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px_uploader.py: try to follow PEP8
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This fixes some non-Pythonic things and unneccessary semicolons.

Still to fix are line-length and multiple spaces before operators.
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@julianoes
julianoes committed Jan 9, 2017
1 parent b8afc97 commit 42d2341
Showing 1 changed file with 47 additions and 45 deletions.
92 changes: 47 additions & 45 deletions Tools/px_uploader.py
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Expand Up @@ -189,22 +189,23 @@ def __init__(self, portname, baudrate_bootloader, baudrate_flightstack):
self.port = serial.Serial(portname, baudrate_bootloader, timeout=0.5)
self.otp = b''
self.sn = b''
self.baudrate_bootloader = baudrate_bootloader;
self.baudrate_flightstack = baudrate_flightstack;
self.baudrate_bootloader = baudrate_bootloader
self.baudrate_flightstack = baudrate_flightstack
self.protocol = self.PROTOCOL_UKN

def close(self):
if self.port is not None:
self.port.close()

def __send(self, c):
# print("send " + binascii.hexlify(c))
# print("send " + binascii.hexlify(c))
self.port.write(c)

def __recv(self, count=1):
c = self.port.read(count)
if len(c) < 1:
raise RuntimeError("timeout waiting for data (%u bytes)" % count)
# print("recv " + binascii.hexlify(c))
# print("recv " + binascii.hexlify(c))
return c

def __recv_int(self):
Expand All @@ -229,30 +230,31 @@ def __getSync(self):
def __sync(self):
# send a stream of ignored bytes longer than the longest possible conversation
# that we might still have in progress
# self.__send(uploader.NOP * (uploader.PROG_MULTI_MAX + 2))
# self.__send(uploader.NOP * (uploader.PROG_MULTI_MAX + 2))
self.port.flushInput()
self.__send(uploader.GET_SYNC
+ uploader.EOC)
self.__send(uploader.GET_SYNC +
uploader.EOC)
self.__getSync()

def __trySync(self):
try:
self.port.flush()
if (self.__recv() != self.INSYNC):
#print("unexpected 0x%x instead of INSYNC" % ord(c))
return False;
# print("unexpected 0x%x instead of INSYNC" % ord(c))
return False
c = self.__recv()
if (c == self.BAD_SILICON_REV):
raise NotImplementedError()
if (c != self.OK):
#print("unexpected 0x%x instead of OK" % ord(c))
# print("unexpected 0x%x instead of OK" % ord(c))
return False
return True

except NotImplementedError:
raise RuntimeError("Programing not supported for this version of silicon!\n See https://pixhawk.org/help/errata")
raise RuntimeError("Programing not supported for this version of silicon!\n"
"See https://pixhawk.org/help/errata")
except RuntimeError:
#timeout, no response yet
# timeout, no response yet
return False

# send the GET_DEVICE command and wait for an info parameter
Expand All @@ -264,15 +266,15 @@ def __getInfo(self, param):

# send the GET_OTP command and wait for an info parameter
def __getOTP(self, param):
t = struct.pack("I", param) # int param as 32bit ( 4 byte ) char array.
t = struct.pack("I", param) # int param as 32bit ( 4 byte ) char array.
self.__send(uploader.GET_OTP + t + uploader.EOC)
value = self.__recv(4)
self.__getSync()
return value

# send the GET_SN command and wait for an info parameter
def __getSN(self, param):
t = struct.pack("I", param) # int param as 32bit ( 4 byte ) char array.
t = struct.pack("I", param) # int param as 32bit ( 4 byte ) char array.
self.__send(uploader.GET_SN + t + uploader.EOC)
value = self.__recv(4)
self.__getSync()
Expand All @@ -284,6 +286,7 @@ def __getCHIP(self):
value = self.__recv_int()
self.__getSync()
return value

# send the GET_CHIP command
def __getCHIPDes(self):
self.__send(uploader.GET_CHIP_DES + uploader.EOC)
Expand All @@ -302,36 +305,35 @@ def __drawProgressBar(self, label, progress, maxVal):
sys.stdout.write("\r%s: [%-20s] %.1f%%" % (label, '='*int(percent/5.0), percent))
sys.stdout.flush()


# send the CHIP_ERASE command and wait for the bootloader to become ready
def __erase(self, label):
print("\n", end='')
self.__send(uploader.CHIP_ERASE
+ uploader.EOC)
self.__send(uploader.CHIP_ERASE +
uploader.EOC)

# erase is very slow, give it 20s
deadline = time.time() + 20.0
while time.time() < deadline:

#Draw progress bar (erase usually takes about 9 seconds to complete)
# Draw progress bar (erase usually takes about 9 seconds to complete)
estimatedTimeRemaining = deadline-time.time()
if estimatedTimeRemaining >= 9.0:
self.__drawProgressBar(label, 20.0-estimatedTimeRemaining, 9.0)
else:
self.__drawProgressBar(label, 10.0, 10.0)
sys.stdout.write(" (timeout: %d seconds) " % int(deadline-time.time()) )
sys.stdout.write(" (timeout: %d seconds) " % int(deadline-time.time()))
sys.stdout.flush()

if self.__trySync():
self.__drawProgressBar(label, 10.0, 10.0)
return;
return

raise RuntimeError("timed out waiting for erase")

# send a PROG_MULTI command to write a collection of bytes
def __program_multi(self, data):

if runningPython3 == True:
if runningPython3:
length = len(data).to_bytes(1, byteorder='big')
else:
length = chr(len(data))
Expand All @@ -345,7 +347,7 @@ def __program_multi(self, data):
# verify multiple bytes in flash
def __verify_multi(self, data):

if runningPython3 == True:
if runningPython3:
length = len(data).to_bytes(1, byteorder='big')
else:
length = chr(len(data))
Expand All @@ -364,8 +366,8 @@ def __verify_multi(self, data):

# send the reboot command
def __reboot(self):
self.__send(uploader.REBOOT
+ uploader.EOC)
self.__send(uploader.REBOOT +
uploader.EOC)
self.port.flush()

# v3+ can report failure if the first word flash fails
Expand All @@ -386,7 +388,7 @@ def __program(self, label, fw):
for bytes in groups:
self.__program_multi(bytes)

#Print upload progress (throttled, so it does not delay upload progress)
# Print upload progress (throttled, so it does not delay upload progress)
uploadProgress += 1
if uploadProgress % 256 == 0:
self.__drawProgressBar(label, uploadProgress, len(groups))
Expand All @@ -395,8 +397,8 @@ def __program(self, label, fw):
# verify code
def __verify_v2(self, label, fw):
print("\n", end='')
self.__send(uploader.CHIP_VERIFY
+ uploader.EOC)
self.__send(uploader.CHIP_VERIFY +
uploader.EOC)
self.__getSync()
code = fw.image
groups = self.__split_len(code, uploader.READ_MULTI_MAX)
Expand All @@ -413,8 +415,8 @@ def __verify_v3(self, label, fw):
print("\n", end='')
self.__drawProgressBar(label, 1, 100)
expect_crc = fw.crc(self.fw_maxsize)
self.__send(uploader.GET_CRC
+ uploader.EOC)
self.__send(uploader.GET_CRC +
uploader.EOC)
report_crc = self.__recv_int()
self.__getSync()
if report_crc != expect_crc:
Expand All @@ -424,9 +426,9 @@ def __verify_v3(self, label, fw):
self.__drawProgressBar(label, 100, 100)

def __set_boot_delay(self, boot_delay):
self.__send(uploader.SET_BOOT_DELAY
+ struct.pack("b", boot_delay)
+ uploader.EOC)
self.__send(uploader.SET_BOOT_DELAY +
struct.pack("b", boot_delay) +
uploader.EOC)
self.__getSync()

# get basic data about the board
Expand Down Expand Up @@ -460,9 +462,9 @@ def upload(self, fw):

# OTP added in v4:
if self.bl_rev > 3:
for byte in range(0,32*6,4):
for byte in range(0, 32*6, 4):
x = self.__getOTP(byte)
self.otp = self.otp + x
self.otp = self.otp + x
print(binascii.hexlify(x).decode('Latin-1') + ' ', end='')
# see src/modules/systemlib/otp.h in px4 code:
self.otp_id = self.otp[0:4]
Expand All @@ -475,14 +477,14 @@ def upload(self, fw):
print("type: " + self.otp_id.decode('Latin-1'))
print("idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1'))
print("vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1'))
print("pid: "+ binascii.hexlify(self.otp_pid).decode('Latin-1'))
print("coa: "+ binascii.b2a_base64(self.otp_coa).decode('Latin-1'))
print("pid: " + binascii.hexlify(self.otp_pid).decode('Latin-1'))
print("coa: " + binascii.b2a_base64(self.otp_coa).decode('Latin-1'))
print("sn: ", end='')
for byte in range(0,12,4):
for byte in range(0, 12, 4):
x = self.__getSN(byte)
x = x[::-1] # reverse the bytes
self.sn = self.sn + x
print(binascii.hexlify(x).decode('Latin-1'), end='') # show user
self.sn = self.sn + x
print(binascii.hexlify(x).decode('Latin-1'), end='') # show user
print('')
print("chip: %08x" % self.__getCHIP())
if (self.bl_rev >= 5):
Expand Down Expand Up @@ -576,21 +578,21 @@ def send_reboot(self):

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 not "COM" in port and not "tty.usb" in port:
# 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, args.baud_flightstack)
elif "darwin" in _platform:
# OS X, don't open Windows and Linux ports
if not "COM" in port and not "ACM" in port:
if "COM" not in port and "ACM" not in port:
up = uploader(port, args.baud_bootloader, args.baud_flightstack)
elif "win" in _platform:
# Windows, don't open POSIX ports
if not "/" in port:
if "/" not in port:
up = uploader(port, args.baud_bootloader, args.baud_flightstack)
except Exception:
# open failed, rate-limit our attempts
Expand Down Expand Up @@ -627,7 +629,7 @@ def send_reboot(self):
print("\nERROR: %s" % ex.args)

except IOError as e:
up.close();
up.close()
continue

finally:
Expand Down

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