mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-09-12 14:27:20 +08:00
Samuel Sadok
2fde5b4d85
- python odrive module can be used from python2 again - the automatic firmware version.h generation is now based on python instead of bash (which didn't work well on Windows)
147 lines
6.1 KiB
Python
Executable File
147 lines
6.1 KiB
Python
Executable File
#!/usr/bin/env python3
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"""
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ODrive command line utility
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"""
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from __future__ import print_function
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import sys
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import argparse
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import odrive.discovery
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from odrive.utils import Logger, Event
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# Flush stdout by default
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# Source:
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# https://stackoverflow.com/questions/230751/how-to-flush-output-of-python-print
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old_print = print
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def print(*args, **kwargs):
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kwargs.pop('flush', False)
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old_print(*args, **kwargs)
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file = kwargs.get('file', sys.stdout)
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file.flush() if file is not None else sys.stdout.flush()
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## Parse arguments ##
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parser = argparse.ArgumentParser(description='ODrive command line utility\n'
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'Running this tool without any arguments is equivalent to running `odrivetool shell`\n',
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formatter_class=argparse.RawTextHelpFormatter)
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# Subcommands
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subparsers = parser.add_subparsers(help='sub-command help', dest='command')
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shell_parser = subparsers.add_parser('shell', help='Drop into an interactive python shell that lets you interact with the ODrive(s)')
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shell_parser.add_argument("--no-ipython", action="store_true",
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help="Use the regular Python shell "
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"instead of the IPython shell, "
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"even if IPython is installed.")
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dfu_parser = subparsers.add_parser('dfu', help="Upgrade the ODrive device firmware")
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dfu_parser.add_argument('file', metavar='HEX', help='The .hex file to be flashed. Make sure your firmware board version matches the actual board version.')
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subparsers.add_parser('liveplotter', help="Upgrade the ODrive's Firmware")
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subparsers.add_parser('drv-status', help="Show status of the on-board DRV8301 chips (for debugging only)")
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subparsers.add_parser('rate-test', help="Estimate the average transmission bandwidth over USB")
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subparsers.add_parser('udev-setup', help="Linux only: Gives users on your system permission to access the ODrive by installing udev rules")
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# General arguments
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parser.add_argument("-p", "--path", metavar="PATH", action="store",
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help="The path(s) where ODrive(s) should be discovered.\n"
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"By default the script will connect to any ODrive on USB.\n\n"
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"To select a specific USB device:\n"
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" --path usb:BUS:DEVICE\n"
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"usbwhere BUS and DEVICE are the bus and device numbers as shown in `lsusb`.\n\n"
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"To select a specific serial port:\n"
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" --path serial:PATH\n"
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"where PATH is the path of the serial port. For example \"/dev/ttyUSB0\".\n"
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"You can use `ls /dev/tty*` to find the correct port.\n\n"
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"You can combine USB and serial specs by separating them with a comma (no space!)\n"
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"Example:\n"
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" --path usb,serial:/dev/ttyUSB0\n"
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"means \"discover any USB device or a serial device on /dev/ttyUSB0\"")
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parser.add_argument("-s", "--serial-number", action="store",
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help="The 12-digit serial number of the device. "
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"This is a string consisting of 12 upper case hexadecimal "
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"digits as displayed in lsusb. \n"
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" example: 385F324D3037\n"
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"You can list all devices connected to USB by running\n"
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"(lsusb -d 1209:0d32 -v; lsusb -d 0483:df11 -v) | grep iSerial\n"
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"If omitted, any device is accepted.")
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parser.add_argument("-v", "--verbose", action="store_true",
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help="print debug information")
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parser.add_argument("--version", action="store_true",
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help="print version information and exit")
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parser.set_defaults(path="usb")
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args = parser.parse_args()
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# Default command
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if args.command is None:
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args.command = 'shell'
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args.no_ipython = False
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# TODO: deprecate printer - use logger instead
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if (args.verbose):
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printer = print
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else:
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printer = lambda x: None
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logger = Logger(verbose=args.verbose)
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def print_version():
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sys.stderr.write("ODrive control utility v" + odrive.__version__ + "\n")
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sys.stderr.flush()
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app_shutdown_token = Event()
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try:
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if args.version == True:
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print_version()
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elif args.command == 'shell':
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print_version()
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if ".dev" in odrive.__version__:
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print("")
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logger.warn("Developer Preview")
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print(" If you find issues, please report them")
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print(" on https://github.com/madcowswe/ODrive/issues")
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print(" or better yet, submit a pull request to fix it.")
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print("")
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import odrive.shell
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odrive.shell.launch_shell(args, logger, printer, app_shutdown_token)
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elif args.command == 'dfu':
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print_version()
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import odrive.dfu
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odrive.dfu.launch_dfu(args, app_shutdown_token)
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elif args.command == 'liveplotter':
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from odrive.utils import start_liveplotter
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print("Waiting for ODrive...")
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my_odrive = odrive.discovery.find_any(path=args.path, serial_number=args.serial_number)
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# If you want to plot different values, change them here.
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# You can plot any number of values concurrently.
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start_liveplotter(lambda: [my_odrive.motor0.encoder.pos_estimate,
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my_odrive.motor1.encoder.pos_estimate])
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elif args.command == 'drv-status':
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from odrive.utils import print_drv_regs
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print("Waiting for ODrive...")
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my_odrive = odrive.discovery.find_any(path=args.path, serial_number=args.serial_number)
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print_drv_regs("Motor 0", my_odrive.axis0.motor)
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print_drv_regs("Motor 1", my_odrive.axis1.motor)
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elif args.command == 'rate-test':
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from odrive.utils import rate_test
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print("Waiting for ODrive...")
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my_odrive = odrive.discovery.find_any(path=args.path, serial_number=args.serial_number)
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rate_test(my_odrive)
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elif args.command == 'udev-setup':
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from odrive.utils import setup_udev_rules
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setup_udev_rules(logger)
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else:
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raise Exception("unknown command: " + args.command)
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finally:
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app_shutdown_token.set()
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