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ServiceTab.py
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ServiceTab.py
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#!/usr/bin/env python
# -*- coding: utf-8 -*-
#
# || ____ _ __
# +------+ / __ )(_) /_______________ _____ ___
# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
#
# Copyright (C) 2011-2013 Bitcraze AB
#
# Crazyflie Nano Quadcopter Client
#
# This program is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation; either version 2
# of the License, or (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
"""
The service tab is used to update the Crazyflie firmware and to read/write the
configuration block in the Crazyflie flash.
"""
__author__ = 'Bitcraze AB'
__all__ = ['ServiceTab']
import sys, time, struct
import logging
logger = logging.getLogger(__name__)
from PyQt4 import QtCore, QtGui, uic
from PyQt4.QtCore import Qt, pyqtSlot, pyqtSignal, QThread, SIGNAL
from ui.tab import Tab
import cflib.crtp
from cflib.bootloader.cloader import Cloader
service_tab_class = uic.loadUiType("ui/tabs/serviceTab.ui")[0]
class UIState:
DISCONNECTED = 0
CONNECTING = 5
CONNECT_FAILED = 1
COLD_CONNECT = 2
FLASHING = 3
RESET = 4
class ServiceTab(Tab, service_tab_class):
"""Tab for update the Crazyflie firmware and for reading/writing the config block in flash"""
def __init__(self, tabWidget, helper, *args):
super(ServiceTab, self).__init__(*args)
self.setupUi(self)
self.tabName = "Service"
self.menuName = "Service"
self.tabWidget = tabWidget
self.helper = helper
#self.cf = crazyflie
self.clt = CrazyloadThread()
#Connecting GUI signals (a pity to do that manually...)
self.imagePathBrowseButton.clicked.connect(self.pathBrowse)
self.programButton.clicked.connect(self.programAction)
self.verifyButton.clicked.connect(self.verifyAction)
self.coldBootButton.clicked.connect(self.initiateColdboot)
self.resetButton.clicked.connect(self.resetCopter)
self.saveConfigblock.clicked.connect(self.writeConfig)
#connecting other signals
self.clt.programmed.connect(self.programDone)
self.clt.verified.connect(self.verifyDone)
self.clt.statusChanged.connect(self.statusUpdate)
#self.clt.updateBootloaderStatusSignal.connect(self.updateBootloaderStatus)
self.clt.connectingSignal.connect(lambda: self.setUiState(UIState.CONNECTING))
self.clt.connectedSignal.connect(lambda: self.setUiState(UIState.COLD_CONNECT))
self.clt.connectionFailedSignal.connect(lambda: self.setUiState(UIState.CONNECT_FAILED))
self.clt.disconnectedSignal.connect(lambda: self.setUiState(UIState.DISCONNECTED))
self.clt.updateConfigSignal.connect(self.updateConfig)
self.clt.updateCpuIdSignal.connect(lambda cpuid: self.copterId.setText(cpuid))
self.clt.start()
def setUiState(self, state):
if (state == UIState.DISCONNECTED):
self.resetButton.setEnabled(False)
self.programButton.setEnabled(False)
self.setStatusLabel("Disconnected")
self.coldBootButton.setEnabled(True)
elif (state == UIState.CONNECTING):
self.resetButton.setEnabled(False)
self.programButton.setEnabled(False)
self.setStatusLabel("Trying to connect cold bootloader, restart the Crazyflie to connect")
self.coldBootButton.setEnabled(False)
elif (state == UIState.CONNECT_FAILED):
self.setStatusLabel("Connecting to bootloader failed")
self.coldBootButton.setEnabled(True)
elif (state == UIState.COLD_CONNECT):
self.resetButton.setEnabled(True)
self.programButton.setEnabled(True)
self.setStatusLabel("Connected to bootloader")
self.coldBootButton.setEnabled(False)
elif (state == UIState.RESET):
self.setStatusLabel("Resetting to firmware, disconnected")
self.resetButton.setEnabled(False)
self.programButton.setEnabled(False)
self.coldBootButton.setEnabled(False)
def setStatusLabel(self, text):
self.connectionStatus.setText("Status: <b>%s</b>" % text)
def connected(self):
self.setUiState(UIState.COLD_CONNECT)
def connectionFailed(self):
self.setUiState(UIState.CONNECT_FAILED)
def resetCopter(self):
self.clt.resetCopterSignal.emit()
self.setUiState(UIState.RESET)
def updateConfig(self, channel, speed, rollTrim, pitchTrim):
self.rollTrim.setText(rollTrim)
self.pitchTrim.setText(pitchTrim)
self.radioChannel.setValue(int(channel))
self.radioSpeed.setCurrentIndex(int(speed))
@pyqtSlot()
def pathBrowse(self):
filename = QtGui.QFileDialog.getOpenFileName()
if filename != "":
self.imagePathLine.setText(filename)
pass
@pyqtSlot()
def programAction(self):
#self.setStatusLabel("Initiate programming")
self.resetButton.setEnabled(False)
if self.imagePathLine.text() != "":
self.clt.program.emit(self.imagePathLine.text(), self.verifyCheckBox.isChecked())
else:
msgBox = QtGui.QMessageBox()
msgBox.setText("Please choose an image file to program.");
msgBox.exec_();
@pyqtSlot()
def verifyAction(self):
self.statusLabel.setText('Status: <b>Initiate verification</b>')
pass
@pyqtSlot()
def programDone(self):
self.statusLabel.setText('Status: <b>Programing complete</b>')
pass
@pyqtSlot()
def verifyDone(self):
self.statusLabel.setText('Status: <b>Verification complete</b>')
pass
@pyqtSlot(str, int)
def statusUpdate(self, status, progress):
logger.debug("Status: [%s] | %d", status, progress)
self.statusLabel.setText('Status: <b>' + status + '</b>')
if progress>=0:
self.progressBar.setTextVisible(True)
self.progressBar.setValue(progress)
else:
self.progressBar.setTextVisible(False)
self.progressBar.setValue(100)
if (progress == 100):
self.resetButton.setEnabled(True)
def initiateColdboot(self):
self.clt.initiateColdBootSignal.emit("radio://0/100")
def writeConfig(self):
pitchTrim = float(self.pitchTrim.text())
rollTrim = float(self.rollTrim.text())
channel = int(self.radioChannel.value())
speed = self.radioSpeed.currentIndex()
self.clt.writeConfigSignal.emit(channel, speed, rollTrim, pitchTrim)
#No run method specified here as the default run implementation is running the
#event loop which is what we want
class CrazyloadThread(QThread):
#Input signals declaration (not sure it should be used like that...)
program = pyqtSignal(str, bool)
verify = pyqtSignal()
initiateColdBootSignal = pyqtSignal(str)
resetCopterSignal = pyqtSignal()
writeConfigSignal = pyqtSignal(int,int,float,float)
#Output signals declaration
programmed = pyqtSignal()
verified = pyqtSignal()
statusChanged = pyqtSignal(str, int)
connectedSignal = pyqtSignal()
connectingSignal = pyqtSignal()
connectionFailedSignal = pyqtSignal()
disconnectedSignal = pyqtSignal()
updateConfigSignal = pyqtSignal(str, str, str, str)
updateCpuIdSignal = pyqtSignal(str)
radioSpeedPos = 2
def __init__(self):
super(CrazyloadThread, self).__init__()
#Make sure that the signals are handled by this thread event loop
self.moveToThread(self);
self.program.connect(self.programAction)
self.writeConfigSignal.connect(self.writeConfigAction)
self.initiateColdBootSignal.connect(self.initiateColdBoot)
self.resetCopterSignal.connect(self.resetCopter)
self.loader = None
def __del__(self):
self.quit()
self.wait()
def initiateColdBoot(self, linkURI):
self.connectingSignal.emit()
self.link = cflib.crtp.get_link_driver("radio://0/110")
self.loader = Cloader(self.link, "radio://0/110")
#self.link = CRTP.get_link_driver("debug://0/110")
#self.loader = Cloader(self.link, "debug://0/110")
if self.loader.coldboot():
logger.info("Connected in coldboot mode ok")
self.updateCpuIdSignal.emit(self.loader.cpuid)
self.readConfigAction()
self.connectedSignal.emit()
else:
self.connectionFailedSignal.emit()
logger.info("Connected in coldboot mode failed")
self.link.close()
def programAction(self, filename, verify):
logger.info("Flashing file [%s]", filename)
f=open(filename, "rb")
if not f:
logger.warning("Cannot open file [%s]", filename)
self.link.close()
return
image = f.read()
f.close()
self.loadAndFlash(image, verify)
def checksum256(self, st):
return reduce(lambda x,y:x+y, map(ord, st)) % 256
def writeConfigAction(self, channel, speed, rollTrim, pitchTrim):
data = (0x00, channel, speed, pitchTrim, rollTrim)
image = struct.pack("<BBBff", *data)
#Adding some magic:
image = "0xBC" + image
image += struct.pack("B", 256-self.checksum256(image))
self.loadAndFlash(image, True, 117)
def readConfigAction(self):
self.statusChanged.emit("Reading config block...", 0)
data = self.loader.read_flash(self.loader.start_page + 117)
if (data is not None):
self.statusChanged.emit("Reading config block...done!", 100)
[channel, speed, pitchTrim, rollTrim] = struct.unpack("<BBff", data[5:15]) # Skip 0xBC and version at the beginning
self.updateConfigSignal.emit(str(channel), str(speed), str(pitchTrim), str(rollTrim))
else:
self.statusChanged.emit("Reading config block failed!", 0)
def loadAndFlash(self, image, verify = False, startpage = 0):
factor = ((100.0*self.loader.page_size)/len(image))
if (verify == True):
factor /= 2
progress = 0
#For each page
ctr=0 #Buffer counter
for i in range(0, int((len(image)-1)/self.loader.page_size)+1):
#Load the buffer
if ((i+1)*self.loader.page_size)>len(image):
self.loader.upload_buffer(ctr, 0, image[i*self.loader.page_size:])
else:
self.loader.upload_buffer(ctr, 0, image[i*self.loader.page_size:(i+1)*self.loader.page_size])
ctr += 1
progress += factor
self.statusChanged.emit("Uploading buffer...", int(progress))
#Flash when the complete buffers are full
if ctr>=self.loader.buffer_pages:
self.statusChanged.emit("Writing buffer...", int(progress))
firstFlashPage = self.loader.start_page+startpage+i-(ctr-1)
if not self.loader.write_flash(0, firstFlashPage, ctr):
self.disconnectedSignal.emit()
self.statusChanged.emit("Error during flash operation (err code %d)" % self.loader.error_code, int(progress))
self.link.close()
return
if (verify == True):
for p in range(firstFlashPage, firstFlashPage+ctr):
test = self.loader.read_flash(p)
buffStart = ((p-self.loader.start_page)*self.loader.page_size)
ver = image[buffStart:buffStart+self.loader.page_size]
if (test != ver):
self.statusChanged.emit("Verification failed!", int(progress))
return
progress += factor
self.statusChanged.emit("Verifying flashed data...", int(progress))
ctr = 0
if ctr>0:
self.statusChanged.emit("Writing buffer...", int(progress))
firstFlashPage = self.loader.start_page+startpage+(int((len(image)-1)/self.loader.page_size))-(ctr-1)
if not self.loader.write_flash(0, firstFlashPage, ctr):
self.statusChanged.emit("Error during flash operation (err code %d)" % self.loader.error_code, int(progress))
self.disconnectedSignal.emit()
self.link.close()
return
if (verify == True):
for p in range(firstFlashPage, firstFlashPage+ctr):
buffStart = ((p-self.loader.start_page)*self.loader.page_size)
ver = image[buffStart:buffStart+self.loader.page_size]
test = self.loader.read_flash(p)[0:len(ver)] # We read back more than we should compare..
if (test != ver):
self.statusChanged.emit("Verification failed!", int(progress))
return
progress += factor
self.statusChanged.emit("Verifying flashed data...", int(progress))
self.statusChanged.emit("Flashing...done!", 100)
def resetCopter(self):
self.disconnectedSignal.emit()
self.loader.reset_to_firmware(self.loader.decode_cpu_id("32:00:6e:06:58:37:35:32:60:58:01:43"))
self.link.close()