mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-08-19 02:43:27 +08:00
128 lines
5.3 KiB
Python
Executable File
128 lines
5.3 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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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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import functools
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print = functools.partial(print, flush=True)
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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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# 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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# We are interactively printing status messages, so flush by default
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import functools
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print = functools.partial(print, flush=True)
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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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logger.debug(str(args))
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print("ODrive control utility v" + odrive.__version__)
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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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pass
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elif args.command == 'shell':
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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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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.pll_pos,
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my_odrive.motor1.encoder.pll_pos])
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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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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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