mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
[parrot] factorize Parrot tools
This commit is contained in:
Gautier Hattenberger
+315
-442
File diff suppressed because it is too large
Load Diff
+29
-185
@@ -1,6 +1,8 @@
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#!/usr/bin/env python
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#
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# Copyright (C) 2012-2014 The Paparazzi Team
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# 2015 Freek van Tienen <freek.v.tienen@gmail.com>
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# 2017 Gautier Hattenberger <gautier.hattenberger@enac.fr>
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#
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# This file is part of Paparazzi.
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#
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@@ -20,192 +22,34 @@
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#
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from __future__ import print_function
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import re
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import argparse
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import os
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from time import sleep
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from parrot_utils import ParrotUtils
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import parrot_utils
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class Bebop(ParrotUtils):
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uav_name = 'Bebop'
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address = '192.168.42.1'
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version_file = '/version.txt'
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upload_path = '/data/ftp/'
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check_version_before_run = True
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update_time_before_run = True
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def uav_status(self):
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print('Parrot version:\t\t' + self.check_version())
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def init_extra_parser(self):
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# Parse the extra arguments
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self.parser.add_argument('--min_version', metavar='MIN', default='3.3.0',
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help='force minimum version allowed')
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self.parser.add_argument('--max_version', metavar='MAX', default='4.0.5',
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help='force maximum version allowed')
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def parse_extra_args(self, args):
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# nothing here
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pass
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# Read from config.ini TODO
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def read_from_config(name, config=''):
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if config == '':
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config = parrot_utils.execute_command('cat /data/config.ini')
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search = re.search(name + '[^=]+=[\r\n\t ]([^\r\n\t ]+)', config)
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if search is None:
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return ''
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else:
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return search.group(1)
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if __name__ == "__main__":
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bebop = Bebop()
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bebop.parse_args()
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exit(0)
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# Write to config TODO
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def write_to_config(name, value):
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if read_from_config(name) == '':
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parrot_utils.execute_command('echo "' + name + ' = ' + value + '\" >> /data/config.ini')
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else:
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parrot_utils.execute_command('sed -i "s/\(' + name + ' *= *\).*/\\1' + value + '/g" /data/config.ini')
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def bebop_status():
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#config_ini = parrot_utils.execute_command(tn, 'cat /data/config.ini')
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print('======================== Bebop Status ========================')
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print('Version:\t\t' + str(parrot_utils.check_version(tn, '')))
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# Request the filesystem status
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print('\n=================== Filesystem Status =======================')
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print(parrot_utils.check_filesystem(tn))
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# Parse the arguments
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parser = argparse.ArgumentParser(description='Bebop helper tool. Use bebop.py -h for help')
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parser.add_argument('--host', metavar='HOST', default='192.168.42.1',
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help='the ip address of bebop')
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parser.add_argument('--min_version', metavar='MIN', default='3.3.0',
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help='force minimum version allowed')
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parser.add_argument('--max_version', metavar='MAX', default='4.0.5',
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help='force maximum version allowed')
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subparsers = parser.add_subparsers(title='Command to execute', metavar='command', dest='command')
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# All the subcommands and arguments
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subparsers.add_parser('status', help='Request the status of the Bebop')
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subparsers.add_parser('reboot', help='Reboot the Bebop')
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subparser_upload_and_run = subparsers.add_parser('upload_file_and_run', help='Upload and run software (for instance the Paparazzi autopilot)')
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subparser_upload_and_run.add_argument('file', help='Filename of an executable')
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subparser_upload_and_run.add_argument('folder', help='Destination subfolder (raw for Paparazzi autopilot)')
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subparser_upload = subparsers.add_parser('upload_file', help='Upload a file to the Bebop')
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subparser_upload.add_argument('file', help='Filename')
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subparser_upload.add_argument('folder', help='Destination subfolder (base destination folder is /data/ftp)')
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subparser_download = subparsers.add_parser('download_file', help='Download a file from the Bebop')
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subparser_download.add_argument('file', help='Filename (with the path on the local machine)')
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subparser_download.add_argument('folder', help='Remote subfolder (base folder is /data/ftp)')
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subparser_download_dir = subparsers.add_parser('download_dir', help='Download all files from a folder from the Bebop')
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subparser_download_dir.add_argument('dest', help='destination folder (on the local machine)')
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subparser_download_dir.add_argument('folder', help='Remote subfolder (base folder is /data/ftp)')
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subparser_rm_dir = subparsers.add_parser('rm_dir', help='Remove a directory and all its files from the Bebop')
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subparser_rm_dir.add_argument('folder', help='Remote subfolder (base folder is /data/ftp)')
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subparser_insmod = subparsers.add_parser('insmod', help='Upload and insert kernel module')
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subparser_insmod.add_argument('file', help='Filename of *.ko kernel module')
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subparser_start = subparsers.add_parser('start', help='Start a program on the Bebop')
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subparser_start.add_argument('program', help='the program to start')
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subparser_kill = subparsers.add_parser('kill', help='Kill a program on the Bebop')
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subparser_kill.add_argument('program', help='the program to kill')
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args = parser.parse_args()
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# Connect with telnet and ftp
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tn, ftp = parrot_utils.connect(args.host)
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# Check the Bebop status
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if args.command == 'status':
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print("Connected to Bebop at " + args.host)
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bebop_status()
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# Reboot the drone
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elif args.command == 'reboot':
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parrot_utils.reboot(tn)
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print('The Bebop is rebooting...')
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# Kill a program
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elif args.command == 'kill':
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parrot_utils.execute_command(tn, 'killall -9 ' + args.program)
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print('Program "' + args.program + '" is now killed')
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# Start a program
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elif args.command == 'start':
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parrot_utils.execute_command(tn, args.start + ' &')
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print('Program "' + args.start + '" is now started')
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elif args.command == 'insmod':
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modfile = parrot_utils.split_into_path_and_file(args.file)
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print('Uploading \'' + modfile[1])
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parrot_utils.uploadfile(ftp, modfile[1], file(args.file, "rb"))
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print(parrot_utils.execute_command(tn, "insmod /data/ftp/" + modfile[1]))
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elif args.command == 'upload_file_and_run':
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# Split filename and path
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f = parrot_utils.split_into_path_and_file(args.file)
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#check firmware version
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v = parrot_utils.check_version(tn, '')
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print("Checking Bebop firmware version... " + str(v) )
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if ((v < parrot_utils.ParrotVersion(args.min_version)) or (v > parrot_utils.ParrotVersion(args.max_version))):
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print("Error: please upgrade your Bebop firmware to version between " + args.min_version + " and " + args.max_version + "!")
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else:
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print("Kill running " + f[1] + " and make folder " + args.folder)
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parrot_utils.execute_command(tn,"killall -9 " + f[1])
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sleep(1)
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parrot_utils.execute_command(tn, "mkdir -p /data/ftp/" + args.folder)
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print('Uploading \'' + f[1] + "\' from " + f[0] + " to " + args.folder)
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parrot_utils.uploadfile(ftp, args.folder + "/" + f[1], file(args.file, "rb"))
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sleep(0.5)
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from datetime import datetime
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parrot_utils.execute_command(tn, "date --set '" + datetime.now().strftime('%Y-%m-%d %H:%M:%S') + "'")
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print("Set date on Bebop to " + datetime.now().strftime('%Y-%m-%d %H:%M:%S'))
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parrot_utils.execute_command(tn, "chmod 777 /data/ftp/" + args.folder + "/" + f[1])
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parrot_utils.execute_command(tn, "/data/ftp/" + args.folder + "/" + f[1] + " > /dev/null 2>&1 &")
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print("#pragma message: Upload and Start of ap.elf to Bebop succesful !")
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elif args.command == 'upload_file':
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# Split filename and path
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f = parrot_utils.split_into_path_and_file(args.file)
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parrot_utils.execute_command(tn, "mkdir -p /data/ftp/" + args.folder)
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print('Uploading \'' + f[1] + "\' from " + f[0] + " to /data/ftp/" + args.folder)
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parrot_utils.uploadfile(ftp, args.folder + "/" + f[1], file(args.file, "rb"))
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print("#pragma message: Upload of " + f[1] + " to Bebop succesful !")
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elif args.command == 'download_file':
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# Split filename and path
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f = parrot_utils.split_into_path_and_file(args.file)
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# Open file and download
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try:
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fd = open(args.file, 'wb')
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print('Downloading \'' + f[1] + "\' from " + args.folder + " to " + f[0])
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ftp.retrbinary("RETR " + args.folder + "/" + f[1], fd.write)
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print("#pragma message: Download of " + f[1] + " from Bebop Succes!")
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except IOError:
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print("#pragma message: Fail to open file " + args.file)
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except:
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os.remove(args.file)
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print("#pragma message: Download of " + f[1] + " from Bebop Failed!")
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else:
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fd.close()
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elif args.command == 'download_dir':
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# Split filename and path
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files = parrot_utils.execute_command(tn, 'find /data/ftp/' + args.folder + ' -name \'*.*\'')
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# Create dest dir if needed
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if not os.path.exists(args.dest):
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os.mkdir(args.dest)
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# Open file and download
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for f in files.split():
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file_name = parrot_utils.split_into_path_and_file(f)
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file_source = args.folder + '/' + file_name[1]
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file_dest = args.dest + '/' + file_name[1]
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try:
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fd = open(file_dest, 'wb')
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print('Downloading \'' + f + "\' to " + file_dest)
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ftp.retrbinary("RETR " + file_source, fd.write)
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except IOError:
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print("#pragma message: Fail to open file " + file_dest)
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except:
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os.remove(file_dest)
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print("#pragma message: Download of " + f + " from Bebop Failed!")
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else:
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fd.close()
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print("#pragma message: End download of folder " + args.folder + " from Bebop")
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elif args.command == 'rm_dir':
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# Split filename and path
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print("Deleting folder /data/ftp/" + args.folder + " from Bebop")
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print(parrot_utils.execute_command(tn, 'rm -r /data/ftp/' + args.folder))
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# Close the telnet and python script
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parrot_utils.disconnect(tn, ftp)
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exit(0)
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+304
-66
@@ -1,5 +1,7 @@
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#
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# Copyright (C) 2012-2014 The Paparazzi Team
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# 2015 Freek van Tienen <freek.v.tienen@gmail.com>
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# 2017 Gautier Hattenberger <gautier.hattenberger@enac.fr>
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#
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# This file is part of Paparazzi.
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#
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@@ -21,9 +23,13 @@
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from __future__ import print_function
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import socket
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import telnetlib
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import os
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import sys
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from ftplib import FTP
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from time import sleep
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import ftplib
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import argparse
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import re
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class ParrotVersion(object):
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def __init__(self):
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@@ -69,84 +75,316 @@ class ParrotVersion(object):
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def __ge__(self, other):
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return self.version() >= other.version()
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class ParrotUtils:
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# Check if IP is valid
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def is_ip(address):
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try:
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socket.inet_aton(address)
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ip = True
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except socket.error:
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ip = False
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return ip
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# Programs that could be running on the drone
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runnable_programs = [
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('program.elf', 'Parrot native UAV application'),
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('dragon-prog', 'Parrot native UAV application'),
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('ap.elf', 'Paparazzi'),
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('gst-launch', 'GStreamer')
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]
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# Helper function
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def split_into_path_and_file(name):
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if name.count('/') <= 0:
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return ["./", name]
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return name.rsplit('/', 1)
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# Default values
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version_file = '/update/version.txt'
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upload_path = '/data/video/'
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uav_name = 'Parrot UAV'
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address = '192.168.1.1'
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prompt = '# '
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check_version_before_run = False
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update_time_before_run = False
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# Execute a command
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def execute_command(tn, command, prompt='#'):
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tn.write(command + '\n')
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return tn.read_until(prompt+' ')[len(command) + 2:-4]
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# Initialize defaults
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def __init__(self):
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self.config_content = ''
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self.init_parser()
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self.init_extra_parser()
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# Check the version
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def check_version(tn, directory, prompt='#'):
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return ParrotVersion(execute_command(tn, 'cat ' + directory + '/version.txt', prompt).strip())
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# Connect with telnet and ftp, wait until login
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def connect(self):
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try:
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self.tn = telnetlib.Telnet(self.address, timeout=3)
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self.ftp = FTP(self.address)
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self.ftp.login()
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self.tn.read_until(self.prompt)
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return True
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except:
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print('Could not connect to the ' + self.uav_name + ' (address: ' + self.address + ')')
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print('Check if the ' + self.uav_name + ' is turned on and the computer is connected over wifi or bluetooth.')
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if self.address == '192.168.42.1':
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print("If you are using Bebop 1 or 2, don't forget pressing the power button 4 times after the Bebop has booted!")
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exit(2)
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# Check what currently is running on the drone
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def check_running(tn, prompt='#'):
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ps_aux = execute_command(tn, 'ps', prompt)
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running = ""
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# Close the telnet and ftp
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def disconnect(self):
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self.tn.close()
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self.ftp.close()
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# Execute a command
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def execute_command(self, command):
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self.tn.write(command + '\n')
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s = self.tn.read_until(self.prompt)
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if s.endswith('[JS] $ '):
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s = s[len(command) + 2:-8]
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elif s.endswith('[RS.edu] $ '):
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s = s[len(command) + 2:-12]
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else:
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s = s[len(command) + 2:-4]
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return s
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# Upload ftp and catch memory-full error
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def upload(self, filename, content):
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try:
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self.ftp.storbinary("STOR " + filename, content)
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except ftplib.error_temp:
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print('FTP UPLOAD ERROR: Uploading the file to the ' + self.uav_name + ' failed!')
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print('Check if the Filesystem of the ' + self.uav_name + ' isn\'t full:')
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print(self.check_filesystem())
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sys.exit()
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except:
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print('FTP UPLOAD ERROR: Uploading the file to the ' + self.uav_name + ' failed!')
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print('FTP uploading failed with the following error: ', sys.exc_info()[0])
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print('Check if the Filesystem of the ' + self.uav_name + ' isn\'t full:')
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print(self.check_filesystem())
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sys.exit()
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# Download a file from the drone
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def download(self, filename, folder):
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# Split filename and path
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f = self.split_into_path_and_file(filename)
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# Open file and download
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try:
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fd = open(filename, 'wb')
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print('Downloading \'' + f[1] + "\' from " + folder + " to " + f[0])
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self.ftp.retrbinary("RETR " + folder + "/" + f[1], fd.write)
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print('#pragma message: Download of "' + f[1] + '" from the ' + self.uav_name + ' success!')
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except IOError:
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print('#error: Fail to open local file "' + filename + '"')
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except:
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os.remove(filename)
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print('#error: Download of "' + filename + '" from ' + self.uav_name + ' Failed!')
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else:
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fd.close()
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# Download a folder from the drone
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def download_folder(self, dest, folder):
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# find files
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files = self.execute_command('find ' + self.upload_path + folder + ' -name \'*.*\'')
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# Create dest dir if needed
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if not os.path.exists(dest):
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os.mkdir(dest)
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# Open file and download
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for f in files.split():
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file_dest = dest + '/' + file_name[1]
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self.download(file_dest, folder)
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print("#pragma message: End download of folder " + args.folder + " from " + self.uav_name)
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if 'dragon-prog' in ps_aux:
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running += ' Native (dragon-prog),'
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if 'ap.elf' in ps_aux:
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running += ' Paparazzi (ap.elf),'
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if 'program.elf' in ps_aux:
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running += ' Native (program.elf),'
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if 'gst-launch' in ps_aux:
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running += ' GStreamer (gst-launch)'
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return running[1:]
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# helper function to split file name and path
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def split_into_path_and_file(self, name):
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if name.count('/') <= 0:
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return ["./", name]
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return name.rsplit('/', 1)
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# Check the filesystem
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def check_filesystem(tn, prompt='#'):
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return execute_command(tn, 'df -h', prompt)
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def is_ip(address):
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try:
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socket.inet_aton(address)
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ip = True
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except socket.error:
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ip = False
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return ip
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# Reboot the drone
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def reboot(tn, prompt='#'):
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execute_command(tn, 'reboot', prompt)
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# Check what currently is running on the drone
|
||||
def check_running(self):
|
||||
ps_aux = self.execute_command('ps')
|
||||
running = ""
|
||||
|
||||
# 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 drone onboard storage memory is full. Remove old JPG or other data?")
|
||||
sys.exit()
|
||||
except:
|
||||
print("FTP UPLOAD ERROR: Maybe your drone onboard storage memory is full? Remove old JPG or other data?)", sys.exc_info()[0])
|
||||
sys.exit()
|
||||
# Go trough all programings
|
||||
for prog in self.runnable_programs:
|
||||
if prog[0] in ps_aux:
|
||||
running += ' '+prog[1]+' ('+prog[0]+')'
|
||||
|
||||
# Don't print the first space
|
||||
return running[1:]
|
||||
|
||||
# Check the filesystem
|
||||
def check_filesystem(self):
|
||||
return self.execute_command('df -h')
|
||||
|
||||
# Get the version of the drone
|
||||
def check_version(self):
|
||||
if self.version_file is not None:
|
||||
return ParrotVersion(execute_command('cat ' + self.version_file).strip())
|
||||
else:
|
||||
return "Unknown version"
|
||||
|
||||
# Default status
|
||||
def status(self):
|
||||
print('======================== ' + self.uav_name + ' Status ========================')
|
||||
self.uav_status()
|
||||
|
||||
print('\n======================== Filesystem Status ========================')
|
||||
print(self.check_filesystem())
|
||||
|
||||
# Reboot the drone
|
||||
def reboot(self):
|
||||
self.execute_command('reboot')
|
||||
print('The ' + self.uav_name + ' is now rebooting')
|
||||
|
||||
# Kill a running program
|
||||
def kill_program(self, name):
|
||||
self.execute_command('killall -9 ' + name)
|
||||
print('Program "' + name + '" is now killed')
|
||||
|
||||
# Start a new program
|
||||
def start_program(self, name):
|
||||
self.execute_command('chmod 777 ' + name)
|
||||
self.execute_command(name + ' > /dev/null 2>&1 &')
|
||||
print('Program "' + name + '" is now started')
|
||||
|
||||
# Create a new directory
|
||||
def create_directory(self, name):
|
||||
self.execute_command('mkdir -p ' + name)
|
||||
print('Created new directory "' + name + '"')
|
||||
|
||||
# Remove a directory
|
||||
def remove_directory(self, name):
|
||||
self.sexecute_command('rm -r ' + name)
|
||||
print('Removed directory "' + name + '"')
|
||||
|
||||
# Upload a new file
|
||||
def upload_file(self, name, folder=""):
|
||||
f = self.split_into_path_and_file(name)
|
||||
|
||||
# First kill the running program
|
||||
self.kill_program(f[1])
|
||||
sleep(1)
|
||||
|
||||
# Make the upload directory and upload the file
|
||||
self.create_directory(self.upload_path + folder)
|
||||
if len(folder) > 0:
|
||||
self.upload(folder + '/' + f[1], file(name, "rb"))
|
||||
else:
|
||||
self.upload(f[1], file(name, "rb"))
|
||||
sleep(0.5)
|
||||
print('Succesfully uploaded "' + name + '" to folder "' + folder + '"')
|
||||
|
||||
# Upload and run a new program
|
||||
def upload_and_run(self, name, folder, min_ver=None, max_ver=None):
|
||||
if self.check_version_before_run and min_ver is not None and max_ver is not None:
|
||||
v = self.check_version()
|
||||
print("Checking " + self.uav_name + " firmware version... " + str(v) )
|
||||
if ((v < self.ParrotVersion(min_ver)) or (v > self.ParrotVersion(max_ver))):
|
||||
print("Error: please upgrade your " + self.uav_name + " firmware to version between " + min_ver + " and " + max_ver + "!")
|
||||
return
|
||||
|
||||
f = self.split_into_path_and_file(name)
|
||||
|
||||
# Upload the file
|
||||
self.upload_file(name, folder)
|
||||
|
||||
if self.update_time_before_run:
|
||||
from datetime import datetime
|
||||
self.execute_command("date --set '" + datetime.now().strftime('%Y-%m-%d %H:%M:%S') + "'")
|
||||
print("Set date on " + self.uav_name + " to " + datetime.now().strftime('%Y-%m-%d %H:%M:%S'))
|
||||
|
||||
# Make the file executable and execute it
|
||||
self.start_program(self.upload_path + folder + '/' + f[1])
|
||||
print('#pragma message: Succesfully started "' + f[1] + '" on ' + self.uav_name)
|
||||
|
||||
def insmod(self, modname):
|
||||
f = parrot_utils.split_into_path_and_file(modname)
|
||||
print('Uploading \'' + f[1])
|
||||
self.upload_file(modname)
|
||||
print(self.execute_command("insmod " + self.upload_path + '/' + modfile[1]))
|
||||
|
||||
#####################################################################
|
||||
|
||||
# Main argument parser setup
|
||||
def init_parser(self):
|
||||
self.parser = argparse.ArgumentParser(description=self.uav_name + ' python helper. Use ' + sys.argv[0] + ' -h for help')
|
||||
self.parser.add_argument('--host', metavar='HOST', default=self.address,
|
||||
help='the ip address of ' + self.uav_name)
|
||||
self.subparsers = self.parser.add_subparsers(title='Command to execute', metavar='command', dest='command')
|
||||
|
||||
# Add commands
|
||||
self.subparsers.add_parser('status', help='Request the status of the ' + self.uav_name)
|
||||
self.subparsers.add_parser('reboot', help='Reboot the ' + self.uav_name)
|
||||
|
||||
ss = self.subparsers.add_parser('kill', help='Kill a program on the ' + self.uav_name)
|
||||
ss.add_argument('program', help='The program to kill')
|
||||
|
||||
ss = self.subparsers.add_parser('start', help='Start a program on the ' + self.uav_name)
|
||||
ss.add_argument('program', help='The program to start (base folder is the ftp folder)')
|
||||
|
||||
ss = self.subparsers.add_parser('upload', help='Upload a file to the ' + self.uav_name)
|
||||
ss.add_argument('file', help='Filename')
|
||||
ss.add_argument('folder', help='Destination subfolder (base folder is the ftp folder)')
|
||||
|
||||
ss = self.subparsers.add_parser('download', help='Download a file from the ' + self.uav_name)
|
||||
ss.add_argument('file', help='Remote filename (could include folder)')
|
||||
ss.add_argument('save_file', help='Destination file on local computer')
|
||||
|
||||
ss = self.subparsers.add_parser('download_dir', help='Download all files from a folder from the ' + self.uav_name)
|
||||
ss.add_argument('dest', help='destination folder (on the local machine)')
|
||||
ss.add_argument('folder', help='Remote subfolder (base folder is the ftp folder)')
|
||||
|
||||
ss = self.subparsers.add_parser('upload_file_and_run', help='Upload and run software (for instance the Paparazzi autopilot)')
|
||||
ss.add_argument('file', help='Filename of an executable')
|
||||
ss.add_argument('folder', help='Remote destination folder (base folder is the ftp folder)')
|
||||
|
||||
ss = self.subparsers.add_parser('mkdir', help='Make a new directory on the ' + self.uav_name)
|
||||
ss.add_argument('folder', help='Remote subfolder (base folder is the ftp folder)')
|
||||
|
||||
ss = self.subparsers.add_parser('rmdir', help='Remove a directory and all its files from the ' + self.uav_name)
|
||||
ss.add_argument('folder', help='Remote subfolder (base folder is the ftp folder)')
|
||||
|
||||
ss = self.subparsers.add_parser('insmod', help='Upload and insert kernel module')
|
||||
ss.add_argument('file', help='Filename of *.ko kernel module')
|
||||
|
||||
|
||||
# Connect with telnet and ftp, wait until login
|
||||
def connect(host, prompt='#'):
|
||||
try:
|
||||
tn = telnetlib.Telnet(host, timeout=3)
|
||||
ftp = FTP(host)
|
||||
ftp.login()
|
||||
tn.read_until(prompt+' ')
|
||||
return tn, ftp
|
||||
except:
|
||||
print('Could not connect to Parrot UAV (host: ' + host + ')')
|
||||
if host == '192.168.42.1':
|
||||
print("Check whether your WiFi is connected and don't forget pressing the power button 4 times after the Bebop has booted!")
|
||||
exit(2)
|
||||
# Main function to parse arguments
|
||||
def parse_args(self):
|
||||
args = self.parser.parse_args()
|
||||
|
||||
# First connect to the drone
|
||||
self.address = args.host
|
||||
if self.connect() == False:
|
||||
return False
|
||||
|
||||
# Parse the command line arguments
|
||||
if args.command == 'status':
|
||||
self.status()
|
||||
elif args.command == 'reboot':
|
||||
self.reboot()
|
||||
elif args.command == 'kill':
|
||||
self.kill_program(args.program)
|
||||
elif args.command == 'start':
|
||||
self.start_program(self.upload_path + args.program)
|
||||
elif args.command == 'upload':
|
||||
self.upload_file(args.file, args.folder)
|
||||
elif args.command == 'download':
|
||||
self.download(args.file, args.save_file)
|
||||
elif args.command == 'upload_file_and_run':
|
||||
if hasattr(args, 'min_version') and hasattr(args, 'max_version'):
|
||||
self.upload_and_run(args.file, args.folder, args.min_version, args.max_version)
|
||||
else:
|
||||
self.upload_and_run(args.file, args.folder)
|
||||
elif args.command == 'mkdir':
|
||||
self.create_directory(self.upload_path + args.folder)
|
||||
elif args.command == 'rmdir':
|
||||
self.remove_directory(self.upload_path + args.folder)
|
||||
elif args.command == 'insmod':
|
||||
self.insmod(args.file)
|
||||
else:
|
||||
if self.parse_extra_args(args) == False:
|
||||
self.disconnect()
|
||||
return False
|
||||
|
||||
# Disconnect
|
||||
self.disconnect()
|
||||
return True
|
||||
|
||||
|
||||
# Close the telnet and ftp
|
||||
def disconnect(tn, ftp):
|
||||
tn.close()
|
||||
ftp.close()
|
||||
|
||||
|
||||
|
||||
+21
-171
@@ -20,179 +20,29 @@
|
||||
#
|
||||
|
||||
from __future__ import print_function
|
||||
import re
|
||||
import argparse
|
||||
import os
|
||||
from time import sleep
|
||||
from parrot_utils import ParrotUtils
|
||||
|
||||
import parrot_utils
|
||||
class Swing(ParrotUtils):
|
||||
uav_name = 'Swing'
|
||||
address = '192.168.4.1'
|
||||
version_file = None
|
||||
upload_path = '/data/edu/'
|
||||
prompt = '$ '
|
||||
|
||||
PROMPT = '$'
|
||||
FTP_ROOT = '/data/edu/'
|
||||
def uav_status(self):
|
||||
print('Parrot version:\t\t' + self.check_version())
|
||||
|
||||
def init_extra_parser(self):
|
||||
# nothing here
|
||||
pass
|
||||
|
||||
def parse_extra_args(self, args):
|
||||
# nothing here
|
||||
pass
|
||||
|
||||
|
||||
# Read from config.ini TODO
|
||||
def read_from_config(name, config=''):
|
||||
if config == '':
|
||||
config = parrot_utils.execute_command('cat /data/config.ini', prompt=PROMPT)
|
||||
search = re.search(name + '[^=]+=[\r\n\t ]([^\r\n\t ]+)', config)
|
||||
if search is None:
|
||||
return ''
|
||||
else:
|
||||
return search.group(1)
|
||||
if __name__ == "__main__":
|
||||
swing = Swing()
|
||||
swing.parse_args()
|
||||
exit(0)
|
||||
|
||||
# Write to config TODO
|
||||
def write_to_config(name, value):
|
||||
if read_from_config(name) == '':
|
||||
parrot_utils.execute_command('echo "' + name + ' = ' + value + '\" >> /data/config.ini', prompt=PROMPT)
|
||||
else:
|
||||
parrot_utils.execute_command('sed -i "s/\(' + name + ' *= *\).*/\\1' + value + '/g" /data/config.ini', prompt=PROMPT)
|
||||
|
||||
|
||||
def swing_status():
|
||||
#config_ini = parrot_utils.execute_command(tn, 'cat /data/config.ini', prompt=PROMPT)
|
||||
|
||||
#print('==================== Swing Status ====================')
|
||||
#print('Version:\t\t' + str(parrot_utils.check_version(tn, '', prompt=PROMPT)))
|
||||
# Request the filesystem status
|
||||
print('\n=================== Filesystem Status =======================')
|
||||
print(parrot_utils.check_filesystem(tn, prompt=PROMPT))
|
||||
|
||||
|
||||
# Parse the arguments
|
||||
parser = argparse.ArgumentParser(description='Swing python helper. Use swing.py -h for help')
|
||||
parser.add_argument('--host', metavar='HOST', default='192.168.4.1',
|
||||
help='the ip address of Swing')
|
||||
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 Swing')
|
||||
subparsers.add_parser('reboot', help='Reboot the Swing')
|
||||
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 Swing')
|
||||
subparser_upload.add_argument('file', help='Filename')
|
||||
subparser_upload.add_argument('folder', help='Destination subfolder (base destination folder is '+FTP_ROOT+')')
|
||||
subparser_download = subparsers.add_parser('download_file', help='Download a file from the Swing')
|
||||
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 '+FTP_ROOT+')')
|
||||
subparser_download_dir = subparsers.add_parser('download_dir', help='Download all files from a folder from the Swing')
|
||||
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 '+FTP_ROOT+')')
|
||||
subparser_rm_dir = subparsers.add_parser('rm_dir', help='Remove a directory and all its files from the Swing')
|
||||
subparser_rm_dir.add_argument('folder', help='Remote subfolder (base folder is '+FTP_ROOT+')')
|
||||
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 Swing')
|
||||
subparser_start.add_argument('program', help='the program to start')
|
||||
subparser_kill = subparsers.add_parser('kill', help='Kill a program on the Swing')
|
||||
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, prompt=PROMPT)
|
||||
|
||||
# Check the Swing status
|
||||
if args.command == 'status':
|
||||
print("Connected to Swing at " + args.host)
|
||||
swing_status()
|
||||
|
||||
# Reboot the drone
|
||||
elif args.command == 'reboot':
|
||||
parrot_utils.reboot(tn, prompt=PROMPT)
|
||||
print('The Swing is rebooting...')
|
||||
|
||||
# Kill a program
|
||||
elif args.command == 'kill':
|
||||
parrot_utils.execute_command(tn, 'killall -9 ' + args.program, prompt=PROMPT)
|
||||
print('Program "' + args.program + '" is now killed')
|
||||
|
||||
# Start a program
|
||||
elif args.command == 'start':
|
||||
parrot_utils.execute_command(tn, args.start + ' &', prompt=PROMPT)
|
||||
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 "+ FTP_ROOT + modfile[1], prompt=PROMPT))
|
||||
|
||||
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], prompt=PROMPT)
|
||||
sleep(1)
|
||||
parrot_utils.execute_command(tn, "mkdir -p " + FTP_ROOT + args.folder, prompt=PROMPT)
|
||||
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 " + FTP_ROOT + args.folder + "/" + f[1], prompt=PROMPT)
|
||||
parrot_utils.execute_command(tn, FTP_ROOT + args.folder + "/" + f[1] + " > /dev/null 2>&1 &", prompt=PROMPT)
|
||||
print("#pragma message: Upload and Start of ap.elf to Swing 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 " + FTP_ROOT + args.folder, prompt=PROMPT)
|
||||
print('Uploading \'' + f[1] + "\' from " + f[0] + " to " + FTP_ROOT + args.folder)
|
||||
parrot_utils.uploadfile(ftp, args.folder + "/" + f[1], file(args.file, "rb"))
|
||||
print("#pragma message: Upload of " + f[1] + " to Swing 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:
|
||||
fd = open(args.file, 'wb')
|
||||
print('Downloading \'' + f[1] + "\' from " + args.folder + " to " + f[0])
|
||||
ftp.retrbinary("RETR " + args.folder + "/" + f[1], fd.write)
|
||||
print("#pragma message: Download of " + f[1] + " from Swing 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 Swing Failed!")
|
||||
else:
|
||||
fd.close()
|
||||
|
||||
elif args.command == 'download_dir':
|
||||
# Split filename and path
|
||||
files = parrot_utils.execute_command(tn, 'find ' + FTP_ROOT + args.folder + ' -name \'*.*\'', prompt=PROMPT)
|
||||
# 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:
|
||||
fd = open(file_dest, 'wb')
|
||||
print('Downloading \'' + f + "\' to " + file_dest)
|
||||
ftp.retrbinary("RETR " + file_source, fd.write)
|
||||
except IOError:
|
||||
print("#pragma message: Fail to open file " + file_dest)
|
||||
except:
|
||||
os.remove(file_dest)
|
||||
print("#pragma message: Download of " + f + " from Swing Failed!")
|
||||
else:
|
||||
fd.close()
|
||||
print("#pragma message: End download of folder " + args.folder + " from Swing")
|
||||
|
||||
elif args.command == 'rm_dir':
|
||||
# Split filename and path
|
||||
print("Deleting folder " + FTP_ROOT + args.folder + " from Swing")
|
||||
print(parrot_utils.execute_command(tn, 'rm -r ' + FTP_ROOT + args.folder, prompt=PROMPT))
|
||||
|
||||
|
||||
|
||||
# Close the telnet and python script
|
||||
parrot_utils.disconnect(tn, ftp)
|
||||
exit(0)
|
||||
|
||||
Reference in New Issue
Block a user