mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-22 12:28:03 +08:00
[parrot] move and merge ardrone2 and bebop scripts
- common utility functions but still a lot of differences - some features like network configuration not yet supported on bebop - upload tested with bebop, more checks needed for ardrone2
This commit is contained in:
Gautier Hattenberger
+3
-52
@@ -25,61 +25,12 @@
|
||||
|
||||
include $(PAPARAZZI_SRC)/conf/Makefile.linux
|
||||
|
||||
DRONE = $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/ardrone2.py
|
||||
|
||||
# Allow modules or other raw makefiles to add actions to the upload
|
||||
upload_extra:
|
||||
|
||||
DRONE = $(PAPARAZZI_SRC)/sw/tools/parrot/ardrone2.py
|
||||
|
||||
# Program the device and start it.
|
||||
upload program: upload_extra $(OBJDIR)/$(TARGET).elf
|
||||
$(Q)$(DRONE) --host=$(HOST) insmod $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/cdc-acm.ko
|
||||
upload program: $(OBJDIR)/$(TARGET).elf
|
||||
$(Q)$(DRONE) --host=$(HOST) upload_file_and_run $(OBJDIR)/$(TARGET).elf $(SUB_DIR)
|
||||
$(Q)$(DRONE) --host=$(HOST) status
|
||||
|
||||
|
||||
# Program the device and start it.
|
||||
upload2 program2: $(OBJDIR)/$(TARGET).elf
|
||||
|
||||
# Kill the application
|
||||
-echo "killall -9 $(TARGET).elf" | telnet $(HOST)
|
||||
|
||||
# Make the target dir and edit the config
|
||||
-{ \
|
||||
echo "mkdir -p $(TARGET_DIR)"; \
|
||||
echo "if grep -q \"start_paparazzi *= \" /data/config.ini; then sed -i 's/\(start_paparazzi *= *\).*/\\\1$(ARDRONE2_START_PAPARAZZI)/g' /data/config.ini; else echo \"start_paparazzi = $(ARDRONE2_START_PAPARAZZI)\" >> /data/config.ini; fi"; \
|
||||
echo "if grep -q \"wifi_mode *= \" /data/config.ini; then sed -i 's/\(wifi_mode *= *\).*/\\\1$(ARDRONE2_WIFI_MODE)/g' /data/config.ini; else echo \"wifi_mode = $(ARDRONE2_WIFI_MODE)\" >> /data/config.ini; fi"; \
|
||||
echo "if grep -q \"ssid_single_player *= \" /data/config.ini; then sed -i 's/\(ssid_single_player *= *\).*/\\\1$(ARDRONE2_SSID)/g' /data/config.ini; else echo \"ssid_single_player = $(ARDRONE2_SSID)\" >> /data/config.ini; fi"; \
|
||||
echo "if grep -q \"static_ip_address_base *= \" /data/config.ini; then sed -i 's/\(static_ip_address_base *= *\).*/\\\1$(ARDRONE2_IP_ADDRESS_BASE)/g' /data/config.ini; else echo \"static_ip_address_base = $(ARDRONE2_IP_ADDRESS_BASE)\" >> /data/config.ini; fi"; \
|
||||
echo "if grep -q \"static_ip_address_probe *= \" /data/config.ini; then sed -i 's/\(static_ip_address_probe *= *\).*/\\\1$(ARDRONE2_IP_ADDRESS_PROBE)/g' /data/config.ini; else echo \"static_ip_address_probe = $(ARDRONE2_IP_ADDRESS_PROBE)\" >> /data/config.ini; fi"; \
|
||||
} | telnet $(HOST)
|
||||
|
||||
# Upload the drivers and new application
|
||||
{ \
|
||||
echo "binary"; \
|
||||
echo "put $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/cdc-acm.ko /$(SUB_DIR)/cdc-acm.ko"; \
|
||||
echo "put $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/check_update.sh check_update.sh"; \
|
||||
echo "put $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/wifi_setup.sh wifi_setup.sh"; \
|
||||
echo "put $(OBJDIR)/$(TARGET).elf /$(SUB_DIR)/$(TARGET).elf"; \
|
||||
echo "quit"; \
|
||||
} | ftp -n $(HOST)
|
||||
|
||||
# Upload the modules and start the application
|
||||
-{ \
|
||||
echo "mv /data/video/check_update.sh /bin/"; \
|
||||
echo "mv /data/video/wifi_setup.sh /bin/"; \
|
||||
echo "chmod 777 /bin/check_update.sh" \
|
||||
echo "chmod 777 /bin/wifi_setup.sh" \
|
||||
echo "insmod $(TARGET_DIR)/cdc-acm.ko"; \
|
||||
echo "chmod 777 $(TARGET_DIR)/$(TARGET).elf"; \
|
||||
echo "$(TARGET_DIR)/$(TARGET).elf > /dev/null 2>&1 &"; \
|
||||
} | telnet $(HOST)
|
||||
|
||||
ifeq ($(ARDRONE2_REBOOT),1)
|
||||
-{ \
|
||||
echo "reboot"; \
|
||||
} | telnet $(HOST)
|
||||
endif
|
||||
|
||||
# Listing of phony targets.
|
||||
.PHONY : upload_extra upload program upload2 program2
|
||||
.PHONY : upload program
|
||||
|
||||
+3
-7
@@ -25,15 +25,11 @@
|
||||
|
||||
include $(PAPARAZZI_SRC)/conf/Makefile.linux
|
||||
|
||||
DRONE = $(PAPARAZZI_SRC)/sw/ext/bebop.py
|
||||
|
||||
# Allow modules or other raw makefiles to add actions to the upload
|
||||
upload_extra:
|
||||
|
||||
DRONE = $(PAPARAZZI_SRC)/sw/tools/parrot/bebop.py
|
||||
|
||||
# Program the device and start it.
|
||||
upload program: upload_extra $(OBJDIR)/$(TARGET).elf
|
||||
upload program: $(OBJDIR)/$(TARGET).elf
|
||||
$(Q)$(DRONE) --host=$(HOST) upload_file_and_run $(OBJDIR)/$(TARGET).elf $(SUB_DIR)
|
||||
|
||||
# Listing of phony targets.
|
||||
.PHONY : upload_extra upload program
|
||||
.PHONY : upload program
|
||||
|
||||
Binary file not shown.
@@ -1,4 +1,23 @@
|
||||
#!/usr/bin/env python
|
||||
#
|
||||
# Copyright (C) 2012-2014 The Paparazzi Team
|
||||
#
|
||||
# This file is part of Paparazzi.
|
||||
#
|
||||
# Paparazzi is free software; you can redistribute it and/or modify
|
||||
# it under the terms of the GNU General Public License as published by
|
||||
# the Free Software Foundation; either version 2, or (at your option)
|
||||
# any later version.
|
||||
#
|
||||
# Paparazzi is distributed in the hope that it will be useful,
|
||||
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
# GNU General Public License for more details.
|
||||
#
|
||||
# You should have received a copy of the GNU General Public License
|
||||
# along with paparazzi; see the file COPYING. If not, see
|
||||
# <http://www.gnu.org/licenses/>.
|
||||
#
|
||||
|
||||
from __future__ import print_function
|
||||
import re
|
||||
@@ -11,31 +30,12 @@ from time import sleep
|
||||
from ftplib import FTP
|
||||
import ftplib
|
||||
|
||||
|
||||
# Check if IP is valid
|
||||
def is_ip(address):
|
||||
try:
|
||||
socket.inet_aton(address)
|
||||
ip = True
|
||||
except socket.error:
|
||||
ip = False
|
||||
return ip
|
||||
|
||||
# Execute a command
|
||||
def execute_command(command):
|
||||
tn.write(command + '\n')
|
||||
return tn.read_until('# ')[len(command) + 2:-4]
|
||||
|
||||
# Helper function
|
||||
def split_into_path_and_file(name):
|
||||
if name.count('/') <= 0:
|
||||
return ["./", name]
|
||||
return name.rsplit('/', 1)
|
||||
import parrot_utils
|
||||
|
||||
# Read from config.ini
|
||||
def read_from_config(name, config=''):
|
||||
if config == '':
|
||||
config = execute_command('cat /data/config.ini')
|
||||
config = parrot_utils.execute_command(tn, 'cat /data/config.ini')
|
||||
search = re.search(name + '[^=]+=[\r\n\t ]([^\r\n\t ]+)', config)
|
||||
if search is None:
|
||||
return ''
|
||||
@@ -45,41 +45,24 @@ def read_from_config(name, config=''):
|
||||
# Write to config
|
||||
def write_to_config(name, value):
|
||||
if read_from_config(name) == '':
|
||||
execute_command('echo "' + name + ' = ' + value + '\" >> /data/config.ini')
|
||||
parrot_utils.execute_command(tn, 'echo "' + name + ' = ' + value + '\" >> /data/config.ini')
|
||||
else:
|
||||
execute_command('sed -i "s/\(' + name + ' *= *\).*/\\1' + value + '/g" /data/config.ini')
|
||||
|
||||
# Check the version
|
||||
def check_version():
|
||||
return execute_command('cat /firmware/version.txt')
|
||||
|
||||
# Check what currently is running on the drone
|
||||
def check_running():
|
||||
ps_aux = execute_command('ps')
|
||||
running = ""
|
||||
|
||||
if 'program.elf' in ps_aux:
|
||||
running += ' Native (program.elf),'
|
||||
if 'ap.elf' in ps_aux:
|
||||
running += ' Paparazzi (ap.elf),'
|
||||
if 'gst-launch' in ps_aux:
|
||||
running += ' GStreamer (gst-launch)'
|
||||
return running[1:]
|
||||
parrot_utils.execute_command(tn, 'sed -i "s/\(' + name + ' *= *\).*/\\1' + value + '/g" /data/config.ini')
|
||||
|
||||
# Check if vision framework is installed
|
||||
def check_vision_installed():
|
||||
du_opt = execute_command('du -d 2 /data/video/opt')
|
||||
du_opt = parrot_utils.execute_command(tn,'du -d 2 /data/video/opt')
|
||||
return '/data/video/opt/arm/gst' in du_opt or '/data/video/opt/arm/lib' in du_opt or '/data/video/opt/arm/tidsp-binaries-23.i3.8' in du_opt
|
||||
|
||||
# Check if the vision framework is running
|
||||
def check_vision_running():
|
||||
du_opt = execute_command('du -d 2 /opt')
|
||||
du_opt = parrot_utils.execute_command(tn,'du -d 2 /opt')
|
||||
return '/opt/arm/gst' in du_opt and '/opt/arm/lib' in du_opt and '/opt/arm/tidsp-binaries-23.i3.8' in du_opt
|
||||
|
||||
# Check if autoboot is installed
|
||||
def check_autoboot():
|
||||
check_update = execute_command('grep "START_PAPARAZZI" /bin/check_update.sh')
|
||||
wifi_setup = execute_command('grep "BASE_ADRESS" /bin/wifi_setup.sh')
|
||||
check_update = parrot_utils.execute_command(tn,'grep "START_PAPARAZZI" /bin/check_update.sh')
|
||||
wifi_setup = parrot_utils.execute_command(tn,'grep "BASE_ADRESS" /bin/wifi_setup.sh')
|
||||
if "START_PAPARAZZI" in check_update and "BASE_ADRESS" in wifi_setup:
|
||||
return True
|
||||
else:
|
||||
@@ -87,65 +70,57 @@ def check_autoboot():
|
||||
|
||||
# Check if custom wifi_setup script is installed
|
||||
def check_wifi_setup():
|
||||
check_wifi = execute_command('grep "static_ip_address_base" /bin/wifi_setup.sh')
|
||||
check_wifi = parrot_utils.execute_command(tn,'grep "static_ip_address_base" /bin/wifi_setup.sh')
|
||||
if "static_ip_address_base" in check_wifi:
|
||||
return True
|
||||
else:
|
||||
return False
|
||||
|
||||
# Check the filesystem
|
||||
def check_filesystem():
|
||||
return execute_command('df -h')
|
||||
|
||||
# Reboot the drone
|
||||
def ardrone2_reboot():
|
||||
execute_command('reboot')
|
||||
|
||||
# Install the vision framework
|
||||
def ardrone2_install_vision():
|
||||
print('Uploading GST')
|
||||
uploadfile(ftp, "arm_light.tgz", file("bin/arm_light.tgz", "rb"))
|
||||
print(execute_command("cd /data/video && tar -xzf arm_light.tgz"))
|
||||
print(execute_command("rm -rf /data/video/arm_light.tgz"))
|
||||
parrot_utils.uploadfile(ftp, "arm_light.tgz", file("bin/arm_light.tgz", "rb"))
|
||||
print(parrot_utils.execute_command(tn,"cd /data/video && tar -xzf arm_light.tgz"))
|
||||
print(parrot_utils.execute_command(tn,"rm -rf /data/video/arm_light.tgz"))
|
||||
print('Now Starting Vision')
|
||||
ardrone2_start_vision()
|
||||
|
||||
# Remove the vision framework
|
||||
def ardrone2_remove_vision():
|
||||
execute_command("rm -rf /opt/arm")
|
||||
execute_command("rm -rf /lib/dsp")
|
||||
execute_command("rm -rf /data/video/opt")
|
||||
parrot_utils.execute_command(tn,"rm -rf /opt/arm")
|
||||
parrot_utils.execute_command(tn,"rm -rf /lib/dsp")
|
||||
parrot_utils.execute_command(tn,"rm -rf /data/video/opt")
|
||||
|
||||
# Start the vision framework
|
||||
def ardrone2_start_vision():
|
||||
# Mount the directories
|
||||
execute_command("mkdir -p /opt/arm")
|
||||
execute_command("mkdir -p /lib/dsp")
|
||||
execute_command("mount --bind /data/video/opt/arm /opt/arm")
|
||||
execute_command("mount --bind /data/video/opt/arm/lib/dsp /lib/dsp")
|
||||
parrot_utils.execute_command(tn,"mkdir -p /opt/arm")
|
||||
parrot_utils.execute_command(tn,"mkdir -p /lib/dsp")
|
||||
parrot_utils.execute_command(tn,"mount --bind /data/video/opt/arm /opt/arm")
|
||||
parrot_utils.execute_command(tn,"mount --bind /data/video/opt/arm/lib/dsp /lib/dsp")
|
||||
# Start The DSP programs
|
||||
execute_command("kill -9 `pidof program.elf`")
|
||||
execute_command("kill -9 `pidof gst-launch-0.10`")
|
||||
execute_command("export PATH=/opt/arm/gst/bin:$PATH")
|
||||
execute_command("export DSP_PATH=/opt/arm/tidsp-binaries-23.i3.8/")
|
||||
execute_command("/bin/dspbridge/cexec.out -T /opt/arm/tidsp-binaries-23.i3.8/baseimage.dof -v")
|
||||
execute_command("/bin/dspbridge/dynreg.out -r /opt/arm/tidsp-binaries-23.i3.8/m4venc_sn.dll64P -v")
|
||||
parrot_utils.execute_command(tn,"kill -9 `pidof program.elf`")
|
||||
parrot_utils.execute_command(tn,"kill -9 `pidof gst-launch-0.10`")
|
||||
parrot_utils.execute_command(tn,"export PATH=/opt/arm/gst/bin:$PATH")
|
||||
parrot_utils.execute_command(tn,"export DSP_PATH=/opt/arm/tidsp-binaries-23.i3.8/")
|
||||
parrot_utils.execute_command(tn,"/bin/dspbridge/cexec.out -T /opt/arm/tidsp-binaries-23.i3.8/baseimage.dof -v")
|
||||
parrot_utils.execute_command(tn,"/bin/dspbridge/dynreg.out -r /opt/arm/tidsp-binaries-23.i3.8/m4venc_sn.dll64P -v")
|
||||
# Show result
|
||||
execute_command("ls -altr /opt/arm/gst/bin")
|
||||
parrot_utils.execute_command(tn,"ls -altr /opt/arm/gst/bin")
|
||||
|
||||
# Install autoboot script
|
||||
def ardrone2_install_autoboot():
|
||||
print('Uploading autoboot script')
|
||||
uploadfile(ftp, "check_update.sh", file("check_update.sh", "rb"))
|
||||
print(execute_command("mv /data/video/check_update.sh /bin/check_update.sh"))
|
||||
print(execute_command("chmod 777 /bin/check_update.sh"))
|
||||
parrot_utils.uploadfile(ftp, "check_update.sh", file("ardrone2/check_update.sh", "rb"))
|
||||
print(parrot_utils.execute_command(tn,"mv /data/video/check_update.sh /bin/check_update.sh"))
|
||||
print(parrot_utils.execute_command(tn,"chmod 777 /bin/check_update.sh"))
|
||||
|
||||
# Install network script
|
||||
def ardrone2_install_network_script():
|
||||
print('Uploading Wifi script')
|
||||
uploadfile(ftp, "wifi_setup.sh", file("wifi_setup.sh", "rb"))
|
||||
print(execute_command("mv /data/video/wifi_setup.sh /bin/wifi_setup.sh"))
|
||||
print(execute_command("chmod 777 /bin/wifi_setup.sh"))
|
||||
parrot_utils.uploadfile(ftp, "wifi_setup.sh", file("ardrone2/wifi_setup.sh", "rb"))
|
||||
print(parrot_utils.execute_command(tn,"mv /data/video/wifi_setup.sh /bin/wifi_setup.sh"))
|
||||
print(parrot_utils.execute_command(tn,"chmod 777 /bin/wifi_setup.sh"))
|
||||
|
||||
# Set network SSID
|
||||
def ardrone2_set_ssid(name):
|
||||
@@ -171,13 +146,13 @@ def ardrone2_set_wifi_mode(mode):
|
||||
print('The Wifi mode of the ARDrone2 is changed to ' + mode + ' (' + val + ')')
|
||||
|
||||
def ardrone2_status():
|
||||
config_ini = execute_command('cat /data/config.ini')
|
||||
config_ini = parrot_utils.execute_command(tn,'cat /data/config.ini')
|
||||
|
||||
print('======================== ARDrone 2 Status ========================')
|
||||
print('Version:\t\t' + check_version())
|
||||
print('Version:\t\t' + parrot_utils.check_version(tn, '/firmware'))
|
||||
print('Host:\t\t\t' + args.host + ' (' + read_from_config('static_ip_address_base', config_ini) +
|
||||
read_from_config('static_ip_address_probe', config_ini) + ' after boot)')
|
||||
print('Currently running:\t' + check_running())
|
||||
print('Currently running:\t' + parrot_utils.check_running(tn))
|
||||
print('Serial number:\t\t' + read_from_config('drone_serial', config_ini))
|
||||
print('Network id:\t\t' + read_from_config('ssid_single_player', config_ini))
|
||||
print('Motor software:\t\t' +
|
||||
@@ -203,18 +178,7 @@ def ardrone2_status():
|
||||
|
||||
# Request the filesystem status
|
||||
print('\n======================== Filesystem Status ========================')
|
||||
print(check_filesystem())
|
||||
|
||||
# Upload ftp and catch memory-full error
|
||||
def uploadfile(ftp, filename, content):
|
||||
try:
|
||||
ftp.storbinary("STOR " + filename, content)
|
||||
except ftplib.error_temp:
|
||||
print("FTP UPLOAD ERROR: Uploading FAILED: Probably your ARDrone memory is full.")
|
||||
sys.exit()
|
||||
except:
|
||||
print("FTP UPLOAD ERROR: Maybe your ARDrone memory is full?", sys.exc_info()[0])
|
||||
sys.exit()
|
||||
print(parrot_utils.check_filesystem(tn))
|
||||
|
||||
|
||||
# Parse the arguments
|
||||
@@ -271,16 +235,7 @@ subparser_autostart.add_argument('type', choices=['native', 'paparazzi_raw', 'pa
|
||||
args = parser.parse_args()
|
||||
|
||||
# Connect with telnet and ftp
|
||||
try:
|
||||
tn = telnetlib.Telnet(args.host)
|
||||
ftp = FTP(args.host)
|
||||
ftp.login()
|
||||
except:
|
||||
print('Could not connect to ARDrone 2 (host: ' + args.host + ')')
|
||||
exit(2)
|
||||
|
||||
# Read until after login
|
||||
tn.read_until('# ')
|
||||
tn, ftp = parrot_utils.connect(args.host)
|
||||
|
||||
# Check the ARDrone 2 status
|
||||
if args.command == 'status':
|
||||
@@ -288,17 +243,17 @@ if args.command == 'status':
|
||||
|
||||
# Reboot the drone
|
||||
elif args.command == 'reboot':
|
||||
ardrone2_reboot()
|
||||
parrot_utils.reboot(tn)
|
||||
print('The ARDrone 2 is rebooting...')
|
||||
|
||||
# Kill a program
|
||||
elif args.command == 'kill':
|
||||
execute_command('killall -9 ' + args.program)
|
||||
parrot_utils.execute_command(tn,'killall -9 ' + args.program)
|
||||
print('Program "' + args.program + '" is now killed')
|
||||
|
||||
# Start a program
|
||||
elif args.command == 'start':
|
||||
execute_command(args.start + ' &')
|
||||
parrot_utils.execute_command(tn,args.start + ' &')
|
||||
print('Program "' + args.start + '" is now started')
|
||||
|
||||
# Change the network ID
|
||||
@@ -306,25 +261,25 @@ elif args.command == 'networkid':
|
||||
ardrone2_set_ssid(args.name)
|
||||
|
||||
if raw_input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y':
|
||||
ardrone2_reboot()
|
||||
parrot_utils.reboot(tn)
|
||||
|
||||
# Change the IP address
|
||||
elif args.command == 'ipaddress':
|
||||
ardrone2_set_ip_address(args.address)
|
||||
|
||||
if raw_input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y':
|
||||
ardrone2_reboot()
|
||||
parrot_utils.reboot(tn)
|
||||
|
||||
# Change the wifi mode
|
||||
elif args.command == 'wifimode':
|
||||
ardrone2_set_wifi_mode(args.mode)
|
||||
|
||||
if raw_input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y':
|
||||
ardrone2_reboot()
|
||||
parrot_utils.reboot(tn)
|
||||
|
||||
# Install and configure network
|
||||
elif args.command == 'configure_network':
|
||||
config_ini = execute_command('cat /data/config.ini')
|
||||
config_ini = parrot_utils.execute_command(tn,'cat /data/config.ini')
|
||||
print('=== Current network setup ===')
|
||||
print('Network id:\t' + read_from_config('ssid_single_player', config_ini))
|
||||
print('Host:\t\t' + args.host + ' (' + read_from_config('static_ip_address_base', config_ini) +
|
||||
@@ -341,7 +296,7 @@ elif args.command == 'configure_network':
|
||||
ardrone2_set_ssid(args.name)
|
||||
ardrone2_set_ip_address(args.address)
|
||||
ardrone2_set_wifi_mode(args.mode)
|
||||
config_ini = execute_command('cat /data/config.ini')
|
||||
config_ini = parrot_utils.execute_command(tn,'cat /data/config.ini')
|
||||
print('== New network setup after boot ==')
|
||||
print('Network id:\t' + read_from_config('ssid_single_player', config_ini))
|
||||
print('Host:\t\t' + read_from_config('static_ip_address_base', config_ini) +
|
||||
@@ -350,7 +305,7 @@ elif args.command == 'configure_network':
|
||||
print('==================================')
|
||||
|
||||
if raw_input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y':
|
||||
ardrone2_reboot()
|
||||
parrot_utils.reboot(tn)
|
||||
|
||||
# Install and configure autostart
|
||||
elif args.command == 'install_autostart':
|
||||
@@ -365,7 +320,7 @@ elif args.command == 'install_autostart':
|
||||
print('The autostart on boot is changed to ' + args.type)
|
||||
|
||||
if raw_input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y':
|
||||
ardrone2_reboot()
|
||||
parrot_utils.reboot(tn)
|
||||
|
||||
# Change the autostart
|
||||
elif args.command == 'autostart':
|
||||
@@ -400,9 +355,9 @@ elif args.command == 'startvision':
|
||||
|
||||
elif args.command == 'upload_gst_module':
|
||||
print('Uploading ...' + args.file)
|
||||
uploadfile(ftp, args.file, file(args.file, "rb"))
|
||||
execute_command("chmod 777 /data/video/" + args.file)
|
||||
execute_command("mv /data/video/" + args.file + " /data/video/opt/arm/gst/lib/gstreamer-0.10")
|
||||
parrot_utils.uploadfile(ftp, args.file, file(args.file, "rb"))
|
||||
parrot_utils.execute_command(tn,"chmod 777 /data/video/" + args.file)
|
||||
parrot_utils.execute_command(tn,"mv /data/video/" + args.file + " /data/video/opt/arm/gst/lib/gstreamer-0.10")
|
||||
if check_vision_running():
|
||||
print('Info: Vision framework already started')
|
||||
else:
|
||||
@@ -418,38 +373,38 @@ elif args.command == 'upload_gst_module':
|
||||
|
||||
|
||||
elif args.command == 'insmod':
|
||||
modfile = split_into_path_and_file(args.file)
|
||||
modfile = parrot_utils.split_into_path_and_file(args.file)
|
||||
print('Uploading \'' + modfile[1])
|
||||
uploadfile(ftp, modfile[1], file(args.file, "rb"))
|
||||
print(execute_command("insmod /data/video/" + modfile[1]))
|
||||
parrot_utils.uploadfile(ftp, modfile[1], file(args.file, "rb"))
|
||||
print(parrot_utils.execute_command(tn,"insmod /data/video/" + modfile[1]))
|
||||
|
||||
elif args.command == 'upload_file_and_run':
|
||||
# Split filename and path
|
||||
f = split_into_path_and_file(args.file)
|
||||
f = parrot_utils.split_into_path_and_file(args.file)
|
||||
|
||||
print("Kill running " + f[1] + " and make folder " + args.folder)
|
||||
execute_command("killall -9 " + f[1])
|
||||
parrot_utils.execute_command(tn,"killall -9 " + f[1])
|
||||
sleep(1)
|
||||
execute_command("mkdir -p /data/video/" + args.folder)
|
||||
parrot_utils.execute_command(tn, "mkdir -p /data/video/" + args.folder)
|
||||
print('Uploading \'' + f[1] + "\' from " + f[0] + " to " + args.folder)
|
||||
uploadfile(ftp, args.folder + "/" + f[1], file(args.file, "rb"))
|
||||
parrot_utils.uploadfile(ftp, args.folder + "/" + f[1], file(args.file, "rb"))
|
||||
sleep(0.5)
|
||||
execute_command("chmod 777 /data/video/" + args.folder + "/" + f[1])
|
||||
execute_command("/data/video/" + args.folder + "/" + f[1] + " > /dev/null 2>&1 &")
|
||||
parrot_utils.execute_command(tn, "chmod 777 /data/video/" + args.folder + "/" + f[1])
|
||||
parrot_utils.execute_command(tn, "/data/video/" + args.folder + "/" + f[1] + " > /dev/null 2>&1 &")
|
||||
print("#pragma message: Upload and Start of ap.elf to ARDrone2 Succes!")
|
||||
|
||||
elif args.command == 'upload_file':
|
||||
# Split filename and path
|
||||
f = split_into_path_and_file(args.file)
|
||||
f = parrot_utils.split_into_path_and_file(args.file)
|
||||
|
||||
execute_command("mkdir -p /data/video/" + args.folder)
|
||||
parrot_utils.execute_command(tn,"mkdir -p /data/video/" + args.folder)
|
||||
print('Uploading \'' + f[1] + "\' from " + f[0] + " to /data/video/" + args.folder)
|
||||
uploadfile(ftp, args.folder + "/" + f[1], file(args.file, "rb"))
|
||||
parrot_utils.uploadfile(ftp, args.folder + "/" + f[1], file(args.file, "rb"))
|
||||
print("#pragma message: Upload of " + f[1] + " to ARDrone2 Succes!")
|
||||
|
||||
elif args.command == 'download_file':
|
||||
# Split filename and path
|
||||
f = split_into_path_and_file(args.file)
|
||||
f = parrot_utils.split_into_path_and_file(args.file)
|
||||
# Open file and download
|
||||
try:
|
||||
file = open(args.file, 'wb')
|
||||
@@ -466,13 +421,13 @@ elif args.command == 'download_file':
|
||||
|
||||
elif args.command == 'download_dir':
|
||||
# Split filename and path
|
||||
files = execute_command('find /data/video/' + args.folder + ' -name \'*.*\'')
|
||||
files = parrot_utils.execute_command(tn, 'find /data/video/' + args.folder + ' -name \'*.*\'')
|
||||
# Create dest dir if needed
|
||||
if not os.path.exists(args.dest):
|
||||
os.mkdir(args.dest)
|
||||
# Open file and download
|
||||
for f in files.split():
|
||||
file_name = split_into_path_and_file(f)
|
||||
file_name = parrot_utils.split_into_path_and_file(f)
|
||||
file_source = args.folder + '/' + file_name[1]
|
||||
file_dest = args.dest + '/' + file_name[1]
|
||||
try:
|
||||
@@ -491,11 +446,10 @@ elif args.command == 'download_dir':
|
||||
elif args.command == 'rm_dir':
|
||||
# Split filename and path
|
||||
print("Deleting folder /data/video/" + args.folder + " from ARDrone2")
|
||||
print(execute_command('rm -r /data/video/' + args.folder))
|
||||
|
||||
print(parrot_utils.execute_command(tn, 'rm -r /data/video/' + args.folder))
|
||||
|
||||
|
||||
# Close the telnet and python script
|
||||
tn.close()
|
||||
ftp.close()
|
||||
parrot_utils.disconnect(tn, ftp)
|
||||
exit(0)
|
||||
|
||||
Executable
+199
@@ -0,0 +1,199 @@
|
||||
#!/usr/bin/env python
|
||||
#
|
||||
# Copyright (C) 2012-2014 The Paparazzi Team
|
||||
#
|
||||
# This file is part of Paparazzi.
|
||||
#
|
||||
# Paparazzi is free software; you can redistribute it and/or modify
|
||||
# it under the terms of the GNU General Public License as published by
|
||||
# the Free Software Foundation; either version 2, or (at your option)
|
||||
# any later version.
|
||||
#
|
||||
# Paparazzi is distributed in the hope that it will be useful,
|
||||
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
# GNU General Public License for more details.
|
||||
#
|
||||
# You should have received a copy of the GNU General Public License
|
||||
# along with paparazzi; see the file COPYING. If not, see
|
||||
# <http://www.gnu.org/licenses/>.
|
||||
#
|
||||
|
||||
from __future__ import print_function
|
||||
import re
|
||||
import argparse
|
||||
import socket
|
||||
import telnetlib
|
||||
import os
|
||||
import sys
|
||||
from time import sleep
|
||||
from ftplib import FTP
|
||||
import ftplib
|
||||
|
||||
import parrot_utils
|
||||
|
||||
|
||||
# Read from config.ini TODO
|
||||
def read_from_config(name, config=''):
|
||||
if config == '':
|
||||
config = execute_command('cat /data/config.ini')
|
||||
search = re.search(name + '[^=]+=[\r\n\t ]([^\r\n\t ]+)', config)
|
||||
if search is None:
|
||||
return ''
|
||||
else:
|
||||
return search.group(1)
|
||||
|
||||
# Write to config TODO
|
||||
def write_to_config(name, value):
|
||||
if read_from_config(name) == '':
|
||||
execute_command('echo "' + name + ' = ' + value + '\" >> /data/config.ini')
|
||||
else:
|
||||
execute_command('sed -i "s/\(' + name + ' *= *\).*/\\1' + value + '/g" /data/config.ini')
|
||||
|
||||
|
||||
def bebop_status():
|
||||
#config_ini = parrot_utils.execute_command(tn, 'cat /data/config.ini')
|
||||
|
||||
print('======================== Bebop Status ========================')
|
||||
print('Version:\t\t' + parrot_utils.check_version(tn, ''))
|
||||
# Request the filesystem status
|
||||
print('\n=================== Filesystem Status =======================')
|
||||
print(parrot_utils.check_filesystem(tn))
|
||||
|
||||
|
||||
# Parse the arguments
|
||||
parser = argparse.ArgumentParser(description='Bebop python helper. Use bebop.py -h for help')
|
||||
parser.add_argument('--host', metavar='HOST', default='192.168.42.1',
|
||||
help='the ip address of bebop')
|
||||
subparsers = parser.add_subparsers(title='Command to execute', metavar='command', dest='command')
|
||||
|
||||
# All the subcommands and arguments
|
||||
subparsers.add_parser('status', help='Request the status of the Bebop')
|
||||
subparsers.add_parser('reboot', help='Reboot the Bebop')
|
||||
subparser_upload_and_run = subparsers.add_parser('upload_file_and_run', help='Upload and run software (for instance the Paparazzi autopilot)')
|
||||
subparser_upload_and_run.add_argument('file', help='Filename of an executable')
|
||||
subparser_upload_and_run.add_argument('folder', help='Destination subfolder (raw or sdk for Paparazzi autopilot)')
|
||||
subparser_upload = subparsers.add_parser('upload_file', help='Upload a file to the Bebop')
|
||||
subparser_upload.add_argument('file', help='Filename')
|
||||
subparser_upload.add_argument('folder', help='Destination subfolder (base destination folder is /data/video)')
|
||||
subparser_download = subparsers.add_parser('download_file', help='Download a file from the Bebop')
|
||||
subparser_download.add_argument('file', help='Filename (with the path on the local machine)')
|
||||
subparser_download.add_argument('folder', help='Remote subfolder (base folder is /data/video)')
|
||||
subparser_download_dir = subparsers.add_parser('download_dir', help='Download all files from a folder from the Bebop')
|
||||
subparser_download_dir.add_argument('dest', help='destination folder (on the local machine)')
|
||||
subparser_download_dir.add_argument('folder', help='Remote subfolder (base folder is /data/video)')
|
||||
subparser_rm_dir = subparsers.add_parser('rm_dir', help='Remove a directory and all its files from the Bebop')
|
||||
subparser_rm_dir.add_argument('folder', help='Remote subfolder (base folder is /data/video)')
|
||||
subparser_insmod = subparsers.add_parser('insmod', help='Upload and insert kernel module')
|
||||
subparser_insmod.add_argument('file', help='Filename of *.ko kernel module')
|
||||
subparser_start = subparsers.add_parser('start', help='Start a program on the Bebop')
|
||||
subparser_start.add_argument('program', help='the program to start')
|
||||
subparser_kill = subparsers.add_parser('kill', help='Kill a program on the Bebop')
|
||||
subparser_kill.add_argument('program', help='the program to kill')
|
||||
|
||||
args = parser.parse_args()
|
||||
|
||||
# Connect with telnet and ftp
|
||||
tn, ftp = parrot_utils.connect(args.host)
|
||||
|
||||
# Check the Bebop status
|
||||
if args.command == 'status':
|
||||
bebop_status()
|
||||
|
||||
# Reboot the drone
|
||||
elif args.command == 'reboot':
|
||||
parrot_utils.reboot(tn)
|
||||
print('The Bebop is rebooting...')
|
||||
|
||||
# Kill a program
|
||||
elif args.command == 'kill':
|
||||
parrot_utils.execute_command(tn,'killall -9 ' + args.program)
|
||||
print('Program "' + args.program + '" is now killed')
|
||||
|
||||
# Start a program
|
||||
elif args.command == 'start':
|
||||
parrot_utils.execute_command(tn,args.start + ' &')
|
||||
print('Program "' + args.start + '" is now started')
|
||||
|
||||
|
||||
elif args.command == 'insmod':
|
||||
modfile = parrot_utils.split_into_path_and_file(args.file)
|
||||
print('Uploading \'' + modfile[1])
|
||||
parrot_utils.uploadfile(ftp, modfile[1], file(args.file, "rb"))
|
||||
print(parrot_utils.execute_command(tn,"insmod /data/ftp/" + modfile[1]))
|
||||
|
||||
elif args.command == 'upload_file_and_run':
|
||||
# Split filename and path
|
||||
f = parrot_utils.split_into_path_and_file(args.file)
|
||||
|
||||
print("Kill running " + f[1] + " and make folder " + args.folder)
|
||||
parrot_utils.execute_command(tn,"killall -9 " + f[1])
|
||||
sleep(1)
|
||||
parrot_utils.execute_command(tn, "mkdir -p /data/ftp/" + args.folder)
|
||||
print('Uploading \'' + f[1] + "\' from " + f[0] + " to " + args.folder)
|
||||
parrot_utils.uploadfile(ftp, args.folder + "/" + f[1], file(args.file, "rb"))
|
||||
sleep(0.5)
|
||||
parrot_utils.execute_command(tn, "chmod 777 /data/ftp/" + args.folder + "/" + f[1])
|
||||
parrot_utils.execute_command(tn, "/data/ftp/" + args.folder + "/" + f[1] + " > /dev/null 2>&1 &")
|
||||
print("#pragma message: Upload and Start of ap.elf to Bebop Succes!")
|
||||
|
||||
elif args.command == 'upload_file':
|
||||
# Split filename and path
|
||||
f = parrot_utils.split_into_path_and_file(args.file)
|
||||
|
||||
parrot_utils.execute_command(tn,"mkdir -p /data/ftp/" + args.folder)
|
||||
print('Uploading \'' + f[1] + "\' from " + f[0] + " to /data/video/" + args.folder)
|
||||
parrot_utils.uploadfile(ftp, args.folder + "/" + f[1], file(args.file, "rb"))
|
||||
print("#pragma message: Upload of " + f[1] + " to Bebop Succes!")
|
||||
|
||||
elif args.command == 'download_file':
|
||||
# Split filename and path
|
||||
f = parrot_utils.split_into_path_and_file(args.file)
|
||||
# Open file and download
|
||||
try:
|
||||
file = open(args.file, 'wb')
|
||||
print('Downloading \'' + f[1] + "\' from " + args.folder + " to " + f[0])
|
||||
ftp.retrbinary("RETR " + args.folder + "/" + f[1], file.write)
|
||||
print("#pragma message: Download of " + f[1] + " from Bebop Succes!")
|
||||
except IOError:
|
||||
print("#pragma message: Fail to open file " + args.file)
|
||||
except:
|
||||
os.remove(args.file)
|
||||
print("#pragma message: Download of " + f[1] + " from Bebop Failed!")
|
||||
else:
|
||||
file.close()
|
||||
|
||||
elif args.command == 'download_dir':
|
||||
# Split filename and path
|
||||
files = parrot_utils.execute_command(tn, 'find /data/ftp/' + args.folder + ' -name \'*.*\'')
|
||||
# Create dest dir if needed
|
||||
if not os.path.exists(args.dest):
|
||||
os.mkdir(args.dest)
|
||||
# Open file and download
|
||||
for f in files.split():
|
||||
file_name = parrot_utils.split_into_path_and_file(f)
|
||||
file_source = args.folder + '/' + file_name[1]
|
||||
file_dest = args.dest + '/' + file_name[1]
|
||||
try:
|
||||
file = open(file_dest, 'wb')
|
||||
print('Downloading \'' + f + "\' to " + file_dest)
|
||||
ftp.retrbinary("RETR " + file_source, file.write)
|
||||
except IOError:
|
||||
print("#pragma message: Fail to open file " + file_dest)
|
||||
except:
|
||||
os.remove(file_dest)
|
||||
print("#pragma message: Download of " + f + " from Bebop Failed!")
|
||||
else:
|
||||
file.close()
|
||||
print("#pragma message: End download of folder " + args.folder + " from Bebop")
|
||||
|
||||
elif args.command == 'rm_dir':
|
||||
# Split filename and path
|
||||
print("Deleting folder /data/ftp/" + args.folder + " from Bebop")
|
||||
print(parrot_utils.execute_command(tn, 'rm -r /data/ftp/' + args.folder))
|
||||
|
||||
|
||||
|
||||
# Close the telnet and python script
|
||||
parrot_utils.disconnect(tn, ftp)
|
||||
exit(0)
|
||||
@@ -0,0 +1,107 @@
|
||||
#
|
||||
# Copyright (C) 2012-2014 The Paparazzi Team
|
||||
#
|
||||
# This file is part of Paparazzi.
|
||||
#
|
||||
# Paparazzi is free software; you can redistribute it and/or modify
|
||||
# it under the terms of the GNU General Public License as published by
|
||||
# the Free Software Foundation; either version 2, or (at your option)
|
||||
# any later version.
|
||||
#
|
||||
# Paparazzi is distributed in the hope that it will be useful,
|
||||
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
# GNU General Public License for more details.
|
||||
#
|
||||
# You should have received a copy of the GNU General Public License
|
||||
# along with paparazzi; see the file COPYING. If not, see
|
||||
# <http://www.gnu.org/licenses/>.
|
||||
#
|
||||
|
||||
from __future__ import print_function
|
||||
import re
|
||||
import socket
|
||||
import telnetlib
|
||||
import os
|
||||
import sys
|
||||
from ftplib import FTP
|
||||
import ftplib
|
||||
|
||||
|
||||
# Check if IP is valid
|
||||
def is_ip(address):
|
||||
try:
|
||||
socket.inet_aton(address)
|
||||
ip = True
|
||||
except socket.error:
|
||||
ip = False
|
||||
return ip
|
||||
|
||||
# Helper function
|
||||
def split_into_path_and_file(name):
|
||||
if name.count('/') <= 0:
|
||||
return ["./", name]
|
||||
return name.rsplit('/', 1)
|
||||
|
||||
# Execute a command
|
||||
def execute_command(tn, command):
|
||||
tn.write(command + '\n')
|
||||
return tn.read_until('# ')[len(command) + 2:-4]
|
||||
|
||||
# Check the version
|
||||
def check_version(tn, directory):
|
||||
return execute_command(tn, 'cat ' + directory + '/version.txt')
|
||||
|
||||
# Check what currently is running on the drone
|
||||
def check_running(tn):
|
||||
ps_aux = execute_command(tn, 'ps')
|
||||
running = ""
|
||||
|
||||
if 'program.elf' in ps_aux:
|
||||
running += ' Native (program.elf),'
|
||||
if 'dragon-prog' in ps_aux:
|
||||
running += ' Native (dragon-prog),'
|
||||
if 'ap.elf' in ps_aux:
|
||||
running += ' Paparazzi (ap.elf),'
|
||||
if 'gst-launch' in ps_aux:
|
||||
running += ' GStreamer (gst-launch)'
|
||||
return running[1:]
|
||||
|
||||
# Check the filesystem
|
||||
def check_filesystem(tn):
|
||||
return execute_command(tn, 'df -h')
|
||||
|
||||
# Reboot the drone
|
||||
def reboot(tn):
|
||||
execute_command(tn, 'reboot')
|
||||
|
||||
# Upload ftp and catch memory-full error
|
||||
def uploadfile(ftp, filename, content):
|
||||
try:
|
||||
ftp.storbinary("STOR " + filename, content)
|
||||
except ftplib.error_temp:
|
||||
print("FTP UPLOAD ERROR: Uploading FAILED: Probably your ARDrone memory is full.")
|
||||
sys.exit()
|
||||
except:
|
||||
print("FTP UPLOAD ERROR: Maybe your ARDrone memory is full?", sys.exc_info()[0])
|
||||
sys.exit()
|
||||
|
||||
|
||||
# Connect with telnet and ftp, wait until login
|
||||
def connect(host):
|
||||
try:
|
||||
tn = telnetlib.Telnet(host)
|
||||
ftp = FTP(host)
|
||||
ftp.login()
|
||||
tn.read_until('# ')
|
||||
return (tn, ftp)
|
||||
except:
|
||||
print('Could not connect to Parrot UAV (host: ' + host + ')')
|
||||
exit(2)
|
||||
|
||||
# Close the telnet and ftp
|
||||
def disconnect(tn, ftp):
|
||||
tn.close()
|
||||
ftp.close()
|
||||
|
||||
|
||||
Reference in New Issue
Block a user