48 #define IPAD_INDICATOR_S          20
  49 #define IPAD_OFFSET_X             50
  50
  51 #define OFFSET_Y                (SCREEN_H - (STATUS_LINE_NR + NUMBER_OF_UPDATER_STEPS + 3) * LINE_H)
  52 #define IMG_H                   (OFFSET_Y - LINE_H)
  53 #define STATUS_Y                (OFFSET_Y + LINE_H)
  54 #define STEP_LINE_Y             (STATUS_Y + LINE_H * STATUS_LINE_NR + LINE_H)
  55 #define INDICATOR_M             ((LINE_H - INDICATOR_S) / 2)
  56
  57 #define IPAD_OFFSET_Y           ((IPAD_SCREEN_H - (STATUS_LINE_NR + NUMBER_OF_UPDATER_STEPS) * IPAD_LINE_H) / 2)
  58 #define IPAD_IMG_H                      (IPAD_OFFSET_Y - IPAD_LINE_H)
  59 #define IPAD_STATUS_Y           (IPAD_OFFSET_Y + IPAD_LINE_H)
  60 #define IPAD_STEP_LINE_Y        (IPAD_STATUS_Y + IPAD_LINE_H * STATUS_LINE_NR + IPAD_LINE_H)
  61 #define IPAD_INDICATOR_M        ((IPAD_LINE_H - IPAD_INDICATOR_S) / 2)
  62
  63 #define MAX_RETRIES 5
  64
  65 #define VERSION_TXT @"version.txt"
  66 #define REPAIR_VERSION_TXT @"repair_version.txt"
  67
  68 @implementation MenuUpdater
  69 @synthesize firmwareVersion;
  70 @synthesize firmwarePath;
  71 @synthesize firmwareFileName;
  72 @synthesize repairPath;
  73 @synthesize repairFileName;
  74 @synthesize repairVersion;
  75 @synthesize bootldrPath;
  76 @synthesize bootldrFileName;
  77 @synthesize droneFirmwareVersion;
  78 @synthesize localIP;
  79
  80 @synthesize ftp;
  81 @synthesize repairFtp;
  82 @synthesize fsm;
  83
  84 #pragma mark init
  85 - (id) initWithController:(MenuController*)menuController
  86 {
  87         NSArray *targetArray = [[[NSBundle mainBundle] infoDictionary] objectForKey:@"UIDeviceFamily"];
  88         compiledForIPad = NO;
  89         self.localIP = nil;
  90
  91         for (int i = 0; i < [targetArray count]; i++)
  92         {
  93                 NSNumber* num = (NSNumber*)[targetArray objectAtIndex:i];
  94                 int value;
  95                 [num getValue:&value];
  96                 if (2 == value)
  97                 {
  98                         compiledForIPad = YES;
  99                         break;
 100                 }
 101         }
 102
 103         usingIPad = NO;
 104         if (UI_USER_INTERFACE_IDIOM() == UIUserInterfaceIdiomPad)
 105         {
 106                 usingIPad = YES;
 107         }
 108
 109         using2xInterface = NO;
 110         if ([UIScreen instancesRespondToSelector:@selector(scale)]) {
 111                 CGFloat scale = [[UIScreen mainScreen] scale];
 112                 if (scale > 1.0) {
 113                         using2xInterface = YES;
 114                 }
 115         }
 116
 117         if (!documentPath)
 118                 documentPath = [[NSSearchPathForDirectoriesInDomains(NSDocumentDirectory, NSUserDomainMask, YES) objectAtIndex:0] copy];
 119
 120         if (usingIPad && compiledForIPad)
 121         {
 122                 self = [super initWithNibName:@"MenuUpdater-iPad" bundle:nil];
 123         }
 124         else
 125         {
 126                 self = [super initWithNibName:@"MenuUpdater" bundle:nil];
 127         }
 128
 129         if (self)
 130         {
 131                 controller = menuController;
 132         ftp = nil;
 133         }
 134         return self;
 135 }
 136
 137 - (void) viewDidLoad
 138 {
 139         NSString *plistPath = [[NSBundle mainBundle] pathForResource:@"Firmware" ofType:@"plist"];
 140         NSDictionary *plistDict = [NSDictionary dictionaryWithContentsOfFile:plistPath];
 141         self.firmwareFileName = [plistDict objectForKey:@"FirmwareFileName"];
 142         self.repairFileName = [plistDict objectForKey:@"RepairFileName"];
 143         self.bootldrFileName = [plistDict objectForKey:@"BootldrFileName"];
 144         self.repairVersion = [plistDict objectForKey:@"RepairVersion"];
 145
 146         self.firmwarePath = [[NSBundle mainBundle] pathForResource:firmwareFileName ofType:@"plf"];
 147         self.repairPath = [[NSBundle mainBundle] pathForResource:repairFileName ofType:@"bin"];
 148         self.bootldrPath = [[NSBundle mainBundle] pathForResource:bootldrFileName ofType:@"bin"];
 149         plf_phdr plf_header;
 150
 151
 152         if(plf_get_header([self.firmwarePath cStringUsingEncoding:NSUTF8StringEncoding], &plf_header) != 0)
 153                 memset(&plf_header, 0, sizeof(plf_phdr));
 154
 155         self.firmwareVersion = [NSString stringWithFormat:@"%d.%d.%d", plf_header.p_ver, plf_header.p_edit, plf_header.p_ext];
 156
 157 #ifdef DEBUG
 158         firmwareVersionLabel.text = [NSString stringWithFormat:@"v%s_D", [[[[NSBundle mainBundle] infoDictionary] objectForKey:@"CFBundleVersion"] cStringUsingEncoding:NSUTF8StringEncoding]];
 159 #else
 160         firmwareVersionLabel.text = [NSString stringWithFormat:@"v%s", [[[[NSBundle mainBundle] infoDictionary] objectForKey:@"CFBundleVersion"] cStringUsingEncoding:NSUTF8StringEncoding]];
 161 #endif
 162
 163         if (usingIPad && compiledForIPad)
 164         {
 165                 for (NSInteger i = 0; i < NUMBER_OF_UPDATER_STEPS ; i++)
 166                 {
 167                         stepLabel[i] = [UILabel new];
 168                         stepLabel[i].backgroundColor = [UIColor clearColor];
 169                         stepLabel[i].textColor = NORMAL_COLOR;
 170                         stepLabel[i].frame = CGRectMake(IPAD_LINE_H + IPAD_OFFSET_X, IPAD_STEP_LINE_Y + IPAD_LINE_H * i, IPAD_SCREEN_H - IPAD_LINE_H, IPAD_LINE_H);
 171                         stepLabel[i].text = NSLocalizedString((NSString *)stepKeys[i],);
 172                         [self.view addSubview:stepLabel[i]];
 173
 174                         stepImageView[i] = [UIImageView new];
 175                         stepImageView[i].frame = CGRectMake(IPAD_OFFSET_X, IPAD_STEP_LINE_Y + i * IPAD_LINE_H, IPAD_LINE_H, IPAD_LINE_H);
 176                         stepImageView[i].image = [UIImage imageNamed:@"Empty-iPad.png"];
 177                         [self.view addSubview:stepImageView[i]];
 178
 179                         if(i > UPDATER_STEP_CHECK)
 180                         {
 181                                 stepLabel[i].hidden = YES;
 182                                 stepImageView[i].hidden = YES;
 183                         }
 184                 }
 185         }
 186         else
 187         {
 188                 for (NSInteger i = 0; i < NUMBER_OF_UPDATER_STEPS ; i++)
 189                 {
 190                         stepLabel[i] = [UILabel new];
 191                         stepLabel[i].backgroundColor = [UIColor clearColor];
 192                         stepLabel[i].textColor = NORMAL_COLOR;
 193                         stepLabel[i].frame = CGRectMake(LINE_H, STEP_LINE_Y + LINE_H * i, SCREEN_H - LINE_H, LINE_H);
 194                         stepLabel[i].text = NSLocalizedString((NSString *)stepKeys[i],);
 195                         [self.view addSubview:stepLabel[i]];
 196
 197                         stepImageView[i] = [UIImageView new];
 198                         stepImageView[i].frame = CGRectMake(0, STEP_LINE_Y + i * LINE_H, LINE_H, LINE_H);
 199                         stepImageView[i].image = [UIImage imageNamed:@"Empty.png"];
 200                         [self.view addSubview:stepImageView[i]];
 201
 202                         if(i > UPDATER_STEP_CHECK)
 203                         {
 204                                 stepLabel[i].hidden = YES;
 205                                 stepImageView[i].hidden = YES;
 206                         }
 207                 }
 208         }
 209
 210         [okButton setTitle:NSLocalizedString(@"Ok",) forState:UIControlStateNormal];
 211         [cancelButton setTitle:NSLocalizedString(@"Cancel",) forState:UIControlStateNormal];
 212
 213         stepIndicator = [[UIActivityIndicatorView alloc] initWithActivityIndicatorStyle: UIActivityIndicatorViewStyleWhite];
 214         stepIndicator.hidesWhenStopped = YES;
 215         [self.view addSubview:stepIndicator];
 216         [stepIndicator release];
 217
 218         okButton.hidden = YES;
 219         cancelButton.hidden = YES;
 220         sendProgressView.hidden = YES;
 221
 222         self.fsm = [FiniteStateMachine fsmWithXML:[[NSBundle mainBundle] pathForResource:@"updater_fsm" ofType:@"xml"]];
 223         fsm.delegate = self;
 224         fsm.currentState = UPDATER_STATE_WAITING_CONNECTION;
 225
 226         [self performSelector:@selector(checkFtp) withObject:nil afterDelay:5.];
 227 }
 228
 229 - (void)didReceiveMemoryWarning
 230 {
 231         [super didReceiveMemoryWarning];
 232 }
 233
 234 - (void)dealloc
 235 {
 236         for (NSInteger i = 0 ; i < NUMBER_OF_UPDATER_STEPS ; i++)
 237         {
 238                 [stepLabel[i] release];
 239                 [stepImageView[i] release];
 240         }
 241
 242         self.firmwarePath = nil;
 243         self.firmwareFileName = nil;
 244         self.repairPath = nil;
 245         self.repairFileName = nil;
 246         self.repairVersion = nil;
 247         self.bootldrPath = nil;
 248         self.bootldrFileName = nil;
 249         self.firmwareVersion = nil;
 250         self.droneFirmwareVersion = nil;
 251         self.localIP = nil;
 252
 253         self.ftp = nil;
 254         self.repairFtp = nil;
 255         self.fsm = nil;
 256
 257         if (documentPath)
 258                 [documentPath release];
 259
 260         [super dealloc];
 261 }
 262
 263 // NSURLConnection needed to ping the ARDrone before creating the FTP.
 264 - (void)connection:(NSURLConnection *)connection didReceiveResponse:(NSURLResponse *)response
 265 {
 266         NSLog(@"%@", response);
 267         [connection release];
 268
 269         self.ftp = [ARDroneFTP anonymousUpdateFTPwithDelegate:self withDefaultCallback:nil];
 270
 271         if ([ftp keepConnexionAlive])
 272                 [fsm doAction:UPDATER_ACTION_SUCCESS];
 273         else
 274                 [fsm doAction:UPDATER_ACTION_FAIL];
 275 }
 276
 277 - (void)connection:(NSURLConnection *)connection didFailWithError:(NSError *)error
 278 {
 279         NSLog(@"%@", error);
 280         [connection release];
 281
 282         [fsm doAction:UPDATER_ACTION_FAIL];
 283 }
 284
 285 - (void)executeCommandOut:(ARDRONE_COMMAND_OUT)commandId withParameter:(void*)parameter fromSender:(id)sender
 286 {
 287         switch(commandId)
 288         {
 289                 case ARDRONE_COMMAND_RUN:
 290                         self.localIP = [NSString stringWithCString:(char*)parameter encoding:NSUTF8StringEncoding];
 291
 292                         NSURLConnection *ping = [[NSURLConnection connectionWithRequest:[NSURLRequest requestWithURL:[NSURL URLWithString:[NSString stringWithFormat:FTP_ADDRESS, localIP, FTP_PORT, @""]]] delegate:self] retain];
 293                         [ping start];
 294
 295                         break;
 296
 297                 default:
 298                         break;
 299         }
 300 }
 301
 302 - (void)checkFtp
 303 {
 304         if (fsm.currentState == UPDATER_STATE_WAITING_CONNECTION)
 305                 [fsm doAction:UPDATER_ACTION_FAIL];
 306 }
 307
 308 // Updates the display with the FSM object.
 309 - (void) updateStatusLabel
 310 {
 311         NSString *key = [(NSString *)fsm.currentObject stringByReplacingOccurrencesOfString:@"\\n" withString:@"\n"];
 312
 313         switch (fsm.currentState)
 314         {
 315                 case UPDATER_STATE_NOT_CONNECTED:
 316                 case UPDATER_STATE_NOT_REPAIRED:
 317                 case UPDATER_STATE_NOT_UPDATED:
 318                         statusLabel.text = [NSString stringWithFormat:NSLocalizedString(key,), [[UIDevice currentDevice] model]];
 319                         break;
 320                 case UPDATER_STATE_CHECK_VERSION:
 321                 {
 322                         switch ([firmwareVersion compare:droneFirmwareVersion options:NSNumericSearch])
 323                         {
 324                                 case NSOrderedAscending:
 325                                         statusLabel.text = [NSString stringWithFormat:NSLocalizedString(key,), droneFirmwareVersion, NSLocalizedString(@"Please update this application",), NSLocalizedString(@"Launching Application...",)];
 326                                         break;
 327                                 case NSOrderedSame:
 328                                         statusLabel.text = [NSString stringWithFormat:NSLocalizedString(key,), droneFirmwareVersion, NSLocalizedString(@"AR.Drone up to date",), NSLocalizedString(@"Launching Application...",)];
 329                                         break;
 330                                 default:
 331                                         statusLabel.text = [NSString stringWithFormat:NSLocalizedString(key,), droneFirmwareVersion, NSLocalizedString(@"Firmware update available",), NSLocalizedString(@"Do you want to update the AR.Drone ?",)];
 332                                         break;
 333                         }
 334                 }
 335                         break;
 336                 default:
 337                         statusLabel.text = NSLocalizedString(key,);
 338                         break;
 339         }
 340 }
 341
 342 - (void) updateStepIndicator:(unsigned int)index
 343 {
 344         stepIndicator.frame =   (usingIPad && compiledForIPad) ?
 345         /* iPad */                              CGRectMake(IPAD_OFFSET_X + IPAD_INDICATOR_M, IPAD_STEP_LINE_Y + IPAD_INDICATOR_M + IPAD_LINE_H * index, IPAD_INDICATOR_S, IPAD_INDICATOR_S) :
 346         /* iPhone */                    CGRectMake(INDICATOR_M, STEP_LINE_Y + INDICATOR_M + LINE_H * index, INDICATOR_S, INDICATOR_S);
 347 }
 348
 349 - (void) updateStepImage:(unsigned int)index withImage:(unsigned int)image
 350 {
 351         switch (image)
 352         {
 353                 case STEP_IMAGE_EMPTY:
 354                         stepImageView[index].image = [UIImage imageNamed:(usingIPad && compiledForIPad) ? @"Empty-iPad.png" : @"Empty.png"];
 355                         break;
 356
 357                 case STEP_IMAGE_PASS:
 358                         stepImageView[index].image = [UIImage imageNamed:(usingIPad && compiledForIPad) ? @"Pass-iPad.png" : @"Pass.png"];
 359                         break;
 360
 361                 case STEP_IMAGE_FAIL:
 362                         stepImageView[index].image = [UIImage imageNamed:(usingIPad && compiledForIPad) ? @"Fail-iPad.png" : @"Fail.png"];
 363                         break;
 364
 365                 case STEP_IMAGE_PROBLEM:
 366                         stepImageView[index].image = [UIImage imageNamed:(usingIPad && compiledForIPad) ? @"Problem-iPad.png" : @"Problem.png"];
 367                         break;
 368
 369                 default:
 370                         break;
 371         }
 372 }
 373
 374 /*
 375  * Waiting Connection State:
 376  *
 377  *
 378  */
 379
 380 // Enter
 381 - (void)enterWaitingConnection:(id)_fsm
 382 {
 383         [self updateStatusLabel];
 384
 385         [self updateStepIndicator:UPDATER_STEP_CONNECTING];
 386         [stepIndicator startAnimating];
 387 }
 388
 389 // Quit
 390 - (void)quitWaitingConnection:(id)_fsm
 391 {
 392         [stepIndicator stopAnimating];
 393 }
 394
 395 /*
 396  * Not Connected State:
 397  *
 398  *
 399  */
 400
 401 // Enter
 402 - (void)enterNotConnected:(id)_fsm
 403 {
 404         [self updateStatusLabel];
 405
 406         [self updateStepImage:UPDATER_STEP_CONNECTING withImage:STEP_IMAGE_FAIL];
 407 }
 408
 409 /*
 410  * Repair State:
 411  *
 412  *
 413  */
 414 - (BOOL) repair
 415 {
 416         int socket_desc;
 417         struct sockaddr_in address;
 418
 419         socket_desc=socket(AF_INET,SOCK_STREAM,0);
 420         if (socket_desc>-1)
 421         {
 422                 char buffer[1024];
 423                 int size;
 424                 printf("Socket created (ip: %s)\n", [localIP cStringUsingEncoding:NSUTF8StringEncoding]);
 425
 426                 /* type of socket created in socket() */
 427                 address.sin_family = AF_INET;
 428                 address.sin_addr.s_addr = inet_addr([localIP cStringUsingEncoding:NSUTF8StringEncoding]);
 429
 430                 /* TELNET_PORT is the port to use for connections */
 431                 address.sin_port = htons(TELNET_PORT);
 432                 /* connect the socket to the port specified above */
 433                 connect(socket_desc, (struct sockaddr *)&address, sizeof(struct sockaddr));
 434
 435                 // Change access right to XR
 436                 sprintf(buffer, "cd `find /data -name \"repair\" -exec dirname {} \\;` && chmod 755 repair\n");
 437                 size = send(socket_desc, buffer, strlen(buffer), 0);
 438                 if(size != strlen(buffer))
 439                 {
 440                         printf("Cannot change access right ...\n");
 441                         return NO;
 442                 }
 443
 444                 // execute repair binary file
 445                 sprintf(buffer, "cd `find /data -name \"repair\" -exec dirname {} \\;` && ./repair\n");
 446                 size = send(socket_desc, buffer, strlen(buffer), 0);
 447                 if(size != strlen(buffer))
 448                 {
 449                         printf("Cannot execute binary to repair AR.Drone ...\n");
 450                         return NO;
 451                 }
 452
 453                 close(socket_desc);
 454         }
 455         else
 456         {
 457                 perror("Can't create socket");
 458                 return NO;
 459         }
 460
 461         return YES;
 462 }
 463
 464 // Called back when repair is needed:
 465 - (void)repairFileCallback:(ARDroneFTPCallbackArg *)arg
 466 {
 467         static unsigned int count = 0;
 468
 469         UPDATER_ASSERT(fsm.currentState, UPDATER_STATE_REPAIR)
 470         UPDATER_ASSERT(arg.operation, FTP_SEND)
 471
 472         if (ARDFTP_FAILED(arg.status))
 473         {
 474                 count++;
 475
 476                 if (MAX_RETRIES == count)
 477                 {
 478                         [fsm doAction:UPDATER_ACTION_FAIL];
 479                         return;
 480                 }
 481
 482                 [repairFtp sendLocalFile:repairPath toDistantFile:repairFileName withResume:YES withCallback:@selector(repairFileCallback:)];
 483
 484                 return;
 485         }
 486
 487         if (!ARDFTP_SUCCEEDED(arg.status))
 488                 return;
 489
 490         NSLog(@"'repair' sent");
 491         self.repairFtp = nil;
 492
 493         if ([self repair])
 494                 [fsm doAction:UPDATER_ACTION_SUCCESS];
 495         else
 496                 [fsm doAction:UPDATER_ACTION_FAIL];
 497 }
 498
 499 // Called back when bootldr is needed:
 500 - (void)bootldrFileCallback:(ARDroneFTPCallbackArg *)arg
 501 {
 502         static unsigned int count = 0;
 503
 504         UPDATER_ASSERT(fsm.currentState, UPDATER_STATE_REPAIR)
 505         UPDATER_ASSERT(arg.operation, FTP_SEND)
 506
 507         if (ARDFTP_FAILED(arg.status))
 508         {
 509                 count++;
 510
 511                 if (MAX_RETRIES == count)
 512                 {
 513                         [fsm doAction:UPDATER_ACTION_FAIL];
 514                         return;
 515                 }
 516
 517                 [repairFtp sendLocalFile:bootldrPath toDistantFile:[NSString stringWithFormat:@"%@.bin", bootldrFilename] withResume:YES withCallback:@selector(bootldrFileCallback:)];
 518
 519                 return;
 520         }
 521
 522         if (!ARDFTP_SUCCEEDED(arg.status))
 523                 return;
 524
 525         NSLog(@"'bootldr.bin' sent");
 526         [repairFtp sendLocalFile:repairPath toDistantFile:repairFileName withResume:NO withCallback:@selector(repairFileCallback:)];
 527 }
 528
 529 // Checks drone version:
 530 - (void)checkRepairVersion
 531 {
 532         switch ([droneFirmwareVersion compare:repairVersion options:NSNumericSearch])
 533         {
 534                 case NSOrderedAscending:
 535                         self.repairFtp = [ARDroneFTP anonymousStandardFTPwithDelegate:self withDefaultCallback:nil];
 536
 537                         [repairFtp sendLocalFile:bootldrPath toDistantFile:[NSString stringWithFormat:@"%@.bin", bootldrFilename] withResume:NO withCallback:@selector(bootldrFileCallback:)];
 538
 539                         break;
 540
 541                 default:
 542                         [fsm doAction:UPDATER_ACTION_SUCCESS];
 543                         break;
 544         }
 545 }
 546
 547 // Called back when drone version is found:
 548 - (void)repairVersionTxtCallback:(ARDroneFTPCallbackArg *)arg
 549 {
 550         static unsigned int count = 0;
 551
 552         UPDATER_ASSERT(fsm.currentState, UPDATER_STATE_REPAIR)
 553         UPDATER_ASSERT(arg.operation, FTP_GET)
 554
 555         NSString *path = [NSString stringWithFormat:@"%@/%@", documentPath, REPAIR_VERSION_TXT];
 556
 557         if (ARDFTP_FAILED(arg.status))
 558         {
 559                 count++;
 560
 561                 if (MAX_RETRIES == count)
 562                 {
 563                         [fsm doAction:UPDATER_ACTION_FAIL];
 564                         return;
 565                 }
 566
 567                 [ftp getDistantFile:VERSION_TXT toLocalFile:path withResume:YES withCallback:@selector(repairVersionTxtCallback:)];
 568                 return;
 569         }
 570
 571         if (!ARDFTP_SUCCEEDED(arg.status))
 572                 return;
 573
 574         NSError *error = nil;
 575         self.droneFirmwareVersion = [[NSString stringWithContentsOfFile:path encoding:NSASCIIStringEncoding error:&error] stringByReplacingOccurrencesOfString:@"\n" withString:@""];
 576
 577         [self performSelectorOnMainThread:@selector(checkRepairVersion) withObject:nil waitUntilDone:NO];
 578 }
 579
 580 // Enter
 581 - (void)enterRepair:(id)_fsm
 582 {
 583         [self updateStatusLabel];
 584
 585         [self updateStepIndicator:UPDATER_STEP_REPAIR];
 586         [stepIndicator startAnimating];
 587
 588         [self updateStepImage:UPDATER_STEP_CONNECTING withImage:STEP_IMAGE_PASS];
 589
 590         NSString *path = [NSString stringWithFormat:@"%@/%@", documentPath, REPAIR_VERSION_TXT];
 591
 592         NSError *error = nil;
 593
 594         if ([[NSFileManager defaultManager] fileExistsAtPath:path])
 595                 [[NSFileManager defaultManager] removeItemAtPath:path error:&error];
 596
 597         [ftp getDistantFile:VERSION_TXT toLocalFile:path withResume:NO withCallback:@selector(repairVersionTxtCallback:)];
 598 }
 599
 600 // Quit
 601 - (void)quitRepair:(id)_fsm
 602 {
 603         [stepIndicator stopAnimating];
 604 }
 605
 606 /*
 607  * Repair State:
 608  *
 609  *
 610  */
 611 // Enter
 612 - (void)enterNotRepaired:(id)_fsm
 613 {
 614         [self updateStatusLabel];
 615
 616         [self updateStepImage:UPDATER_STEP_REPAIR withImage:STEP_IMAGE_FAIL];
 617 }
 618
 619 /*
 620  * Check Version State:
 621  *
 622  *
 623  */
 624 // Enter
 625 - (void)enterCheckVersion:(id)_fsm
 626 {
 627         [self updateStatusLabel];
 628
 629         [self updateStepIndicator:UPDATER_STEP_CHECK];
 630         [stepIndicator startAnimating];
 631
 632         [self updateStepImage:UPDATER_STEP_REPAIR withImage:STEP_IMAGE_PASS];
 633
 634         switch ([firmwareVersion compare:droneFirmwareVersion options:NSNumericSearch])
 635         {
 636                 case NSOrderedAscending:
 637                         [fsm doAction:UPDATER_ACTION_ASK_FOR_FREEFLIGHT_UPDATE];
 638                         break;
 639                 case NSOrderedSame:
 640                         [fsm doAction:UPDATER_ACTION_SUCCESS];
 641                         break;
 642                 default:
 643                         okButton.hidden = NO;
 644                         cancelButton.hidden = NO;
 645                         break;
 646         }
 647 }
 648
 649 // Quit
 650 - (void)quitCheckVersion:(id)_fsm
 651 {
 652         [stepIndicator stopAnimating];
 653
 654         okButton.hidden = YES;
 655         cancelButton.hidden = YES;
 656 }
 657
 658 /*
 659  * Update Freeflight State:
 660  *
 661  *
 662  */
 663 // Enter
 664 - (void)enterUpdateFreeflight:(id)_fsm
 665 {
 666         [self updateStepImage:UPDATER_STEP_CHECK withImage:STEP_IMAGE_PROBLEM];
 667         [self performSelector:@selector(cancelAction:) withObject:cancelButton afterDelay:TIME_BEFORE_LAUNCH];
 668 }
 669
 670 /*
 671  * Launch Freeflight State:
 672  *
 673  *
 674  */
 675 // Enter
 676 - (void)enterLaunchFreeflight:(id)_fsm
 677 {
 678         for (unsigned int i = 0 ; i < NUMBER_OF_UPDATER_STEPS ; i++)
 679                 [self updateStepImage:i withImage:STEP_IMAGE_PASS];
 680
 681         [self performSelector:@selector(cancelAction:) withObject:cancelButton afterDelay:TIME_BEFORE_LAUNCH];
 682 }
 683
 684 /*
 685  * Update Firmware State:
 686  *
 687  *
 688  */
 689 // Send Progress View can only be updated on Main Thread
 690 - (void)updateSendProgressView:(NSNumber *)progress
 691 {
 692         sendProgressView.progress = [progress floatValue];
 693 }
 694
 695 // Called back when file sending is in progress.
 696 - (void)sendFileCallback:(ARDroneFTPCallbackArg *)arg
 697 {
 698         static unsigned int count = 0;
 699
 700         UPDATER_ASSERT(fsm.currentState, UPDATER_STATE_UPDATE_FIRMWARE)
 701         UPDATER_ASSERT(arg.operation, FTP_SEND)
 702
 703         if (ARDFTP_FAILED(arg.status))
 704         {
 705                 count++;
 706
 707                 if (MAX_RETRIES == count)
 708                 {
 709                         [fsm doAction:UPDATER_ACTION_FAIL];
 710                         return;
 711                 }
 712
 713                 [ftp sendLocalFile:firmwarePath toDistantFile:[NSString stringWithFormat:@"%@.plf", firmwareFileName] withResume:YES withCallback:@selector(sendFileCallback:)];
 714                 return;
 715         }
 716
 717         [self performSelectorOnMainThread:@selector(updateSendProgressView:) withObject:[NSNumber numberWithFloat:arg.progress/100.f] waitUntilDone:NO];
 718
 719         if (!ARDFTP_SUCCEEDED(arg.status))
 720                 return;
 721
 722         NSLog(@"'firmware.plf' sent");
 723         [fsm doAction:UPDATER_ACTION_SUCCESS];
 724 }
 725
 726 // Enter
 727 - (void)enterUpdateFirmware:(id)_fsm
 728 {
 729         [self updateStatusLabel];
 730
 731         [self updateStepImage:UPDATER_STEP_CHECK withImage:STEP_IMAGE_PASS];
 732
 733         for (unsigned int i = 0 ; i < NUMBER_OF_UPDATER_STEPS ; i++)
 734         {
 735                 stepLabel[i].hidden = NO;
 736                 stepImageView[i].hidden = NO;
 737         }
 738
 739         [self updateStepIndicator:UPDATER_STEP_SEND];
 740         [stepIndicator startAnimating];
 741
 742         sendProgressView.hidden = NO;
 743         sendProgressView.progress = 0.f;
 744
 745         [ftp sendLocalFile:firmwarePath toDistantFile:[NSString stringWithFormat:@"%@.plf", firmwareFileName] withResume:NO withCallback:@selector(sendFileCallback:)];
 746 }
 747
 748 // Quit
 749 - (void)quitUpdateFirmware:(id)_fsm
 750 {
 751         [stepIndicator stopAnimating];
 752
 753         sendProgressView.hidden = YES;
 754 }
 755
 756 /*
 757  * Not Updated State:
 758  *
 759  *
 760  */
 761 // Enter
 762 - (void)enterNotUpdated:(id)_fsm
 763 {
 764         [self updateStatusLabel];
 765
 766         [self updateStepImage:UPDATER_STEP_SEND withImage:STEP_IMAGE_FAIL];
 767 }
 768
 769 /*
 770  * Restart Drone State:
 771  *
 772  *
 773  */
 774 // Checks if the drone is powered off
 775 - (void)checkDroneRestarted
 776 {
 777         UPDATER_ASSERT(fsm.currentState, UPDATER_STATE_RESTART_DRONE)
 778
 779         if ([ftp keepConnexionAlive])
 780                 [self performSelector:@selector(checkDroneRestarted) withObject:nil afterDelay:1];
 781         else
 782                 [fsm doAction:UPDATER_ACTION_SUCCESS];
 783 }
 784
 785 // Enter
 786 - (void)enterRestartDrone:(id)_fsm
 787 {
 788         [self updateStatusLabel];
 789
 790         [self updateStepImage:UPDATER_STEP_SEND withImage:STEP_IMAGE_PASS];
 791
 792         [self updateStepIndicator:UPDATER_STEP_RESTART];
 793         [stepIndicator startAnimating];
 794
 795         [self performSelectorOnMainThread:@selector(checkDroneRestarted) withObject:nil waitUntilDone:NO];
 796 }
 797
 798 // Quit
 799 - (void)quitRestartDrone:(id)_fsm
 800 {
 801         [stepIndicator stopAnimating];
 802 }
 803
 804 /*
 805  * Installing Firmware State:
 806  *
 807  *
 808  */
 809 // Enter
 810 - (void)enterInstallingFirmware:(id)_fsm
 811 {
 812         [self updateStatusLabel];
 813
 814         [self updateStepImage:UPDATER_STEP_RESTART withImage:STEP_IMAGE_PASS];
 815
 816         [self updateStepIndicator:UPDATER_STEP_INSTALL];
 817         [stepIndicator startAnimating];
 818 }
 819
 820 // IBActions:
 821 - (IBAction)okAction:(id)sender
 822 {
 823         [fsm doAction:UPDATER_ACTION_FAIL];
 824 }
 825
 826 - (IBAction)cancelAction:(id)sender
 827 {
 828         [controller doAction:MENU_ACTION_NEXT];
 829 }
 830
 831 @end