]> git.droids-corp.org - aversive.git/commitdiff
microb_cmd
authorzer0 <zer0@carbon.local>
Mon, 5 Apr 2010 12:07:24 +0000 (14:07 +0200)
committerzer0 <zer0@carbon.local>
Mon, 5 Apr 2010 12:07:24 +0000 (14:07 +0200)
projects/microb2010/microb_cmd/microbcmd.py

index 4e923c6ce11889abfaef655ff0c436e944b62997..555141f868e9fb5dd5161bb91bf0d856fdc622b7 100755 (executable)
@@ -5,10 +5,11 @@ import serial
 from select import select
 import cmd
 #import pylab
-from  matplotlib import pylab 
+from  matplotlib import pylab
 from math import *
 
-import numpy 
+import struct
+import numpy
 import shlex
 import time
 import math
@@ -25,6 +26,7 @@ log.setLevel(1)
 MICROB_PATH=os.path.dirname(sys.argv[0])
 
 SPM_PAGE_SIZE = 256
+METADATA_ADDR = 256
 
 def crc_ccitt_update (crc, data):
     """crc argument is the previous value of 16 bits crc (the initial
@@ -34,7 +36,7 @@ def crc_ccitt_update (crc, data):
     data ^= (crc & 0xff)
     data ^= (data << 4)
     data &= 0xff
-    
+
     ret = (data << 8) & 0xffff
     ret |= ((crc >> 8) & 0xff)
     ret ^= ((data >> 4) & 0xff)
@@ -53,8 +55,8 @@ def do_crc(buf):
 
 def prog_page(ser, addr, buf):
     """program a page from buf at addr"""
-    
-    # switch in program mode 
+
+    # switch in program mode
     ser.flushInput()
     ser.write('p')
 
@@ -75,7 +77,7 @@ def prog_page(ser, addr, buf):
     while i < SPM_PAGE_SIZE and i < len(buf):
         page[i] = buf[i]
         i += 1
-    
+
     # send data
     i = 0
     while i < SPM_PAGE_SIZE:
@@ -102,21 +104,62 @@ def prog_page(ser, addr, buf):
         return -1
     return 0
 
+def prog_metadata(ser, addr, buf):
+    length = len(buf)
+    crc = do_crc(buf)
+    page = struct.pack("<LL", length, crc)
+    filename = os.path.join(MICROB_PATH, "binaries/%x_%x.bin"%(length, crc))
+    print "saving in %s"%(filename)
+    f = open(filename, "w")
+    f.write(buf)
+    f.close()
+    return prog_page(ser, addr, page)
+
+def get_same_bin_file(ser):
+    # hack because dump32 does not work
+    l1 = read32(ser, METADATA_ADDR) & 0xFFFF
+    l2 = read32(ser, METADATA_ADDR + 2) & 0xFFFF
+    c1 = read32(ser, METADATA_ADDR + 4) & 0xFFFF
+    c2 = read32(ser, METADATA_ADDR + 6) & 0xFFFF
+    l = l1 + l2 << 16
+    c = c1 + c2 << 16
+    filename = os.path.join(MICROB_PATH,
+                            "binaries/%x_%x.bin"%(l, c))
+    print filename
+    try:
+        f = open(filename, "r")
+    except:
+        return None
+    buf = f.read()
+    f.close()
+    print "found old bin matching <%s>"%(filename)
+    return buf
+
 def read32(ser, addr):
     """read a 32 bits value at addr"""
-    
-    # switch in program mode 
+
+    ser.write('\n')
+    ser.write('\n')
+    ser.write('\n')
+    time.sleep(0.2)
     ser.flushInput()
+
+    # switch in program mode
     ser.write('d')
 
     # send address
+    time.sleep(0.1)
+
     s = ser.readline()
+    print repr(s)
     if not s.endswith("addr?\r\n"):
         print "failed (don't match addr)"
         return -1
+    print addr
     ser.write("%x\n"%addr)
     s = ser.readline()
-    return int(s)
+    print repr(s)
+    return int(s, 16)
 
 def check_crc(ser, buf, offset, size):
     """Process the crc of buf, ask for a crc of the flash, and check
@@ -170,77 +213,6 @@ class SerialLogger:
         self.fout.write(s)
         self.ser.write(s)
 
-
-
-
-
-"""
-fig = figure()
-
-ax = subplot(111)
-
-
-X = 45.
-Y = -10.
-l1 = 9.
-l2 = 21.13
-l3 = 47.14
-
-l_mirror = 249.
-h_mirror = 13.
-
-
-def ang2_a_mirror(b):
-    x2 = X+l1*math.cos(b)
-    y2 = Y+l1*math.sin(b)
-
-    A = (l3**2+x2**2+y2**2-l2**2)/(2*l3)
-
-    DELTA = -(A**2-x2**2-y2**2)
-    B = +math.sqrt(DELTA)
-
-    D = x2**2+y2**2
-
-    c_a = (x2*A+y2*B)/D
-    s_a = -(x2*B-y2*A)/D
-
-    a = math.atan2(s_a, c_a)
-    return x2, y2, c_a, s_a, a
-
-
-def ang2_H_L(l_telemetre, c_a, s_a, a):
-    d = h_mirror*c_a/s_a
-    H = (l_telemetre - l_mirror - d)*math.sin(2*a)
-    L = l_mirror + d + H/math.tan(2*a)
-    return H, L
-
-all_p = []
-for b in xrange(0, 360, 20):
-    b = b*2*math.pi / 360.
-
-    x2, y2, c_a, s_a, a = ang2_a_mirror(b)
-    x1 = l3*c_a
-    y1 = l3*s_a
-    
-    px = [0, x1, x2, X]
-    py = [0, y1, y2, Y]
-
-    all_p+=[px, py]
-
-    print math.sqrt((x2-x1)**2+(y2-y1)**2)
-
-    H, L = ang2_H_L(400., c_a, s_a, a)
-    print H, L
-    
-ax.plot(*all_p)
-
-show()
-
-"""
-         
-
-
-
 class Interp(cmd.Cmd):
     prompt = "Microb> "
     def __init__(self, tty, baudrate=57600):
@@ -262,7 +234,7 @@ class Interp(cmd.Cmd):
         log                      logs to /tmp/microb.log or the last used file"""
 
         if self.serial_logging:
-            log.error("Already logging to %s and %s" % (self.ser.filein, 
+            log.error("Already logging to %s and %s" % (self.ser.filein,
                                                         self.ser.fileout))
         else:
             self.serial_logging = True
@@ -279,19 +251,19 @@ class Interp(cmd.Cmd):
                 print "Can't parse arguments"
 
             self.ser = SerialLogger(self.ser, *files)
-            log.info("Starting serial logging to %s and %s" % (self.ser.filein, 
+            log.info("Starting serial logging to %s and %s" % (self.ser.filein,
                                                                self.ser.fileout))
 
 
     def do_unlog(self, args):
         if self.serial_logging:
-            log.info("Stopping serial logging to %s and %s" % (self.ser.filein, 
+            log.info("Stopping serial logging to %s and %s" % (self.ser.filein,
                                                                self.ser.fileout))
             self.ser = self.ser.ser
             self.serial_logging = False
         else:
             log.error("No log to stop")
-        
+
 
     def do_raw(self, args):
         "Switch to RAW mode"
@@ -300,14 +272,14 @@ class Interp(cmd.Cmd):
 
         stdin_termios = termios.tcgetattr(stdin)
         raw_termios = stdin_termios[:]
-        
+
         try:
             log.info("Switching to RAW mode")
 
             # iflag
-            raw_termios[0] &= ~(termios.IGNBRK | termios.BRKINT | 
-                                termios.PARMRK | termios.ISTRIP | 
-                                termios.INLCR | termios.IGNCR | 
+            raw_termios[0] &= ~(termios.IGNBRK | termios.BRKINT |
+                                termios.PARMRK | termios.ISTRIP |
+                                termios.INLCR | termios.IGNCR |
                                 termios.ICRNL | termios.IXON)
             # oflag
             raw_termios[1] &= ~termios.OPOST;
@@ -315,8 +287,8 @@ class Interp(cmd.Cmd):
             raw_termios[2] &= ~(termios.CSIZE | termios.PARENB);
             raw_termios[2] |= termios.CS8;
             # lflag
-            raw_termios[3] &= ~(termios.ECHO | termios.ECHONL | 
-                                termios.ICANON | termios.ISIG | 
+            raw_termios[3] &= ~(termios.ECHO | termios.ECHONL |
+                                termios.ICANON | termios.ISIG |
                                 termios.IEXTEN);
 
             termios.tcsetattr(stdin, termios.TCSADRAIN, raw_termios)
@@ -346,511 +318,9 @@ class Interp(cmd.Cmd):
         finally:
             termios.tcsetattr(stdin, termios.TCSADRAIN, stdin_termios)
             log.info("Back to normal mode")
-            
-
-    def do_arm_x(self, args):
-        fsdf
-        my_h = 100
-        my_r = 220
-        my_ang = 90
-
-        self.ser.write("armxy %d %d %d\n"%(my_h, -my_r, my_ang))
-        time.sleep(1)
-        
-        for i in xrange(-my_r, my_r, 25):
-            self.ser.write("armxy %d %d %d\n"%(my_h, i, my_ang))
-            self.ser.flushInput()
-            
-            time.sleep(0.03)
-
-    def do_arm_y(self, args):
-        my_x = 80
-        my_r = 145
-        my_ang = 0
-        self.ser.write("armxy %d %d %d\n"%(-my_r, my_x, my_ang))
-        time.sleep(1)
-        
-        for i in xrange(-my_r, my_r, 25):
-            self.ser.write("armxy %d %d %d\n"%(i, my_x, my_ang))
-            self.ser.flushInput()
-            
-            time.sleep(0.03)
-
-    def do_arm_circ(self, args):
-        add_h = 120
-        add_d = 120
-        l = 70
-        for i in xrange(0, 360, 10):
-            x = l*math.cos(i*math.pi/180)
-            y = l*math.sin(i*math.pi/180)
-            
-            
-            self.ser.write("armxy %d %d 90\n"%(x+add_h, y+add_d))
-            self.ser.flushInput()
-            
-            time.sleep(0.05)
-
-    def do_arm_init(self, args):
-        self.arm_h = 130
-        self.arm_v = 130
-        self.mov_max = 20
-        
-        self.ser.write("armxy %d %d\n"%(self.arm_h, self.arm_v))        
-
-    def arm_py_goto(self, h, v, a):
-        """
-        dh, dv = h-self.arm_h, v-self.arm_v
-        d = math.sqrt(dh**2 + dv**2)
-
-        old_h = self.arm_h
-        old_v = self.arm_v
-        
-        mov_todo = int(d/self.mov_max)
-        for i in xrange(1, mov_todo):
-            p_h = dh*i/mov_todo
-            p_v = dv*i/mov_todo
-
-            new_h = old_h+p_h
-            new_v = old_v+p_v
-            
-            self.ser.write("armxy %d %d %d\n"%(new_h, new_v, a))
-            self.ser.flushInput()
-            self.arm_h = new_h
-            self.arm_v = new_v
-
-            time.sleep(0.04)
-            
-        self.ser.write("armxy %d %d %d\n"%(h, v, a))
-        self.ser.flushInput()
-        """
-
-        self.ser.write("armxy %d %d %d\n"%(h, v, a))
-        self.ser.flushInput()
-
-        time.sleep(0.2)
-    
-            
-                
-    def do_arm_tt(self, args):
-        for i in xrange(2):
-            self.arm_py_goto(80, 80, 200)
-            self.arm_py_goto(80, 200, 200)
-            self.arm_py_goto(200, 200, 200)
-            self.arm_py_goto(200, 80, 200)
-
-    def do_arm_harve(self, args):
-        angl1 = 1
-        angl2 = 100
-        my_time = 0.03
-        self.arm_py_goto(130,130,angl1)
-        self.arm_py_goto(-150,60,angl1)
-        time.sleep(0.1)
-        
-        self.ser.write("pwm 1B -3000\n")
-        self.ser.flushInput()
-        time.sleep(0.2)
-
-        self.arm_py_goto(-120,60,angl1)
-        time.sleep(2)
-        self.arm_py_goto(-120,60,angl2)
-        time.sleep(2)
-        self.arm_py_goto(-150,60,angl2)
-        self.ser.write("pwm 3C -3000\n")
-        self.ser.flushInput()
-        time.sleep(0.2)
-        self.arm_py_goto(-130,60,angl2)
-        self.arm_py_goto(0,160,angl2)
-
-        #middle point
-        self.arm_py_goto(-40,200,angl2)
-
-        h = -150
-        d = 210
-        
-        self.arm_py_goto(h,d,angl2)
-        time.sleep(.3)
-        self.ser.write("pwm 3C 3000\n")
-        time.sleep(0.1)
-        self.arm_py_goto(h+60,d,angl2)
-        time.sleep(0.1)
-
-        self.arm_py_goto(h+60,d,angl1)
-        time.sleep(0.3)
-        self.arm_py_goto(h+40,d,angl1)
-        time.sleep(0.3)
-        self.arm_py_goto(h+30,d,angl1)
-        time.sleep(0.3)
-        self.ser.write("pwm 1B 3000\n")
-        time.sleep(0.1)
-        self.arm_py_goto(h+70,d,angl1)
-
-        self.ser.write("pwm 1B 0\n")
-        self.ser.write("pwm 3C 0\n")
-
-        self.arm_py_goto(130,130,angl2)
-
-        
-        
-    def update_graph(self, val):
-        freq = self.sfreq.val
-        self.theta_max = freq*math.pi*2.0
-        self.theta = pylab.arange(0.0, self.theta_max, self.theta_max/len(self.r))
-        self.theta = self.theta[:len(self.r)]
-
-        self.myplot.set_xdata(self.theta)
-        draw()
-    """    
-    def do_graph(self, args):
-        self.ser.write("pwm 1A 2000\n")
-        time.sleep(0.5)
-        print "sampling..."
-        self.ser.write("sample start\n")
-        while True:
-            l = self.ser.readline()
-            if "dump end" in l:
-                break
-        #time.sleep(2)
-        self.ser.write("pwm 1A 0\n")
-        l = self.ser.readline()
-        l = self.ser.readline()
-
-        print "dumping..."
-        self.ser.write("sample dump\n")
-        vals = []
-        while True:
-            l = self.ser.readline()
-            if l[0] in ['s', 'c', 'a']:
-                continue
-            if l[0] in ['e']:
-                break
-            tokens = [x for x in shlex.shlex(l)]
-            v = int(tokens[0])
-            #v = min(v, 150)
-            vals.append(v)
-        vals.reverse()
-        print "total vals:", len(vals)
-
-        pylab.subplot(111, polar = True)
-        self.r = vals
-        valinit = 5.38
-        #theta_max = 4.8*2.3*pi
-        self.theta_max =valinit*pylab.pi
-        self.theta = pylab.arange(0.0, self.theta_max, self.theta_max/len(self.r))
-        
-        self.myplot, = pylab.plot(self.theta, self.r)
-
-        #slide bar
-        axfreq = pylab.axes([0.25, 0.1, 0.65, 0.03])
-        self.sfreq = pylab.Slider(axfreq, "Freq", 1, 20, valinit = valinit)
-        self.sfreq.on_changed(self.update_graph)
-
-        pylab.show()
-    """
-
-
-    def do_dump(self, args):
-
-        t = [x for x in shlex.shlex(args)]
-        
-        t.reverse()
-        do_img = False
-
-        #send speed,debug=off
-        #self.ser.write("scan_params 500 0\n")
-        #send algo 1 wrkazone 1 cx 15 cy 15
-        self.ser.write("scan_img 1 1 15 15\n")
-        
-        print t
-        while len(t):
-            x = t.pop()
-            if x == 'img':
-                do_img = True
-
-        print "dumping..."
-        self.ser.write("sample dump 0 0 400 0\n")
-
-
-
-        while True:
-            l = self.ser.readline()
-
-            if "start dumping" in l:
-                tokens = [x for x in shlex.shlex(l)]
-                num_rows = int(tokens[-1])
-                print "num row: ", num_rows
-                break
-            print l.strip()
-        #scan_stop = time.time()
-        #print "total time:", scan_stop-scan_start
-
-
-        vals = []
-        while True:
-            l = self.ser.readline()
-
-            if l[0] in ['s', 'c', 'a']:
-                continue
-            if l[0] in ['e']:
-                break
-            tokens = [x for x in shlex.shlex(l)]
-            v = int(tokens[0])
-            #v = min(v, 150)
-            vals.append(v)
-
-
-        #vals.reverse()
-        print "total vals:", len(vals)
-        valinit = 5
-
-        #num_rows = int(600/valinit)
-        #num_cols = int(valinit)
-        num_rows_orig = num_rows
-        num_rows *= 1
-        num_cols = len(vals)/num_rows
-
-        data = []
-        pt_num = 0
-        my_min = None
-        my_max = None
-
-        print "dim", num_rows, num_cols
-        print "sav img to pgm"
-        fimg = open("dump.pgm", "wb")
-        fimg.write("P5\n#toto\n%d %d\n255\n"%(num_rows, num_cols))
-        for i in xrange(num_cols):
-            data.append([])
-            #data[-1].append(0.0)
-            
-            for j in xrange(num_rows):
-                if vals[pt_num]>0x10:
-                    p = 0
-                else:
-                    p=vals[pt_num] * 0x20
-                if (p>0xFF):
-                    p = 0xFF
-                   
-                fimg.write(chr(p))
-                if my_min == None or my_min>p:
-                    my_min = p
-                if  p!=255 and (my_max == None or my_max<p):
-                    my_max = p
-                if p >= 205:
-                    p = 0
-                p/=1.
-
-
-                
-                data[-1].append(p)
-                pt_num+=1
-            #data[-1].append(1.)
-        fimg.close()
-        print my_min, my_max
-        #print data
-        data = numpy.array(data)
-
-        if do_img:
-            ax = pylab.subplot(111)
-            ax.imshow(data)
-        
-        
-        #pylab.subplot(111, polar = True)
-        self.r = vals
-        #theta_max = 4.8*2.3*pi
-        self.theta_max =valinit*pylab.pi
-        self.theta = pylab.arange(0.0, self.theta_max, self.theta_max/len(self.r))
-
-        """
-        tmp = []
-        for x in data:
-            tmp+=list(x)
-        self.myplot, = pylab.plot(tmp)
-        
-
-        """
-        if not do_img :
-            tmpx = []
-            tmpy = []
-            for x in data:
-                tmpy+=list(x)
-                tmpx+=range(len(x))
-            self.myplot, = pylab.plot(tmpx, tmpy)
-        
-
-        #slide bar
-        #axfreq = pylab.axes([0.25, 0.1, 0.65, 0.03])
-        #self.sfreq = pylab.Slider(axfreq, "Freq", 1, 20, valinit = valinit)
-        #self.sfreq.on_changed(self.update_graph)
-
-        pylab.show()
-
-
-    def do_scan_params(self, args):
-        t = [x for x in shlex.shlex(args)]
-        
-        if len(t)!=2:
-            return
-        t = [int(x) for x in t]
-        self.ser.write("scan_params %d %d\n"%tuple(t))
-
-    def do_graph(self, args):
-        t = [x for x in shlex.shlex(args)]
-        
-        t.reverse()
-        do_img = False
-
-        #send speed,debug=off
-        #self.ser.write("scan_params 500 0\n")
-        #send algo 1 wrkazone 1 cx 15 cy 15
-        self.ser.write("scan_img 1 1 15 15\n")
-        
-        print t
-        while len(t):
-            x = t.pop()
-            if x == 'img':
-                do_img = True
-                
-            
-        scan_start = time.time()
-        print "sampling..."
-
-        self.ser.write("scan_do\n")
-
-        flog = open('log.txt', 'w')
-
-        while True:
-            l = self.ser.readline()
-            flog.write(l)
-
-            if "dump end" in l:
-                break
-        flog.close()
-
-        #time.sleep(2)
-        #self.ser.write("pwm 1A 0\n")
-        #l = self.ser.readline()
-        #l = self.ser.readline()
 
-
-        print "dumping..."
-        self.ser.write("sample dump 0 0 400 0\n")
-
-
-
-        while True:
-            l = self.ser.readline()
-
-            if "start dumping" in l:
-                tokens = [x for x in shlex.shlex(l)]
-                num_rows = int(tokens[-1])
-                print "num row: ", num_rows
-                break
-            print l.strip()
-        scan_stop = time.time()
-        print "total time:", scan_stop-scan_start
-
-
-        vals = []
-        while True:
-            l = self.ser.readline()
-
-            if l[0] in ['s', 'c', 'a']:
-                continue
-            if l[0] in ['e']:
-                break
-            tokens = [x for x in shlex.shlex(l)]
-            v = int(tokens[0])
-            #v = min(v, 150)
-            vals.append(v)
-
-
-        #vals.reverse()
-        print "total vals:", len(vals)
-        valinit = 5
-
-        #num_rows = int(600/valinit)
-        #num_cols = int(valinit)
-        num_rows_orig = num_rows
-        num_rows *= 1
-        num_cols = len(vals)/num_rows
-
-        data = []
-        pt_num = 0
-        my_min = None
-        my_max = None
-
-        print "dim", num_rows, num_cols
-        print "sav img to pgm"
-        fimg = open("dump.pgm", "wb")
-        fimg.write("P5\n#toto\n%d %d\n255\n"%(num_rows, num_cols))
-        for i in xrange(num_cols):
-            data.append([])
-            #data[-1].append(0.0)
-            
-            for j in xrange(num_rows):
-                if vals[pt_num]>0x10:
-                    p = 0
-                else:
-                    p=vals[pt_num] * 0x20
-                if (p>0xFF):
-                    p = 0xFF
-                   
-                fimg.write(chr(p))
-                if my_min == None or my_min>p:
-                    my_min = p
-                if  p!=255 and (my_max == None or my_max<p):
-                    my_max = p
-                if p >= 205:
-                    p = 0
-                p/=1.
-
-
-                
-                data[-1].append(p)
-                pt_num+=1
-            #data[-1].append(1.)
-        fimg.close()
-        print my_min, my_max
-        #print data
-        data = numpy.array(data)
-
-        if do_img:
-            ax = pylab.subplot(111)
-            ax.imshow(data)
-        
-        
-        #pylab.subplot(111, polar = True)
-        self.r = vals
-        #theta_max = 4.8*2.3*pi
-        self.theta_max =valinit*pylab.pi
-        self.theta = pylab.arange(0.0, self.theta_max, self.theta_max/len(self.r))
-
-        """
-        tmp = []
-        for x in data:
-            tmp+=list(x)
-        self.myplot, = pylab.plot(tmp)
-        
-
-        """
-        if not do_img :
-            tmpx = []
-            tmpy = []
-            for x in data:
-                tmpy+=list(x)
-                tmpx+=range(len(x))
-            self.myplot, = pylab.plot(tmpx, tmpy)
-        
-
-        #slide bar
-        #axfreq = pylab.axes([0.25, 0.1, 0.65, 0.03])
-        #self.sfreq = pylab.Slider(axfreq, "Freq", 1, 20, valinit = valinit)
-        #self.sfreq.on_changed(self.update_graph)
-
-        pylab.show()
-
-        
     def bootloader(self, filename, boardnum):
-        self.ser.write("\n")
+        self.ser.write("\ 3")
         time.sleep(0.4)
         self.ser.write("bootloader\n")
         time.sleep(0.4)
@@ -860,23 +330,39 @@ class Interp(cmd.Cmd):
         self.ser.flushInput()
         f = open(filename)
         buf = f.read()
+        f.close()
+
         addr = 0
+
+        #old_buf = get_same_bin_file(self.ser)
+        old_buf = None
+
         while addr < len(buf):
+            if addr > METADATA_ADDR and old_buf != None and \
+                    old_buf[addr:addr+SPM_PAGE_SIZE] == buf[addr:addr+SPM_PAGE_SIZE]:
+                sys.stdout.write("-")
+                sys.stdout.flush()
+                addr += SPM_PAGE_SIZE
+                continue
             time.sleep(0.1)
             if check_crc(self.ser, buf, addr, SPM_PAGE_SIZE) == 0:
                 sys.stdout.write("*")
                 sys.stdout.flush()
-            elif prog_page(self.ser, addr, 
+            elif prog_page(self.ser, addr,
                          buf[addr:addr+SPM_PAGE_SIZE]) != 0:
                 return
             addr += SPM_PAGE_SIZE
         if check_crc(self.ser, buf, 0, len(buf)):
             print "crc failed"
             return
+        print
+        if prog_metadata(self.ser, METADATA_ADDR, buf) != 0:
+            print "metadata failed"
+            return
         print "Done."
         self.ser.write("x")
         self.do_raw("")
-        
+
     def do_bootloader(self, args):
         self.bootloader(args, 0)