mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-09-22 16:14:37 +08:00
Merge branch 'RazorsFrozenTesting' into RazorsEdge
This commit is contained in:
Unknown
@@ -33,6 +33,8 @@ Please add a note of your changes below this heading if you make a Pull Request.
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* Cleaned up VSCode C/C++ Configuration settings on Windows with recursive includePath
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* Now compiling with C++17
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* Fixed a firmware hang that could occur from unlikely but possible user input
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* Added JSON caching to Fibre. This drastically reduces the time odrivetool needs to connect to an ODrive (except for the first time or after firmware updates).
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* Fix IPython `RuntimeWarning` that would occur every time `odrivetool` was started.
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# Releases
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## [0.4.11] - 2019-07-25
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@@ -1098,6 +1098,7 @@ public:
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extern Endpoint** endpoint_list_;
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extern size_t n_endpoints_;
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extern uint16_t json_crc_;
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extern uint32_t json_version_id_; // exposed to hosts to facilitate cache lookup
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extern JSONDescriptorEndpoint json_file_endpoint_;
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extern EndpointProvider* application_endpoints_;
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@@ -1124,10 +1125,16 @@ int fibre_publish(T& application_objects) {
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// Calculate the CRC16 of the JSON file.
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// The init value is the protocol version.
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CRC16Calculator crc16_calculator(PROTOCOL_VERSION);
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uint8_t offset[4] = { 0 };
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json_file_endpoint_.handle(offset, sizeof(offset), &crc16_calculator);
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json_crc_ = crc16_calculator.get_crc16();
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// Add entropy for fibre cache
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json_file_endpoint_.handle(offset, sizeof(offset), &crc16_calculator);
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json_version_id_ = (uint32_t) crc16_calculator.get_crc16();
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json_version_id_ += json_crc_ << 16;
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return 0;
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}
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@@ -13,9 +13,10 @@
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/* Global constant data ------------------------------------------------------*/
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/* Global variables ----------------------------------------------------------*/
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Endpoint** endpoint_list_ = nullptr; // initialized by calling fibre_publish
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size_t n_endpoints_ = 0; // initialized by calling fibre_publish
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uint16_t json_crc_; // initialized by calling fibre_publish
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Endpoint** endpoint_list_ = nullptr; // initialized by calling fibre_publish
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size_t n_endpoints_ = 0; // initialized by calling fibre_publish
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uint16_t json_crc_; // initialized by calling fibre_publish
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uint32_t json_version_id_; // initialized by calling fibre_publish
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JSONDescriptorEndpoint json_file_endpoint_ = JSONDescriptorEndpoint();
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EndpointProvider* application_endpoints_;
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@@ -140,15 +141,21 @@ void JSONDescriptorEndpoint::handle(const uint8_t* input, size_t input_length, S
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return;
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uint32_t offset = 0;
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read_le<uint32_t>(&offset, input);
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NullStreamSink output_with_offset = NullStreamSink(offset, *output);
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size_t id = 0;
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write_string("[", &output_with_offset);
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json_file_endpoint_.write_json(id, &output_with_offset);
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id += decltype(json_file_endpoint_)::endpoint_count;
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write_string(",", &output_with_offset);
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application_endpoints_->write_json(id, &output_with_offset);
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write_string("]", &output_with_offset);
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// If the offset is special value 0xFFFFFFFF, send back the JSON version ID instead
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if (offset == 0xffffffff) {
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default_readwrite_endpoint_handler(&json_version_id_, nullptr, 0, output);
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} else {
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NullStreamSink output_with_offset = NullStreamSink(offset, *output);
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size_t id = 0;
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write_string("[", &output_with_offset);
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json_file_endpoint_.write_json(id, &output_with_offset);
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id += decltype(json_file_endpoint_)::endpoint_count;
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write_string(",", &output_with_offset);
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application_endpoints_->write_json(id, &output_with_offset);
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write_string("]", &output_with_offset);
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}
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}
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int BidirectionalPacketBasedChannel::process_packet(const uint8_t* buffer, size_t length) {
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@@ -7,11 +7,14 @@ import json
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import time
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import threading
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import traceback
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import struct
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import fibre.protocol
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import fibre.utils
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import fibre.remote_object
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from fibre.utils import Event, Logger
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from fibre.protocol import ChannelBrokenException, TimeoutError
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import appdirs
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import os
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# Load all installed transport layers
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@@ -64,25 +67,57 @@ def find_all(path, serial_number,
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"""
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try:
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logger.debug("Connecting to device on " + channel._name)
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cache_dir = appdirs.user_cache_dir("odrivetool")
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cache_path = None
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# Fetch the json version tag to check cache (only supported on firmware v0.5 or later)
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try:
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json_version_tag = channel.remote_endpoint_operation(0, struct.pack("<I", 0xffffffff), True, 4)
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json_version_tag = struct.unpack("<I", json_version_tag)[0]
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logger.debug("Device reported JSON version ID: {:08d}".format(json_version_tag))
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cache_path = os.path.join(cache_dir, 'fibre_schema_cache_{:08d}'.format(json_version_tag))
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except:
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logger.debug("Failed to get JSON checksum")
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# Check cache
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json_data = None
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try:
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if not cache_path is None:
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with open(cache_path, 'rb') as fp:
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json_crc16 = fibre.protocol.calc_crc16(fibre.protocol.PROTOCOL_VERSION, fp.read())
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fp.seek(0)
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json_data = json.load(fp)
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except:
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logger.debug(f"Failed load JSON cache file {cache_path}")
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# Fallback to loading JSON from device
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if json_data is None:
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# Downloading json data
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logger.info("Downloading json data from ODrive... (this might take a while)")
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json_bytes = channel.remote_endpoint_read_buffer(0)
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except (TimeoutError, ChannelBrokenException):
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logger.debug("no response - probably incompatible")
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return
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json_crc16 = fibre.protocol.calc_crc16(fibre.protocol.PROTOCOL_VERSION, json_bytes)
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channel._interface_definition_crc = json_crc16
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try:
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json_string = json_bytes.decode("ascii")
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except UnicodeDecodeError:
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logger.debug("device responded on endpoint 0 with something that is not ASCII")
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return
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logger.debug("JSON: " + json_string.replace('{"name"', '\n{"name"'))
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logger.debug("JSON checksum: 0x{:02X} 0x{:02X}".format(json_crc16 & 0xff, (json_crc16 >> 8) & 0xff))
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try:
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try:
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json_string = json_bytes.decode("ascii")
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except UnicodeDecodeError:
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logger.debug("Device responded on endpoint 0 with something that is not ASCII")
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raise UnicodeDecodeError
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json_crc16 = fibre.protocol.calc_crc16(fibre.protocol.PROTOCOL_VERSION, json_bytes)
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json_data = json.loads(json_string)
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except json.decoder.JSONDecodeError as error:
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logger.debug("device responded on endpoint 0 with something that is not JSON: " + str(error))
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return
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# Save JSON to cache
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if not cache_path is None:
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logger.debug(f"Creating new JSON cache file {cache_path}")
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os.makedirs(cache_dir, exist_ok=True)
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with open(cache_path, 'w+') as json_cache:
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json_cache.write(json_string)
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logger.debug(f"Saved JSON to cache file {cache_path}")
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channel._interface_definition_crc = json_crc16
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logger.debug("JSON: " + str(json_data).replace("{'name'", "\n{'name'"))
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json_data = {"name": "fibre_node", "members": json_data}
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obj = fibre.remote_object.RemoteObject(json_data, None, channel, logger)
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@@ -93,7 +128,10 @@ def find_all(path, serial_number,
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if serial_number != None and device_serial_number != serial_number:
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logger.debug("Ignoring device with serial number {}".format(device_serial_number))
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return
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did_discover_object_callback(obj)
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except Exception:
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logger.debug("Unexpected exception after discovering channel: " + traceback.format_exc())
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@@ -80,11 +80,23 @@ def launch_shell(args,
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# If IPython is installed, embed IPython shell, otherwise embed regular shell
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if use_ipython:
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help = lambda: print_help(args, len(discovered_devices) > 0) # Override help function # pylint: disable=W0612
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locals()['__name__'] = globals()['__name__'] # to fix broken "%run -i script.py"
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# Override help function # pylint: disable=W0612
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help = lambda: print_help(args, len(discovered_devices) > 0)
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# to fix broken "%run -i script.py"
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locals()['__name__'] = globals()['__name__']
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console = IPython.terminal.embed.InteractiveShellEmbed(banner1='')
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console.runcode = console.run_code # hack to make IPython look like the regular console
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# hack to make IPython look like the regular console
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console.runcode = console.run_cell
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interact = console
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# Catch ChannelBrokenException (since disconnect is not always an error)
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default_exception_hook = console._showtraceback
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def filtered_exception_hook(ex_class, ex, trace):
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if(ex_class.__module__+'.'+ex_class.__name__ != 'fibre.protocol.ChannelBrokenException'):
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default_exception_hook(ex_class,ex,trace)
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console._showtraceback = filtered_exception_hook
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else:
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# Enable tab complete if possible
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try:
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@@ -100,13 +112,13 @@ def launch_shell(args,
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console = code.InteractiveConsole(locals=interactive_variables)
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interact = lambda: console.interact(banner='')
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# install hook to hide ChannelBrokenException
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console.runcode('import sys')
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console.runcode('superexcepthook = sys.excepthook')
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console.runcode('def newexcepthook(ex_class,ex,trace):\n'
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' if ex_class.__module__ + "." + ex_class.__name__ != "fibre.ChannelBrokenException":\n'
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' superexcepthook(ex_class,ex,trace)')
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console.runcode('sys.excepthook=newexcepthook')
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# Catch ChannelBrokenException (since disconnect is not alway an error)
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console.runcode("import sys")
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console.runcode("default_exception_hook = sys.excepthook")
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console.runcode("def filtered_exception_hook(ex_class, ex, trace):\n"
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" if ex_class.__module__ + '.' + ex_class.__name__ != 'fibre.protocol.ChannelBrokenException':\n"
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" default_exception_hook(ex_class,ex,trace)")
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console.runcode("sys.excepthook=filtered_exception_hook")
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# Launch shell
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@@ -76,7 +76,9 @@ setup(
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license='MIT',
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url = 'https://github.com/samuelsadok/fibre',
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keywords = ['communication', 'transport-layer', 'rpc'],
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install_requires = [],
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install_requires = [
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'appdirs', # Used to find caching directory
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],
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#package_data={'': ['version.txt']},
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classifiers = [],
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)
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@@ -5,11 +5,13 @@
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* **Via USB:**
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* **Windows:** Use the Zadig utility to set the ODrive's driver to "usbser". Windows will then make the device available as COM port. You can use [PuTTY](https://www.chiark.greenend.org.uk/~sgtatham/putty/) to manually send commands or open the COM port using your favorite programming language
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* **Linux/macOS:** Run `/dev/tty*` to list all serial ports. The ODrive will show up as `/dev/ttyACM0` on Linux and `/dev/tty.usbmodem[...]` on macOS. Once you know the name, you can use `screen /dev/ttyACM0` (with the correct name) to send commands manually or open the device using your favorite programming language. Serial ports on Unix can be opened, written to and read from like a normal file.
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* **Linux/macOS:** Run `/dev/tty*` to list all serial ports. The ODrive will show up as `/dev/ttyACM0` (or similar) on Linux and `/dev/tty.usbmodem[...]` on macOS. Once you know the name, you can use `screen /dev/ttyACM0` (with the correct name) to send commands manually or open the device using your favorite programming language. Serial ports on Unix can be opened, written to and read from like a normal file.
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* **Via UART:** Connect the ODrive's TX (GPIO1) to your host's RX. Connect your ODrive's RX (GPIO2) to your host's TX. The logic level of the ODrive is 3.3V.
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* **Arduino:** You can use the [ODrive Arduino library](https://github.com/madcowswe/ODrive/tree/master/Arduino/ODriveArduino) to talk to the ODrive.
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* **Windows/Linux/macOS:** You can use an FTDI USB-UART cable to connect to the ODrive.
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The ODrive does not echo commands. That means that when you type commands into a program like `screen`, the characters you type won't show up in the console.
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## Command format
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The ASCII protocol is human-readable and line-oriented, with each line having the following format:
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@@ -18,7 +20,7 @@ The ASCII protocol is human-readable and line-oriented, with each line having th
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command *42 ; comment [new line character]
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```
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* `*42` stands for a GCode compatible checksum and can be omitted. If and only if a checksum is provided, the device will also include a checksum in the response, if any.
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* `*42` stands for a GCode compatible checksum and can be omitted. If and only if a checksum is provided, the device will also include a checksum in the response, if any. The checksum is calculated as the bitwise xor of all characters before the asterisk (`*`). <br> Example of a valid checksum: `r vbus_voltage *93`.
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* comments are supported for GCode compatibility
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* the command is interpreted once the new-line character is encountered
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