flash_firmware.sh

#! /bin/bash

set -e
set -o nounset
set -o pipefail

FW_TARGETDIR=$(pwd)/firmware
PREFIX=$(ros2 pkg prefix micro_ros_setup)

# Checking if firmware exists
if [ -d $FW_TARGETDIR ]; then
    RTOS=$(head -n1 $FW_TARGETDIR/PLATFORM)
    PLATFORM=$(head -n2 firmware/PLATFORM | tail -n1)
else
    echo "Firmware folder not found. Please use ros2 run micro_ros_setup create_firmware_ws.sh to create a new project."
    exit 1
fi

export DEVICE_NAME=${1:-/dev/ttyUSB0}

# Flash specific firmware folder if needed
if [ $PLATFORM == "generic" ] || [ ! -d "$PREFIX/config/$RTOS/$PLATFORM" ]; then
    if [ -f $PREFIX/config/$RTOS/generic/flash.sh ]; then
      echo "Flashing firmware for $RTOS platform $PLATFORM"
      . $PREFIX/config/$RTOS/generic/flash.sh
    else
      echo "No flash step found for $RTOS platform $PLATFORM"
    fi
else
    if [ -f $PREFIX/config/$RTOS/$PLATFORM/flash.sh ]; then
      echo "Flashing firmware for $RTOS platform $PLATFORM"
      . $PREFIX/config/$RTOS/$PLATFORM/flash.sh
    else
      echo "No flash step found for $RTOS platform $PLATFORM"
    fi
fi