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px_uploader.py: enable file to be used as module
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In order to use px_uploader as a module from another Python script, all
the action needs to be moved into a main() function which is only called
if the file is run directly.
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@julianoes
julianoes committed Feb 27, 2017
1 parent fd8474f commit 0391574
Showing 1 changed file with 115 additions and 111 deletions.
226 changes: 115 additions & 111 deletions Tools/px_uploader.py
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Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,11 @@

from sys import platform as _platform

# Detect python version
if sys.version_info[0] < 3:
runningPython3 = False
else:
runningPython3 = True

class firmware(object):
'''Loads a firmware file'''
Expand Down Expand Up @@ -471,13 +476,13 @@ def identify(self):
self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)

# upload the firmware
def upload(self, fw):
def upload(self, fw, force=False, boot_delay=None):
# Make sure we are doing the right thing
if self.board_type != fw.property('board_id'):
msg = "Firmware not suitable for this board (board_type=%u board_id=%u)" % (
self.board_type, fw.property('board_id'))
print("WARNING: %s" % msg)
if args.force:
if force:
print("FORCED WRITE, FLASHING ANYWAY!")
else:
raise IOError(msg)
Expand Down Expand Up @@ -529,8 +534,8 @@ def upload(self, fw):
else:
self.__verify_v3("Verify ", fw)

if args.boot_delay is not None:
self.__set_boot_delay(args.boot_delay)
if boot_delay is not None:
self.__set_boot_delay(boot_delay)

print("\nRebooting.\n")
self.__reboot()
Expand Down Expand Up @@ -574,130 +579,129 @@ def send_reboot(self):
return True


# Detect python version
if sys.version_info[0] < 3:
runningPython3 = False
else:
runningPython3 = True

# Parse commandline arguments
parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
parser.add_argument('--port', action="store", required=True, help="Comma-separated list of serial port(s) to which the FMU may be attached")
parser.add_argument('--baud-bootloader', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200) when communicating with bootloader, only required for true serial ports.")
parser.add_argument('--baud-flightstack', action="store", default="57600", help="Comma-separated list of baud rate of the serial port (default is 57600) when communicating with flight stack (Mavlink or NSH), only required for true serial ports.")
parser.add_argument('--force', action='store_true', default=False, help='Override board type check and continue loading')
parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
parser.add_argument('firmware', action="store", help="Firmware file to be uploaded")
args = parser.parse_args()

# warn people about ModemManager which interferes badly with Pixhawk
if os.path.exists("/usr/sbin/ModemManager"):
print("==========================================================================================================")
print("WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)")
print("==========================================================================================================")

# Load the firmware file
fw = firmware(args.firmware)
print("Loaded firmware for %x,%x, size: %d bytes, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size')))
print("If the board does not respond within 1-2 seconds, unplug and re-plug the USB connector.")

# Spin waiting for a device to show up
try:
while True:
portlist = []
patterns = args.port.split(",")
# on unix-like platforms use glob to support wildcard ports. This allows
# the use of /dev/serial/by-id/usb-3D_Robotics on Linux, which prevents the upload from
# causing modem hangups etc
if "linux" in _platform or "darwin" in _platform:
import glob
for pattern in patterns:
portlist += glob.glob(pattern)
else:
portlist = patterns
def main():

# Parse commandline arguments
parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
parser.add_argument('--port', action="store", required=True, help="Comma-separated list of serial port(s) to which the FMU may be attached")
parser.add_argument('--baud-bootloader', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200) when communicating with bootloader, only required for true serial ports.")
parser.add_argument('--baud-flightstack', action="store", default="57600", help="Comma-separated list of baud rate of the serial port (default is 57600) when communicating with flight stack (Mavlink or NSH), only required for true serial ports.")
parser.add_argument('--force', action='store_true', default=False, help='Override board type check and continue loading')
parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
parser.add_argument('firmware', action="store", help="Firmware file to be uploaded")
args = parser.parse_args()

# warn people about ModemManager which interferes badly with Pixhawk
if os.path.exists("/usr/sbin/ModemManager"):
print("==========================================================================================================")
print("WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)")
print("==========================================================================================================")

# Load the firmware file
fw = firmware(args.firmware)
print("Loaded firmware for %x,%x, size: %d bytes, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size')))
print("If the board does not respond within 1-2 seconds, unplug and re-plug the USB connector.")

# Spin waiting for a device to show up
try:
while True:
portlist = []
patterns = args.port.split(",")
# on unix-like platforms use glob to support wildcard ports. This allows
# the use of /dev/serial/by-id/usb-3D_Robotics on Linux, which prevents the upload from
# causing modem hangups etc
if "linux" in _platform or "darwin" in _platform:
import glob
for pattern in patterns:
portlist += glob.glob(pattern)
else:
portlist = patterns

baud_flightstack = [int(x) for x in args.baud_flightstack.split(',')]
baud_flightstack = [int(x) for x in args.baud_flightstack.split(',')]

for port in portlist:
for port in portlist:

# print("Trying %s" % port)
# print("Trying %s" % port)

# create an uploader attached to the port
try:
if "linux" in _platform:
# Linux, don't open Mac OS and Win ports
if "COM" not in port and "tty.usb" not in port:
up = uploader(port, args.baud_bootloader, baud_flightstack)
elif "darwin" in _platform:
# OS X, don't open Windows and Linux ports
if "COM" not in port and "ACM" not in port:
up = uploader(port, args.baud_bootloader, baud_flightstack)
elif "win" in _platform:
# Windows, don't open POSIX ports
if "/" not in port:
up = uploader(port, args.baud_bootloader, baud_flightstack)
except Exception as e:
# open failed, rate-limit our attempts
time.sleep(0.05)

# and loop to the next port
continue

found_bootloader = False
while (True):
up.open()

# port is open, try talking to it
# create an uploader attached to the port
try:
# identify the bootloader
up.identify()
found_bootloader = True
print("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port))
break
if "linux" in _platform:
# Linux, don't open Mac OS and Win ports
if "COM" not in port and "tty.usb" not in port:
up = uploader(port, args.baud_bootloader, baud_flightstack)
elif "darwin" in _platform:
# OS X, don't open Windows and Linux ports
if "COM" not in port and "ACM" not in port:
up = uploader(port, args.baud_bootloader, baud_flightstack)
elif "win" in _platform:
# Windows, don't open POSIX ports
if "/" not in port:
up = uploader(port, args.baud_bootloader, baud_flightstack)
except Exception as e:
# open failed, rate-limit our attempts
time.sleep(0.05)

# and loop to the next port
continue

found_bootloader = False
while (True):
up.open()

# port is open, try talking to it
try:
# identify the bootloader
up.identify()
found_bootloader = True
print("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port))
break

except Exception:
except Exception:

if not up.send_reboot():
break
if not up.send_reboot():
break

# wait for the reboot, without we might run into Serial I/O Error 5
time.sleep(0.25)
# wait for the reboot, without we might run into Serial I/O Error 5
time.sleep(0.25)

# always close the port
up.close()
# always close the port
up.close()

# wait for the close, without we might run into Serial I/O Error 6
time.sleep(0.3)
# wait for the close, without we might run into Serial I/O Error 6
time.sleep(0.3)

if not found_bootloader:
# Go to the next port
continue
if not found_bootloader:
# Go to the next port
continue

try:
# ok, we have a bootloader, try flashing it
up.upload(fw)
try:
# ok, we have a bootloader, try flashing it
up.upload(fw, force=args.force, boot_delay=args.boot_delay)

except RuntimeError as ex:
# print the error
print("\nERROR: %s" % ex.args)

except RuntimeError as ex:
# print the error
print("\nERROR: %s" % ex.args)
except IOError as e:
up.close()
continue

except IOError as e:
up.close()
continue
finally:
# always close the port
up.close()

finally:
# always close the port
up.close()
# we could loop here if we wanted to wait for more boards...
sys.exit(0)

# we could loop here if we wanted to wait for more boards...
sys.exit(0)
# Delay retries to < 20 Hz to prevent spin-lock from hogging the CPU
time.sleep(0.05)

# Delay retries to < 20 Hz to prevent spin-lock from hogging the CPU
time.sleep(0.05)
# CTRL+C aborts the upload/spin-lock by interrupt mechanics
except KeyboardInterrupt:
print("\n Upload aborted by user.")
sys.exit(0)

# CTRL+C aborts the upload/spin-lock by interrupt mechanics
except KeyboardInterrupt:
print("\n Upload aborted by user.")
sys.exit(0)
if __name__ == '__main__':
main()

# vim: tabstop=4 expandtab shiftwidth=4 softtabstop=4

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