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feat(build): support firmware upload from WSL2 (#27674)

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Signed-off-by: msli-dev <747640013@qq.com>
This commit is contained in:
msl-dev
2026-06-18 06:49:53 +08:00
committed by GitHub
parent 04eeac5526
commit c9b13827d9
2 changed files with 30 additions and 4 deletions
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11
Tools/px4_uploader.py
View File

@@ -1512,6 +1512,14 @@ class PortDetector:
elif self.platform == "darwin":
patterns = self.MACOS_PATTERNS
elif self.platform.startswith("win") or self.platform == "cygwin":
try:
detected_ports = [
port_info.device for port_info in serial.tools.list_ports.comports()
]
if detected_ports:
return detected_ports
except Exception as e:
logger.debug(f"Windows COM port detection failed: {e}")
patterns = self.WINDOWS_PATTERNS
else:
patterns = []
@@ -1834,7 +1842,8 @@ class Uploader:
last_error = None
for port in ports:
try:
return self._upload_to_port(port, firmwares)
if self._upload_to_port(port, firmwares):
return True
except BoardMismatchError as e:
logger.warning(f"Board mismatch on {port}: {e}")
last_error = e

23
platforms/nuttx/cmake/upload.cmake
View File

@@ -33,9 +33,26 @@
# Uploader script auto-detects PX4 devices by USB VID/PID
set(PX4_UPLOADER_SCRIPT "${PX4_SOURCE_DIR}/Tools/px4_uploader.py")
set(PX4_UPLOADER_PYTHON ${PYTHON_EXECUTABLE})
if(CMAKE_HOST_SYSTEM_NAME STREQUAL "Linux" AND EXISTS "/proc/sys/kernel/osrelease")
file(READ "/proc/sys/kernel/osrelease" PX4_HOST_OS_RELEASE)
string(FIND "${PX4_HOST_OS_RELEASE}" "microsoft-standard-WSL2" PX4_WSL2_INDEX)
if(NOT PX4_WSL2_INDEX EQUAL -1)
find_program(PX4_WINDOWS_PYTHON_EXECUTABLE python.exe)
if(PX4_WINDOWS_PYTHON_EXECUTABLE)
# Windows Python can access COM<N> ports directly,
# while WSL2 often cannot expose high-numbered COM
# ports as working /dev/ttyS<N> nodes.
set(PX4_UPLOADER_PYTHON ${PX4_WINDOWS_PYTHON_EXECUTABLE} -u)
endif()
endif()
endif()
add_custom_target(upload
COMMAND ${PYTHON_EXECUTABLE} ${PX4_UPLOADER_SCRIPT} ${fw_package}
COMMAND ${PX4_UPLOADER_PYTHON} ${PX4_UPLOADER_SCRIPT} ${fw_package}
DEPENDS ${fw_package}
COMMENT "uploading px4"
VERBATIM
@@ -44,7 +61,7 @@ add_custom_target(upload
)
add_custom_target(force-upload
COMMAND ${PYTHON_EXECUTABLE} ${PX4_UPLOADER_SCRIPT} --force ${fw_package}
COMMAND ${PX4_UPLOADER_PYTHON} ${PX4_UPLOADER_SCRIPT} --force ${fw_package}
DEPENDS ${fw_package}
COMMENT "uploading px4 with --force"
VERBATIM
@@ -53,7 +70,7 @@ add_custom_target(force-upload
)
add_custom_target(upload-verbose
COMMAND ${PYTHON_EXECUTABLE} ${PX4_UPLOADER_SCRIPT} --verbose ${fw_package}
COMMAND ${PX4_UPLOADER_PYTHON} ${PX4_UPLOADER_SCRIPT} --verbose ${fw_package}
DEPENDS ${fw_package}
COMMENT "uploading px4 with verbose output"
VERBATIM