mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-28 10:46:33 +08:00
px_uploader.py: enable file to be used as module
In order to use px_uploader as a module from another Python script, all the action needs to be moved into a main() function which is only called if the file is run directly.
This commit is contained in:
Julian Oes
Beat Küng
+113
-109
@@ -67,6 +67,11 @@ import os
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from sys import platform as _platform
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# Detect python version
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if sys.version_info[0] < 3:
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runningPython3 = False
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else:
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runningPython3 = True
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class firmware(object):
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'''Loads a firmware file'''
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@@ -471,13 +476,13 @@ class uploader(object):
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self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)
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# upload the firmware
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def upload(self, fw):
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def upload(self, fw, force=False, boot_delay=None):
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# Make sure we are doing the right thing
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if self.board_type != fw.property('board_id'):
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msg = "Firmware not suitable for this board (board_type=%u board_id=%u)" % (
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self.board_type, fw.property('board_id'))
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print("WARNING: %s" % msg)
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if args.force:
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if force:
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print("FORCED WRITE, FLASHING ANYWAY!")
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else:
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raise IOError(msg)
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@@ -529,8 +534,8 @@ class uploader(object):
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else:
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self.__verify_v3("Verify ", fw)
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if args.boot_delay is not None:
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self.__set_boot_delay(args.boot_delay)
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if boot_delay is not None:
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self.__set_boot_delay(boot_delay)
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print("\nRebooting.\n")
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self.__reboot()
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@@ -574,130 +579,129 @@ class uploader(object):
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return True
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# Detect python version
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if sys.version_info[0] < 3:
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runningPython3 = False
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else:
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runningPython3 = True
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def main():
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# Parse commandline arguments
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parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
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parser.add_argument('--port', action="store", required=True, help="Comma-separated list of serial port(s) to which the FMU may be attached")
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parser.add_argument('--baud-bootloader', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200) when communicating with bootloader, only required for true serial ports.")
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parser.add_argument('--baud-flightstack', action="store", default="57600", help="Comma-separated list of baud rate of the serial port (default is 57600) when communicating with flight stack (Mavlink or NSH), only required for true serial ports.")
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parser.add_argument('--force', action='store_true', default=False, help='Override board type check and continue loading')
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parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
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parser.add_argument('firmware', action="store", help="Firmware file to be uploaded")
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args = parser.parse_args()
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# Parse commandline arguments
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parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
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parser.add_argument('--port', action="store", required=True, help="Comma-separated list of serial port(s) to which the FMU may be attached")
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parser.add_argument('--baud-bootloader', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200) when communicating with bootloader, only required for true serial ports.")
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parser.add_argument('--baud-flightstack', action="store", default="57600", help="Comma-separated list of baud rate of the serial port (default is 57600) when communicating with flight stack (Mavlink or NSH), only required for true serial ports.")
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parser.add_argument('--force', action='store_true', default=False, help='Override board type check and continue loading')
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parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
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parser.add_argument('firmware', action="store", help="Firmware file to be uploaded")
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args = parser.parse_args()
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# warn people about ModemManager which interferes badly with Pixhawk
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if os.path.exists("/usr/sbin/ModemManager"):
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print("==========================================================================================================")
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print("WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)")
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print("==========================================================================================================")
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# warn people about ModemManager which interferes badly with Pixhawk
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if os.path.exists("/usr/sbin/ModemManager"):
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print("==========================================================================================================")
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print("WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)")
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print("==========================================================================================================")
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# Load the firmware file
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fw = firmware(args.firmware)
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print("Loaded firmware for %x,%x, size: %d bytes, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size')))
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print("If the board does not respond within 1-2 seconds, unplug and re-plug the USB connector.")
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# Load the firmware file
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fw = firmware(args.firmware)
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print("Loaded firmware for %x,%x, size: %d bytes, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size')))
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print("If the board does not respond within 1-2 seconds, unplug and re-plug the USB connector.")
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# Spin waiting for a device to show up
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try:
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while True:
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portlist = []
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patterns = args.port.split(",")
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# on unix-like platforms use glob to support wildcard ports. This allows
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# the use of /dev/serial/by-id/usb-3D_Robotics on Linux, which prevents the upload from
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# causing modem hangups etc
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if "linux" in _platform or "darwin" in _platform:
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import glob
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for pattern in patterns:
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portlist += glob.glob(pattern)
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else:
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portlist = patterns
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# Spin waiting for a device to show up
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try:
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while True:
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portlist = []
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patterns = args.port.split(",")
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# on unix-like platforms use glob to support wildcard ports. This allows
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# the use of /dev/serial/by-id/usb-3D_Robotics on Linux, which prevents the upload from
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# causing modem hangups etc
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if "linux" in _platform or "darwin" in _platform:
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import glob
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for pattern in patterns:
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portlist += glob.glob(pattern)
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else:
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portlist = patterns
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baud_flightstack = [int(x) for x in args.baud_flightstack.split(',')]
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baud_flightstack = [int(x) for x in args.baud_flightstack.split(',')]
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for port in portlist:
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for port in portlist:
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# print("Trying %s" % port)
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# print("Trying %s" % port)
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# create an uploader attached to the port
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try:
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if "linux" in _platform:
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# Linux, don't open Mac OS and Win ports
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if "COM" not in port and "tty.usb" not in port:
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up = uploader(port, args.baud_bootloader, baud_flightstack)
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elif "darwin" in _platform:
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# OS X, don't open Windows and Linux ports
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if "COM" not in port and "ACM" not in port:
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up = uploader(port, args.baud_bootloader, baud_flightstack)
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elif "win" in _platform:
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# Windows, don't open POSIX ports
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if "/" not in port:
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up = uploader(port, args.baud_bootloader, baud_flightstack)
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except Exception as e:
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# open failed, rate-limit our attempts
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time.sleep(0.05)
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# and loop to the next port
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continue
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found_bootloader = False
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while (True):
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up.open()
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# port is open, try talking to it
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# create an uploader attached to the port
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try:
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# identify the bootloader
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up.identify()
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found_bootloader = True
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print("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port))
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break
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if "linux" in _platform:
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# Linux, don't open Mac OS and Win ports
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if "COM" not in port and "tty.usb" not in port:
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up = uploader(port, args.baud_bootloader, baud_flightstack)
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elif "darwin" in _platform:
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# OS X, don't open Windows and Linux ports
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if "COM" not in port and "ACM" not in port:
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up = uploader(port, args.baud_bootloader, baud_flightstack)
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elif "win" in _platform:
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# Windows, don't open POSIX ports
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if "/" not in port:
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up = uploader(port, args.baud_bootloader, baud_flightstack)
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except Exception as e:
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# open failed, rate-limit our attempts
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time.sleep(0.05)
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except Exception:
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# and loop to the next port
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continue
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if not up.send_reboot():
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found_bootloader = False
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while (True):
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up.open()
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# port is open, try talking to it
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try:
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# identify the bootloader
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up.identify()
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found_bootloader = True
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print("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port))
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break
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# wait for the reboot, without we might run into Serial I/O Error 5
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time.sleep(0.25)
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except Exception:
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if not up.send_reboot():
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break
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# wait for the reboot, without we might run into Serial I/O Error 5
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time.sleep(0.25)
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# always close the port
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up.close()
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# wait for the close, without we might run into Serial I/O Error 6
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time.sleep(0.3)
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if not found_bootloader:
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# Go to the next port
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continue
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try:
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# ok, we have a bootloader, try flashing it
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up.upload(fw, force=args.force, boot_delay=args.boot_delay)
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except RuntimeError as ex:
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# print the error
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print("\nERROR: %s" % ex.args)
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except IOError as e:
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up.close()
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continue
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finally:
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# always close the port
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up.close()
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# wait for the close, without we might run into Serial I/O Error 6
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time.sleep(0.3)
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# we could loop here if we wanted to wait for more boards...
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sys.exit(0)
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if not found_bootloader:
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# Go to the next port
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continue
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# Delay retries to < 20 Hz to prevent spin-lock from hogging the CPU
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time.sleep(0.05)
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try:
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# ok, we have a bootloader, try flashing it
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up.upload(fw)
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# CTRL+C aborts the upload/spin-lock by interrupt mechanics
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except KeyboardInterrupt:
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print("\n Upload aborted by user.")
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sys.exit(0)
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except RuntimeError as ex:
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# print the error
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print("\nERROR: %s" % ex.args)
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except IOError as e:
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up.close()
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continue
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finally:
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# always close the port
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up.close()
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# we could loop here if we wanted to wait for more boards...
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sys.exit(0)
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# Delay retries to < 20 Hz to prevent spin-lock from hogging the CPU
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time.sleep(0.05)
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# CTRL+C aborts the upload/spin-lock by interrupt mechanics
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except KeyboardInterrupt:
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print("\n Upload aborted by user.")
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sys.exit(0)
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if __name__ == '__main__':
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main()
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# vim: tabstop=4 expandtab shiftwidth=4 softtabstop=4
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