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dji_flyc_nofly_ed.py
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dji_flyc_nofly_ed.py
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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
""" DJI Flight Controller Firmware No Fly Zones Editor
"""
# Copyright (C) 2016,2017 Mefistotelis <[email protected]>
# Copyright (C) 2018 Original Gangsters <https://dji-rev.slack.com/>
#
# This program 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.
#
# This program 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/>.
from __future__ import print_function
import sys
import getopt
import os
import math
from ctypes import *
import json
def eprint(*args, **kwargs):
print(*args, file=sys.stderr, **kwargs)
class ProgOptions:
mdlfile = ''
inffile="flyc_forbid_areas.json"
address_base=0x8020000
address_bss=0x20000000
sizeof_bss=0x4400000
expect_func_align = 4
expect_data_align = 2
min_match_accepted = 60
verbose = 0
command = ''
nfzone_pos = -1
nfzone_count = 0
nfcord_pos = -1
nfcord_count = 0
class NoFlyStorage:
none = 0x0
zone = 0x1
cord = 0x2
class FlycNoFlyZone(LittleEndianStructure):
_pack_ = 1
_fields_ = [('latitude', c_int), # angular value * 1000000
('longitude', c_int),
('radius', c_ushort),
('country_code', c_ushort),
('class_id', c_ubyte),
('area_id', c_ushort),
('begin_at', c_ubyte),
('end_at', c_ubyte)]
def dict_export(self):
d = dict()
for (varkey, vartype) in self._fields_:
d[varkey] = getattr(self, varkey)
return d
def __repr__(self):
d = self.dict_export()
from pprint import pformat
return pformat(d, indent=4, width=1)
class FlycNoFlyCoords(LittleEndianStructure):
_pack_ = 1
_fields_ = [('latitude', c_int),
('longitude', c_int)]
def isclose(a, b, rel_tol=1e-09, abs_tol=0.0):
""" Equivalent to math.isclose(); use it if the script needs to work on Python < 3.5
"""
return abs(a-b) <= max(rel_tol * max(abs(a), abs(b)), abs_tol)
def flyc_nofly_is_proper_zone_entry(po, fwmdlfile, fwmdlfile_len, enfzone, func_align, data_align, pos, entry_pos):
""" Checks whether given FlycNoFlyZone object stores a proper entry of
flight controller no fly zones array.
"""
if (enfzone.begin_at != 0) or (enfzone.end_at != 0):
if (po.verbose > 2):
print("Rejected at {:06x} on begin_at/end_at check ({:d},{:d})".format(entry_pos,enfzone.begin_at,enfzone.end_at))
return False
if (enfzone.radius < 30) or (enfzone.radius > 50000):
if (po.verbose > 2):
print("Rejected at {:06x} on radius check ({:d})".format(entry_pos,enfzone.radius))
return False
if (enfzone.country_code > 2000):
if (po.verbose > 2):
print("Rejected at {:06x} on country check ({:d})".format(entry_pos,enfzone.country_code))
return False
#if (enfzone.class_id < 30) or (enfzone.class_id > 30000):
if (enfzone.area_id <= 0):
if (po.verbose > 2):
print("Rejected at {:06x} on area_id check ({:d})".format(entry_pos,enfzone.area_id))
return False
return flyc_nofly_is_proper_cord_entry(po, fwmdlfile, fwmdlfile_len, enfzone, func_align, data_align, pos, entry_pos)
def flyc_nofly_is_proper_cord_entry(po, fwmdlfile, fwmdlfile_len, enfcord, func_align, data_align, pos, entry_pos):
""" Checks whether given FlycNoFlyCoords object stores a proper entry of
flight controller no fly coordinates array.
"""
# Check if we're at ocean around (0.0,0.0), that is within rectangle (-8.0,-6.7) to (4.7,5.5)
if (enfcord.latitude >= -8000000) and (enfcord.latitude <= 4700000):
if (enfcord.longitude >= -6700000) and (enfcord.longitude <= 5500000):
if (po.verbose > 2):
print("Rejected at {:06x} on low coord ocean check ({:.6f},{:.6f})".format(entry_pos,enfcord.latitude/1000000.0,enfcord.longitude/1000000.0))
return False
# Check if coords are within valid angular range
if (enfcord.latitude < -90000000) or (enfcord.latitude > 90000000):
if (po.verbose > 2):
print("Rejected at {:06x} on latitude coord limit check ({:.6f},{:.6f})".format(entry_pos,enfcord.latitude/1000000.0,enfcord.longitude/1000000.0))
return False
if (enfcord.longitude < -180000000) or (enfcord.longitude > 180000000):
if (po.verbose > 2):
print("Rejected at {:06x} on longitude coord limit check ({:.6f},{:.6f})".format(entry_pos,enfcord.latitude/1000000.0,enfcord.longitude/1000000.0))
return False
return True
def flyc_nofly_zone_pos_search(po, fwmdlfile, start_pos, func_align, data_align, min_match_accepted):
""" Finds position of flight controller no fly zones in the binary.
"""
fwmdlfile.seek(0, os.SEEK_END)
fwmdlfile_len = fwmdlfile.tell()
enfzone = FlycNoFlyZone()
match_count = 0
match_pos = -1
match_entries = 0
reached_eof = False
pos = start_pos
while (True):
# Check how many correct zone entries we have
entry_count = 0
entry_pos = pos
while (True):
fwmdlfile.seek(entry_pos, os.SEEK_SET)
if fwmdlfile.readinto(enfzone) != sizeof(enfzone):
reached_eof = True
break
if not flyc_nofly_is_proper_zone_entry(po, fwmdlfile, fwmdlfile_len, enfzone, func_align, data_align, pos, entry_pos):
break
entry_count += 1
entry_pos += sizeof(enfzone)
# Do not allow entry at EOF
if (reached_eof):
break
# If entry is ok, consider it a match
if entry_count > min_match_accepted:
if (po.verbose > 1):
print("{}: Matching zones array at 0x{:08x}: {:d} entries".format(po.mdlfile,pos,entry_count))
if (entry_count >= match_entries):
match_pos = pos
match_entries = entry_count
match_count += 1
# Set position to search for next entry
if entry_count >= min_match_accepted:
pos += entry_count * sizeof(enfzone)
else:
pos += data_align - (pos%data_align)
if (match_count > 1):
eprint("{}: Warning: multiple ({:d}) matches found for fly zones array with alignment 0x{:02x}".format(po.mdlfile,match_count,data_align))
if (match_count < 1):
return -1, 0
return match_pos, match_entries
def flyc_nofly_cord_pos_search(po, fwmdlfile, start_pos, func_align, data_align, min_match_accepted):
""" Finds position of flight controller no fly coords in the binary.
"""
fwmdlfile.seek(0, os.SEEK_END)
fwmdlfile_len = fwmdlfile.tell()
enfcord = FlycNoFlyCoords()
match_count = 0
match_pos = -1
match_entries = 0
reached_eof = False
pos = start_pos
while (True):
# Check how many correct zone entries we have
entry_count = 0
entry_pos = pos
while (True):
fwmdlfile.seek(entry_pos, os.SEEK_SET)
if fwmdlfile.readinto(enfcord) != sizeof(enfcord):
reached_eof = True
break
# The array ends with int value storing its size
if (entry_count >= min_match_accepted) and (enfcord.latitude == entry_count):
break
if not flyc_nofly_is_proper_cord_entry(po, fwmdlfile, fwmdlfile_len, enfcord, func_align, data_align, pos, entry_pos):
break
entry_count += 1
entry_pos += sizeof(enfcord)
# Do not allow entry at EOF
if (reached_eof):
break
# If entry is ok, consider it a match
if entry_count > min_match_accepted:
if (po.verbose > 1):
print("{}: Matching coords array at 0x{:08x}: {:d} entries".format(po.mdlfile,pos,entry_count))
if (entry_count >= match_entries):
match_pos = pos
match_entries = entry_count
match_count += 1
# Set position to search for next entry
if entry_count >= min_match_accepted:
pos += entry_count * sizeof(enfcord)
else:
pos += data_align - (pos%data_align)
if (match_count > 1):
eprint("{}: Warning: multiple ({:d}) matches found for fly coords array with alignment 0x{:02x}".format(po.mdlfile,match_count,data_align))
if (match_count < 1):
return -1, 0
return match_pos, match_entries
def flyc_nofly_zone_template(po):
# Set coords at north pole; they should never stay at default value after all
# Set 'level' at 2; definition is: WARNING(0), CAN_UNLIMIT(1), CAN_NOT_UNLIMIT(2, 4), STRONG_WARNING(3)
parprop = {'area_id':60000,'type':0,'shape':0,'lat':90.0,'lng':0.0,'radius':30,
'warning':0,'level':2,'disable':0,'updated_at':1447945800,'begin_at':0,'end_at':0,
'name':"",'country':0,'city':"",'storage':NoFlyStorage.none,'points':None}
return parprop
def flyc_nofly_zone_get(po, fwmdlfile, index):
""" Returns array with properties of given no fly zone.
"""
parprop = flyc_nofly_zone_template(po)
enfzone = FlycNoFlyZone()
fwmdlfile.seek(po.nfzone_pos+sizeof(enfzone)*index, os.SEEK_SET)
if fwmdlfile.readinto(enfzone) != sizeof(enfzone):
raise EOFError("Cannot read nfzone entry.")
parprop['area_id'] = enfzone.area_id
parprop['begin_at'] = enfzone.begin_at
parprop['end_at'] = enfzone.end_at
parprop['lat'] = enfzone.latitude/1000000.0
parprop['lng'] = enfzone.longitude/1000000.0
parprop['radius'] = enfzone.radius
parprop['country'] = enfzone.country_code
parprop['type'] = enfzone.class_id
parprop['storage'] |= NoFlyStorage.zone
return parprop
def flyc_nofly_cord_get(po, fwmdlfile, index):
""" Returns array with properties of given no fly coords.
"""
parprop = {'lat':90.0,'lng':0.0}
enfcord = FlycNoFlyCoords()
fwmdlfile.seek(po.nfcord_pos+sizeof(enfcord)*index, os.SEEK_SET)
if fwmdlfile.readinto(enfcord) != sizeof(enfcord):
raise EOFError("Cannot read nfcord entry.")
parprop['lat'] = enfcord.latitude/1000000.0
parprop['lng'] = enfcord.longitude/1000000.0
return parprop
def flyc_nofly_merged_zones_array(po, fwmdlfile):
if (po.verbose > 0):
print("{}: Merging No Fly arrays...".format(po.mdlfile))
nfzones = []
for i in range(0,po.nfzone_count):
parprop = flyc_nofly_zone_get(po, fwmdlfile, i)
nfzones.append(parprop)
#print("{:5d} {:10.6f} {:11.6f} {:5d} {:4d} {:d} {:d} {:d}".format(parprop['area_id'],parprop['lat'],parprop['lng'],parprop['radius'],parprop['country'],parprop['type'],parprop['begin_at'],parprop['end_at']))
for i in range(0,po.nfcord_count):
parcord = flyc_nofly_cord_get(po, fwmdlfile, i)
parprop = next((parprop for parprop in nfzones if isclose(parprop["lat"], parcord["lat"], rel_tol=1e-3, abs_tol=1e-2) and isclose(parprop["lng"], parcord["lng"], rel_tol=1e-3, abs_tol=1e-2)), None)
if (parprop is None):
parprop = flyc_nofly_zone_template(po)
parprop['lat'] = parcord['lat']
parprop['lng'] = parcord['lng']
parprop['radius'] = 500
parprop['area_id'] = 30000 + i
nfzones.append(parprop)
parprop['storage'] |= NoFlyStorage.cord
#print("{:5d} {:10.6f} {:11.6f}".format(i,parcord['lat'],parcord['lng']))
return sorted(nfzones, key=lambda k: -k['lat'])
def flyc_nofly_list(po, fwmdlfile):
""" Lists all flight controller no fly zones from firmware on screen table.
"""
(po.nfzone_pos, po.nfzone_count) = flyc_nofly_zone_pos_search(po, fwmdlfile, 0, po.expect_func_align, po.expect_data_align, po.min_match_accepted)
if po.nfzone_pos < 0:
raise ValueError("Flight controller no fly zones array signature not detected in input file.")
(po.nfcord_pos, po.nfcord_count) = flyc_nofly_cord_pos_search(po, fwmdlfile, 0, po.expect_func_align, po.expect_data_align, po.min_match_accepted)
if po.nfcord_pos < 0:
raise ValueError("Flight controller no fly coords array signature not detected in input file.")
nfzones = flyc_nofly_merged_zones_array(po, fwmdlfile)
for parprop in nfzones:
print("{:5d} {:10.6f} {:11.6f} {:5d} {:4d} {:s}{:s} {:d} {:d} {:d}".format(parprop['area_id'],parprop['lat'],parprop['lng'],
parprop['radius'],parprop['country'],"z" if (parprop['storage'] & NoFlyStorage.zone) != 0 else " ",
"c" if (parprop['storage'] & NoFlyStorage.cord) != 0 else " ",parprop['type'],parprop['begin_at'],parprop['end_at']))
if (po.verbose > 0):
print("{}: Done listing.".format(po.mdlfile))
def flyc_nofly_extract(po, fwmdlfile):
""" Extracts all flight controller no fly zones from firmware to JSON format text file.
"""
(po.nfzone_pos, po.nfzone_count) = flyc_nofly_zone_pos_search(po, fwmdlfile, 0, po.expect_func_align, po.expect_data_align, po.min_match_accepted)
if po.nfzone_pos < 0:
raise ValueError("Flight controller no fly zones array signature not detected in input file.")
(po.nfcord_pos, po.nfcord_count) = flyc_nofly_cord_pos_search(po, fwmdlfile, 0, po.expect_func_align, po.expect_data_align, po.min_match_accepted)
if po.nfcord_pos < 0:
raise ValueError("Flight controller no fly coords array signature not detected in input file.")
nfzones = flyc_nofly_merged_zones_array(po, fwmdlfile)
if (po.verbose > 0):
print("{}: Creating JSON file...".format(po.mdlfile))
inffile = open(po.inffile, "w")
inffile.write("{\"release_limits\":[\n")
i = 0
for parprop in nfzones:
inffile.write("{")
for ppname in ('area_id','type','shape',):
inffile.write("\"{:s}\":{:d}".format(ppname,parprop[ppname]))
inffile.write(",")
for ppname in ('lat','lng',):
inffile.write("\"{:s}\":{:06f}".format(ppname,parprop[ppname]))
inffile.write(",")
for ppname in ('radius','warning','level','disable','updated_at','begin_at','end_at',):
inffile.write("\"{:s}\":{:d}".format(ppname,parprop[ppname]))
inffile.write(",")
for ppname in ('name',):
inffile.write("\"{:s}\":\"{:s}\"".format(ppname,parprop[ppname]))
inffile.write(",")
for ppname in ('storage','country',):
inffile.write("\"{:s}\":{:d}".format(ppname,parprop[ppname]))
inffile.write(",")
for ppname in ('city',):
inffile.write("\"{:s}\":\"{:s}\"".format(ppname,parprop[ppname]))
inffile.write(",")
for ppname in ('points',):
inffile.write("\"{:s}\":{:s}".format(ppname,parprop[ppname] if parprop[ppname] is not None else "null"))
if (i+1 < len(nfzones)):
inffile.write("},\n")
else:
inffile.write("}\n")
i += 1
inffile.write("]}\n")
inffile.close()
if (po.verbose > 0):
print("{}: Done exporting.".format(po.mdlfile))
def flyc_nofly_update(po, fwmdlfile):
""" Updates all flight controller no fly zones in firmware from JSON format text file.
"""
(po.nfzone_pos, po.nfzone_count) = flyc_nofly_zone_pos_search(po, fwmdlfile, 0, po.expect_func_align, po.expect_data_align, po.min_match_accepted)
if po.nfzone_pos < 0:
raise ValueError("Flight controller no fly zones array signature not detected in input file.")
(po.nfcord_pos, po.nfcord_count) = flyc_nofly_cord_pos_search(po, fwmdlfile, 0, po.expect_func_align, po.expect_data_align, po.min_match_accepted)
if po.nfcord_pos < 0:
raise ValueError("Flight controller no fly coords array signature not detected in input file.")
#pvnfzones = flyc_nofly_merged_zones_array(po, fwmdlfile) # No need for merging, we will use separate lists
if (po.verbose > 0):
print("{}: Loading JSON file...".format(po.mdlfile))
with open(po.inffile) as inffile:
nxnfzones = json.load(inffile)
nxnfzones = nxnfzones['release_limits']
update_zone_count = 0
update_cord_count = 0
if (True):
# Update the zones first
if (po.verbose > 1):
print("{}: Updating no fly zones array at 0x{:08x}: {:d} entries".format(po.mdlfile,po.nfzone_pos,po.nfzone_count))
for i in range(0, po.nfzone_count):
pvparprop = flyc_nofly_zone_get(po, fwmdlfile, i)
# Match the current entry to user provided data
nxparprop = None
if (nxparprop is None):
for parprop in nxnfzones:
if parprop['area_id'] == pvparprop['area_id']:
nxparprop = parprop
break
if (nxparprop is None):
eprint("{}: Warning: no fly zone not found in fw: area_id={:d}".format(po.mdlfile,pvparprop['area_id']))
continue
update_pos=False
update_radius=False
update_country=False
update_limits=False
update_type=False
# compare properties to check what we want to update
if not isclose(nxparprop['lat'], pvparprop['lat']) or not isclose(nxparprop['lng'], pvparprop['lng']):
update_pos=True
if nxparprop['radius'] != pvparprop['radius']:
update_radius=True
if nxparprop['country'] != pvparprop['country']:
update_country=True
if nxparprop['begin_at'] != pvparprop['begin_at'] or nxparprop['end_at'] != pvparprop['end_at']:
update_limits=True
if nxparprop['type'] != pvparprop['type']:
update_type=True
if (update_pos):
eprint("{}: pos update not implemented.".format(po.mdlfile)) # TODO
if (update_radius):
eprint("{}: radius update not implemented.".format(po.mdlfile)) # TODO
if (update_country):
eprint("{}: country update not implemented.".format(po.mdlfile)) # TODO
if (update_limits):
eprint("{}: limits update not implemented.".format(po.mdlfile)) # TODO
if (update_type):
eprint("{}: type update not implemented.".format(po.mdlfile)) # TODO
# Now do the same to coords
if (po.verbose > 1):
print("{}: Updating no fly coords array at 0x{:08x}: {:d} entries".format(po.mdlfile,po.nfcord_pos,po.nfcord_count))
for i in range(0, po.nfcord_count):
pvparprop = flyc_nofly_cord_get(po, fwmdlfile, i)
# Match the current entry to user provided data
nxparprop = None
if (nxparprop is None):
if isclose(parprop['lat'], pvparprop['lat']) and isclose(parprop['lng'], pvparprop['lng']):
nxparprop = parprop
break
# If not found, try accepting some variation
if (nxparprop is None):
for parprop in nxnfzones:
if (isclose(parprop['lat'], pvparprop['lat'], rel_tol=1e-3, abs_tol=1e-2) and isclose(parprop['lng'], pvparprop['lng'], rel_tol=1e-3, abs_tol=1e-2)):
nxparprop = parprop
break
if (nxparprop is None):
eprint("{}: Warning: no fly coords not found in fw: area_id={:d}".format(po.mdlfile,pvparprop['area_id']))
continue
update_pos=False
# compare properties to check what we want to update
# TODO does it really make sense for coord list to first search based on coords, then allow update it? Maybe remove/add from the list instead?
if not isclose(nxparprop['lat'], pvparprop['lat']) or not isclose(nxparprop['lng'], pvparprop['lng']):
update_pos=True
if (update_pos):
eprint("{}: Coords update not implemented.".format(po.mdlfile)) # TODO
raise NotImplementedError('Not implemented - no data was updated.')
if (po.verbose > 0):
print("{}: Updated {:d} no fly zone entries and {:d} no fly coord entries".format(po.mdlfile,update_zone_count,update_cord_count))
def main(argv):
# Parse command line options
po = ProgOptions()
try:
opts, args = getopt.getopt(argv,"hvm:lux",["help","version","mdlfile="])
except getopt.GetoptError:
print("Unrecognized options; check dji_flyc_nofly_ed.sh --help")
sys.exit(2)
for opt, arg in opts:
if opt in ("-h", "--help"):
print("DJI Flight Controller Firmware No Fly Zones Editor")
print("dji_flyc_nofly_ed.sh <-l|-x|-u> [-v] -m <mdlfile>")
print(" -m <mdlfile> - Flight controller firmware binary module file")
print(" -l - list no fly zones stored in the firmware")
print(" -x - extract no fly zones array to infos json text file")
print(" -u - update no fly zones array in binary fw from infos text file")
print(" -v - increases verbosity level; max level is set by -vvv")
sys.exit()
elif opt == "--version":
print("dji_flyc_nofly_ed.sh version 0.0.1")
sys.exit()
elif opt == '-v':
po.verbose += 1
elif opt in ("-m", "--mdlfile"):
po.mdlfile = arg
elif opt in ("-l", "--list"):
po.command = 'l'
elif opt in ("-u", "--update"):
po.command = 'u'
elif opt in ("-x", "--extract"):
po.command = 'x'
if (po.command == 'l'):
if (po.verbose > 0):
print("{}: Opening for list display".format(po.mdlfile))
fwmdlfile = open(po.mdlfile, "rb")
flyc_nofly_list(po,fwmdlfile)
fwmdlfile.close();
elif (po.command == 'x'):
if (po.verbose > 0):
print("{}: Opening for extraction".format(po.mdlfile))
fwmdlfile = open(po.mdlfile, "rb")
flyc_nofly_extract(po,fwmdlfile)
fwmdlfile.close();
elif (po.command == 'u'):
if (po.verbose > 0):
print("{}: Opening for update".format(po.mdlfile))
fwmdlfile = open(po.mdlfile, "r+b")
flyc_nofly_update(po,fwmdlfile)
fwmdlfile.close();
else:
raise NotImplementedError('Unsupported command.')
if __name__ == "__main__":
main(sys.argv[1:])