mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 13:55:40 +08:00
Merge pull request #598 from paparazzi/ardrone_upload
Ardrone upload v2.0
This commit is contained in:
Christophe De Wagter
@@ -56,6 +56,9 @@
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/doc/pprz_algebra/headfile.log
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/doc/pprz_algebra/headfile.log
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/doc/pprz_algebra/headfile.toc
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/doc/pprz_algebra/headfile.toc
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# /sw/ext/
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/sw/ext/ardrone2_vision
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# /sw/ground_segment/cockpit/
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# /sw/ground_segment/cockpit/
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/sw/ground_segment/cockpit/gtk_save_settings.ml
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/sw/ground_segment/cockpit/gtk_save_settings.ml
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/sw/ground_segment/cockpit/gtk_setting_time.ml
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/sw/ground_segment/cockpit/gtk_setting_time.ml
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+10
-29
@@ -79,37 +79,18 @@ $(OBJDIR):
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elf: $(OBJDIR)/$(TARGET).elf
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elf: $(OBJDIR)/$(TARGET).elf
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# Allow modules or other raw makefiles to add actions to the upload
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upload_extra:
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DRONE = $(PAPARAZZI_HOME)/sw/ext/ardrone2_drivers/ardrone2.py
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# Program the device and start it.
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# Program the device and start it.
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load upload program: $(OBJDIR)/$(TARGET).elf
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load upload program: upload_extra $(OBJDIR)/$(TARGET).elf
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$(Q)$(DRONE) insmod $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/cdc-acm.ko
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$(Q)$(DRONE) upload_paparazzi $(OBJDIR)/$(TARGET).elf $(SUB_DIR)
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$(Q)$(DRONE) status
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# Kill the application
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-echo "killall -9 $(TARGET).elf" | telnet $(HOST)
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# Make the target dir and edit the config
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-{ \
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echo "mkdir -p $(TARGET_DIR)"; \
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} | telnet $(HOST)
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# Upload the drivers and new application
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{ \
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echo "binary"; \
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echo "put $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/cdc-acm.ko /$(SUB_DIR)/cdc-acm.ko"; \
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echo "put $(OBJDIR)/$(TARGET).elf /$(SUB_DIR)/$(TARGET).elf"; \
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echo "quit"; \
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} | ftp -n $(HOST)
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# Upload the modules and start the application
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-{ \
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echo "insmod $(TARGET_DIR)/cdc-acm.ko"; \
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echo "chmod 777 $(TARGET_DIR)/$(TARGET).elf"; \
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echo "$(TARGET_DIR)/$(TARGET).elf > /dev/null 2>&1 &"; \
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} | telnet $(HOST)
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ifeq ($(ARDRONE2_REBOOT),1)
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-{ \
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echo "reboot"; \
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} | telnet $(HOST)
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endif
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# Program the device and start it.
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# Program the device and start it.
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load2 upload2 program2: $(OBJDIR)/$(TARGET).elf
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load2 upload2 program2: $(OBJDIR)/$(TARGET).elf
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@@ -270,7 +270,7 @@ void actuators_ardrone_set_leds(uint8_t led0, uint8_t led1, uint8_t led2, uint8_
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led2 &= 0x03;
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led2 &= 0x03;
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led3 &= 0x03;
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led3 &= 0x03;
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printf("LEDS: %d %d %d %d \n", led0, led1, led2, led3);
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//printf("LEDS: %d %d %d %d \n", led0, led1, led2, led3);
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cmd[0]=0x60 | ((led0&1)<<4) | ((led1&1)<<3) | ((led2&1)<<2) | ((led3&1) <<1);
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cmd[0]=0x60 | ((led0&1)<<4) | ((led1&1)<<3) | ((led2&1)<<2) | ((led3&1) <<1);
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cmd[1]=((led0&2)<<3) | ((led1&2)<<2) | ((led2&2)<<1) | ((led3&2)<<0);
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cmd[1]=((led0&2)<<3) | ((led1&2)<<2) | ((led2&2)<<1) | ((led3&2)<<0);
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Executable
+320
@@ -0,0 +1,320 @@
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#!/usr/bin/env python
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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 socket
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import telnetlib
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from time import sleep
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from ftplib import FTP
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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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# Execute a command
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def execute_command(command):
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tn.write(command + '\n')
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return tn.read_until('# ')[len(command) + 2:-4]
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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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# Read from config.ini
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def read_from_config(name, config=''):
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if config == '':
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config = 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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# Write to config
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def write_to_config(name, value):
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if read_from_config(name) == '':
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execute_command('echo "' + name + ' = ' + value + '\" >> /data/config.ini')
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else:
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execute_command('sed -i "s/\(' + name + ' *= *\).*/\\1' + value + '/g" /data/config.ini')
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# Check the version
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def check_version():
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return execute_command('cat /firmware/version.txt')
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# Check what currently is running on the drone
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def check_running():
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ps_aux = execute_command('ps')
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running = ""
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if 'program.elf' in ps_aux:
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running += ' Native (program.elf),'
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if 'ap.elf' in ps_aux:
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running += ' Paparazzi (ap.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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# Check if vision framework is installed
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def check_vision_installed():
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du_opt = execute_command('du -d 2 /data/video/opt')
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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
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# Check if the vision framework is running
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def check_vision_running():
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du_opt = execute_command('du -d 2 /opt')
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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
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# Check if autoboot is installed
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def check_autoboot():
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check_update = execute_command('grep "START_PAPARAZZI" /bin/check_update.sh')
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wifi_setup = execute_command('grep "BASE_ADRESS" /bin/wifi_setup.sh')
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if "START_PAPARAZZI" in check_update and "BASE_ADRESS" in wifi_setup:
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return True
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else:
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return False
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# Check the filesystem
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def check_filesystem():
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return execute_command('df -h')
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# Reboot the drone
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def ardrone2_reboot():
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execute_command('reboot')
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# Install the vision framework
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def ardrone2_install_vision():
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print('Uploading GST')
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ftp.storbinary("STOR arm_light.tgz", file("bin/arm_light.tgz", "rb"))
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print(execute_command("cd /data/video && tar -xzf arm_light.tgz"))
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print(execute_command("rm -rf /data/video/arm_light.tgz"))
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print('Now Starting Vision')
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ardrone2_start_vision()
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# Remove the vision framework
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def ardrone2_remove_vision():
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execute_command("rm -rf /opt/arm")
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execute_command("rm -rf /lib/dsp")
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execute_command("rm -rf /data/video/opt")
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# Start the vision framework
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def ardrone2_start_vision():
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# Mount the directories
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execute_command("mkdir -p /opt/arm")
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execute_command("mkdir -p /lib/dsp")
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execute_command("mount --bind /data/video/opt/arm /opt/arm")
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execute_command("mount --bind /data/video/opt/arm/lib/dsp /lib/dsp")
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# Start The DSP programs
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execute_command("kill -9 `pidof program.elf`")
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execute_command("kill -9 `pidof gst-launch-0.10`")
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execute_command("export PATH=/opt/arm/gst/bin:$PATH")
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execute_command("export DSP_PATH=/opt/arm/tidsp-binaries-23.i3.8/")
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execute_command("/bin/dspbridge/cexec.out -T /opt/arm/tidsp-binaries-23.i3.8/baseimage.dof -v")
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execute_command("/bin/dspbridge/dynreg.out -r /opt/arm/tidsp-binaries-23.i3.8/m4venc_sn.dll64P -v")
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# Show result
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execute_command("ls -altr /opt/arm/gst/bin")
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def ardrone2_status():
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config_ini = execute_command('cat /data/config.ini')
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print('======================== ARDrone 2 Status ========================')
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print('Version:\t\t' + check_version())
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print('Host:\t\t\t' + args.host + ' (' + read_from_config('static_ip_address_base', config_ini) +
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read_from_config('static_ip_address_probe', config_ini) + ' after boot)')
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print('Currently running:\t' + check_running())
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print('Serial number:\t\t' + read_from_config('drone_serial', config_ini))
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print('Network id:\t\t' + read_from_config('ssid_single_player', config_ini))
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print('Motor software:\t\t' +
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read_from_config('motor1_soft', config_ini) + '\t' + read_from_config('motor2_soft', config_ini) + '\t' +
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read_from_config('motor3_soft', config_ini) + '\t' + read_from_config('motor4_soft', config_ini))
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print('Motor hardware:\t\t' +
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read_from_config('motor1_hard', config_ini) + '\t' + read_from_config('motor2_hard', config_ini) + '\t' +
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read_from_config('motor3_hard', config_ini) + '\t' + read_from_config('motor4_hard', config_ini))
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autorun = {'': 'Native', '0': 'Native', '1': 'Paparazzi RAW', '2': 'Paparazzi SDK'}
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if check_autoboot():
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print('Autorun at start:\tInstalled booting ' + autorun[read_from_config('start_paparazzi', config_ini)])
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else:
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print('Autorun at start:\tNot installed')
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# Check if the vision framework is installed and running
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vision_framework = ""
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if check_vision_installed():
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vision_framework += "Installed"
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if check_vision_running:
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vision_framework += " and running"
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print('Vision framework:\t' + vision_framework)
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# Request the filesystem status
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print('\n======================== Filesystem Status ========================')
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print(check_filesystem())
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# Parse the arguments
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parser = argparse.ArgumentParser(description='ARDrone 2 python helper. Use ardrone2.py -h for help')
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parser.add_argument('--host', metavar='HOST', default='192.168.1.1',
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help='the ip address of ardrone2')
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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 ARDrone 2')
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subparsers.add_parser('reboot', help='Reboot the ARDrone 2')
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subparsers.add_parser('installvision', help='Install the vision framework')
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subparser_upload = subparsers.add_parser('upload_gst_module',
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help='Upload, configure and move a gstreamer0.10 module libXXX.so')
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subparser_upload.add_argument('file', help='Filename of *.so module')
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subparser_paparazzi = subparsers.add_parser('upload_paparazzi', help='Upload paparazzi autopilot software')
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subparser_paparazzi.add_argument('file', help='Filename of *.elf executable')
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subparser_paparazzi.add_argument('folder', help='Destination Subfolder: raw or sdk')
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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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subparsers.add_parser('startvision', help='Start the vision framework')
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subparser_start = subparsers.add_parser('start', help='Start a program on the ARDrone 2')
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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 ARDrone 2')
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subparser_kill.add_argument('program', help='the program to kill')
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subparser_networkid = subparsers.add_parser('networkid', help='Set the network ID(SSID) of the ARDrone 2')
|
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subparser_networkid.add_argument('name', help='the new network ID(SSID)')
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subparser_ipaddress = subparsers.add_parser('ipaddress', help='Set the IP address of the ARDrone 2')
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subparser_ipaddress.add_argument('address', help='the new IP address')
|
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subparser_autostart = subparsers.add_parser('autostart', help='Set what to start on boot for the ARDrone 2')
|
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subparser_autostart.add_argument('type', choices=['native', 'paparazzi_raw', 'paparazzi_sdk'],
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help='what to start on boot')
|
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|
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args = parser.parse_args()
|
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|
||||||
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# Connect with telnet and ftp
|
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try:
|
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tn = telnetlib.Telnet(args.host)
|
||||||
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ftp = FTP(args.host)
|
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ftp.login()
|
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except:
|
||||||
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print('Could not connect to ARDrone 2 (host: ' + args.host + ')')
|
||||||
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exit(2)
|
||||||
|
|
||||||
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# Read until after login
|
||||||
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tn.read_until('# ')
|
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|
|
||||||
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# Check the ARDrone 2 status
|
||||||
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if args.command == 'status':
|
||||||
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ardrone2_status()
|
||||||
|
|
||||||
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# Reboot the drone
|
||||||
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elif args.command == 'reboot':
|
||||||
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ardrone2_reboot()
|
||||||
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print('The ARDrone 2 is rebooting...')
|
||||||
|
|
||||||
|
# Kill a program
|
||||||
|
elif args.command == 'kill':
|
||||||
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execute_command('killall -9 ' + args.program)
|
||||||
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print('Program "' + args.program + '" is now killed')
|
||||||
|
|
||||||
|
# Start a program
|
||||||
|
elif args.command == 'start':
|
||||||
|
execute_command(args.start + ' &')
|
||||||
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print('Program "' + args.start + '" is now started')
|
||||||
|
|
||||||
|
# Change the network ID
|
||||||
|
elif args.command == 'networkid':
|
||||||
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write_to_config('ssid_single_player', args.name)
|
||||||
|
print('The network ID (SSID) of the ARDrone 2 is changed to ' + args.name)
|
||||||
|
|
||||||
|
if input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y':
|
||||||
|
ardrone2_reboot()
|
||||||
|
|
||||||
|
# Change the IP address
|
||||||
|
elif args.command == 'ipaddress':
|
||||||
|
splitted_ip = args.address.split(".")
|
||||||
|
write_to_config('static_ip_address_base', splitted_ip[0] + '.' + splitted_ip[1] + '.' + splitted_ip[2] + '.')
|
||||||
|
write_to_config('static_ip_address_probe', splitted_ip[3])
|
||||||
|
print('The IP Address of the ARDrone 2 is changed to ' + args.address)
|
||||||
|
|
||||||
|
if input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y':
|
||||||
|
ardrone2_reboot()
|
||||||
|
|
||||||
|
# Change the autostart
|
||||||
|
elif args.command == 'autostart':
|
||||||
|
autorun = {'native': '0', 'paparazzi_raw': '1', 'paparazzi_sdk': '2'}
|
||||||
|
write_to_config('start_paparazzi', autorun[args.type])
|
||||||
|
print('The autostart on boot is changed to ' + args.type)
|
||||||
|
|
||||||
|
# Install Vision framework
|
||||||
|
elif args.command == 'installvision':
|
||||||
|
if check_vision_installed():
|
||||||
|
print('Vision framework already installed')
|
||||||
|
if input("Shall I reinstall the vision framework? (y/N) ").lower() == 'y':
|
||||||
|
ardrone2_remove_vision()
|
||||||
|
ardrone2_install_vision()
|
||||||
|
|
||||||
|
ardrone2_install_vision()
|
||||||
|
print('Vision framework installed')
|
||||||
|
|
||||||
|
# Start Vision framework
|
||||||
|
elif args.command == 'startvision':
|
||||||
|
if check_vision_running():
|
||||||
|
print('Vision framework already started')
|
||||||
|
else:
|
||||||
|
if not check_vision_installed():
|
||||||
|
print('No vision framework installed')
|
||||||
|
if input("Shall I install the vision framework? (y/N) ").lower() == 'y':
|
||||||
|
ardrone2_install_vision()
|
||||||
|
|
||||||
|
if check_vision_installed():
|
||||||
|
ardrone2_start_vision()
|
||||||
|
print('Vision framework started')
|
||||||
|
|
||||||
|
elif args.command == 'upload_gst_module':
|
||||||
|
print('Uploading ...' + args.file)
|
||||||
|
ftp.storbinary("STOR " + 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")
|
||||||
|
if check_vision_running():
|
||||||
|
print('Info: Vision framework already started')
|
||||||
|
else:
|
||||||
|
if not check_vision_installed():
|
||||||
|
print('Warning: No vision framework installed')
|
||||||
|
if input("Warning: Shall I install the vision framework? (y/N) ").lower() == 'y':
|
||||||
|
ardrone2_install_vision()
|
||||||
|
|
||||||
|
if check_vision_installed():
|
||||||
|
ardrone2_start_vision()
|
||||||
|
print('#pragma message: Vision framework started')
|
||||||
|
print('#pragma message: Vision Plugin Uploaded and DSP Started.')
|
||||||
|
|
||||||
|
|
||||||
|
elif args.command == 'insmod':
|
||||||
|
modfile = split_into_path_and_file(args.file)
|
||||||
|
print('Uploading \'' + modfile[1])
|
||||||
|
ftp.storbinary("STOR " + modfile[1], file(args.file, "rb"))
|
||||||
|
print(execute_command("insmod /data/video/" + modfile[1]))
|
||||||
|
|
||||||
|
elif args.command == 'upload_paparazzi':
|
||||||
|
# Split filename and path
|
||||||
|
f = split_into_path_and_file(args.file)
|
||||||
|
|
||||||
|
print("Kill running " + f[1] + " and make folder " + args.folder)
|
||||||
|
execute_command("killall -9 " + f[1])
|
||||||
|
sleep(1)
|
||||||
|
execute_command("mkdir -p /data/video/" + args.folder)
|
||||||
|
print('Uploading \'' + f[1] + "\' from " + f[0] + " to " + args.folder)
|
||||||
|
ftp.storbinary("STOR " + 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 &")
|
||||||
|
print("#pragma message: Upload and Start of ap.elf to ARDrone2 Succes!")
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
# Close the telnet and python script
|
||||||
|
tn.close()
|
||||||
|
ftp.close()
|
||||||
|
exit(0)
|
||||||
Reference in New Issue
Block a user