mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-23 13:24:03 +08:00
[ardrone] upload script without errors
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.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/gtk_save_settings.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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# 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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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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load2 upload2 program2: $(OBJDIR)/$(TARGET).elf
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Executable
+312
@@ -0,0 +1,312 @@
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#!/usr/bin/env python
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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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# 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 == 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)+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', 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'], help='what to start on boot')
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args = parser.parse_args()
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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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# 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...'
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# Kill a program
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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'
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# Start a program
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elif args.command == 'start':
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execute_command(args.start+' &')
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print 'Program "'+args.start+'" is now started'
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# Change the network ID
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elif args.command == 'networkid':
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write_to_config('ssid_single_player', args.name)
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print 'The network ID (SSID) of the ARDrone 2 is changed to '+args.name
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if raw_input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y':
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ardrone2_reboot()
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# Change the IP address
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elif args.command == 'ipaddress':
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splitted_ip = args.address.split(".")
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write_to_config('static_ip_address_base', splitted_ip[0]+'.'+splitted_ip[1]+'.'+splitted_ip[2]+'.')
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write_to_config('static_ip_address_probe', splitted_ip[3])
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print 'The IP Address of the ARDrone 2 is changed to '+args.address
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if raw_input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y':
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ardrone2_reboot()
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# Change the autostart
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elif args.command == 'autostart':
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autorun = {'native': '0','paparazzi_raw': '1','paparazzi_sdk': '2'}
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write_to_config('start_paparazzi', autorun[args.type])
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print 'The autostart on boot is changed to '+args.type
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# Install Vision framework
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elif args.command == 'installvision':
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if check_vision_installed():
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print 'Vision framework already installed'
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if raw_input("Shall I reinstall the vision framework? (y/N) ").lower() == 'y':
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ardrone2_remove_vision()
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ardrone2_install_vision()
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ardrone2_install_vision()
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print 'Vision framework installed'
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# Start Vision framework
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elif args.command == 'startvision':
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if check_vision_running():
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print 'Vision framework already started'
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else:
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if not check_vision_installed():
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print 'No vision framework installed'
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if raw_input("Shall I install the vision framework? (y/N) ").lower() == 'y':
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ardrone2_install_vision()
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if check_vision_installed():
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ardrone2_start_vision()
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print 'Vision framework started'
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elif args.command == 'upload_gst_module':
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print 'Uploading ...' + args.file
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ftp.storbinary("STOR " + args.file,file(args.file,"rb"))
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execute_command("chmod 777 /data/video/" + args.file)
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print execute_command("mv /data/video/" + args.file + " /data/video/opt/arm/gst/lib/gstreamer-0.10")
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if check_vision_running():
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print 'Info: Vision framework already started'
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else:
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if not check_vision_installed():
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print 'Warning: No vision framework installed'
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if raw_input("Warning: Shall I install the vision framework? (y/N) ").lower() == 'y':
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ardrone2_install_vision()
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if check_vision_installed():
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ardrone2_start_vision()
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print '#pragma message: Vision framework started'
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print '#pragma message: Vision Plugin Uploaded and DSP Started.'
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elif args.command == 'insmod':
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modfile = args.file.rsplit('/',1)
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print 'Uploading \'' + modfile[1]
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ftp.storbinary("STOR " + modfile[1], file(args.file,"rb"))
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print execute_command("insmod /data/video/"+modfile[1])
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elif args.command == 'upload_paparazzi':
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# Split filename and path
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f = args.file.rsplit('/', 1)
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print "Kill running ap.elf and make folder " + args.folder
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execute_command("killall " + f[1])
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sleep(1)
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execute_command("mkdir -p " + args.folder)
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print 'Uploading \'' + f[1] + "\' from " + f[0] + " to " + args.folder
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ftp.storbinary("STOR " + args.folder + "/" + f[1], file(args.file,"rb"))
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sleep(0.5)
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execute_command("chmod 777 /data/video/" + args.folder + "/" + f[1])
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execute_command("/data/video/" + args.folder + "/" + f[1] + " > /dev/null 2>&1 &")
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print("#pragma message: Upload and Start of ap.elf to ARDrone2 Succes!")
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# Close the telnet and python script
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tn.close();
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ftp.close();
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exit(0)
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