From 30a2a3eec2c54407cfa1d7c00d8a3a4e2440c6d0 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 19 Oct 2024 09:45:49 +0900
Subject: [PATCH] support loading AM32 amj files

---
 dronecan_gui_tool/widgets/file_server.py     | 22 +++++++++++++++++++-
 dronecan_gui_tool/widgets/node_properties.py |  2 +-
 setup.py                                     |  3 ++-
 3 files changed, 24 insertions(+), 3 deletions(-)

diff --git a/dronecan_gui_tool/widgets/file_server.py b/dronecan_gui_tool/widgets/file_server.py
index 441ed15..8353a77 100644
--- a/dronecan_gui_tool/widgets/file_server.py
+++ b/dronecan_gui_tool/widgets/file_server.py
@@ -95,6 +95,19 @@ def update_hit_count(self, _path, hit_count):
     def reset_hit_counts(self):
         self._hit_count_label.setText('0')
 
+def hex2bin(heximage):
+    '''
+    Convert an Intel HEX format bytes array to binary format
+    '''
+    import intelhex
+    import io
+
+    hex_stream = io.StringIO(heximage.decode('utf-8'))
+    bin_stream = io.BytesIO()
+    intelhex.hex2bin(hex_stream, bin_stream)
+    bin_stream.seek(0)
+    return bin_stream.read()
+
 class FileServerJson(dronecan.app.file_server.FileServer):
     def __init__(self, node):
         super(FileServerJson, self).__init__(node)
@@ -115,7 +128,14 @@ def _load_image(self, path):
             if not 'image' in j:
                 print("Missing image in %s" % path)
                 return None
-            return bytearray(zlib.decompress(base64.b64decode(j['image'])))
+            return bytearray(zlib.decompress(base64.b64decode(j['image'].encode('utf-8'))))
+        if path.lower().endswith('.amj'):
+            # load JSON image as hex image
+            j = json.load(open(path,'r'))
+            if not 'hex' in j:
+                print("Missing hex image in %s" % path)
+                return None
+            return hex2bin(base64.b64decode(j['hex']))
         return open(path,'rb').read()
 
     def _check_path_change(self, path):
diff --git a/dronecan_gui_tool/widgets/node_properties.py b/dronecan_gui_tool/widgets/node_properties.py
index 76a9fef..58a8dfe 100644
--- a/dronecan_gui_tool/widgets/node_properties.py
+++ b/dronecan_gui_tool/widgets/node_properties.py
@@ -246,7 +246,7 @@ def _do_firmware_update(self):
 
         # Requesting the firmware path
         fw_file = QFileDialog().getOpenFileName(self, 'Select firmware file', '',
-                                                'Binary images (*.bin);;ArduPilot Firmware (*.apj);;PX4 Firmware (*.px4);;All files (*.*)')
+                                                'Binary images (*.bin);;ArduPilot Firmware (*.apj);;AM32 Firmware (*.amj);;PX4 Firmware (*.px4);;All files (*.*)')
         if not fw_file[0]:
             self.window().show_message('Cancelled')
             return
diff --git a/setup.py b/setup.py
index e83f169..45cd4f6 100755
--- a/setup.py
+++ b/setup.py
@@ -56,7 +56,8 @@
         'pygments',
         'qtpy',
         'pyqtgraph',
-        'qtwidgets'
+        'qtwidgets',
+        'intelhex'
     ],
     # We can't use "scripts" here, because generated shims don't work with multiprocessing pickler.
     entry_points={