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Add console logs to bootloader #369

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merged 1 commit into from
Dec 6, 2022
Merged

Add console logs to bootloader #369

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21 changes: 14 additions & 7 deletions cflib/bootloader/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -131,7 +131,7 @@ def start_bootloader(self, warm_boot=False, cf=None):
def get_target(self, target_id):
return self._cload.request_info_update(target_id)

def flash(self, filename: str, targets: List[Target], cf=None):
def flash(self, filename: str, targets: List[Target], cf=None, enable_console_log: Optional[bool] = False):
# Separate flash targets from decks
platform = self._get_platform_id()
flash_targets = [t for t in targets if t.platform == platform]
Expand Down Expand Up @@ -170,7 +170,8 @@ def flash(self, filename: str, targets: List[Target], cf=None):
# Flash all decks and reboot after each deck
current_index = 0
while current_index != -1:
current_index = self._flash_deck_incrementally(deck_artifacts, deck_targets, current_index)
current_index = self._flash_deck_incrementally(deck_artifacts, deck_targets, current_index,
enable_console_log=enable_console_log)
if self.progress_cb:
self.progress_cb('Deck updated! Restarting...', int(100))
if current_index != -1:
Expand Down Expand Up @@ -198,7 +199,8 @@ def flash_full(self, cf: Optional[Crazyflie] = None,
targets: Optional[Tuple[str, ...]] = None,
info_cb: Optional[Callable[[int, TargetTypes], NoReturn]] = None,
progress_cb: Optional[Callable[[str, int], NoReturn]] = None,
terminate_flash_cb: Optional[Callable[[], bool]] = None):
terminate_flash_cb: Optional[Callable[[], bool]] = None,
enable_console_log: Optional[bool] = False):
"""
Flash .zip or bin .file to list of targets.
Reset to firmware when done.
Expand All @@ -218,7 +220,7 @@ def flash_full(self, cf: Optional[Crazyflie] = None,
info_cb(self.protocol_version, connected)

if filename is not None:
self.flash(filename, targets, cf)
self.flash(filename, targets, cf, enable_console_log=enable_console_log)
self.reset_to_firmware()

def _get_flash_artifacts_from_zip(self, filename):
Expand Down Expand Up @@ -396,14 +398,15 @@ def console_callback(self, text: str):
# Crazyflie at appropriate places.
print(text, end='')

def _flash_deck_incrementally(self, artifacts: List[FlashArtifact], targets: List[Target], start_index: int):
def _flash_deck_incrementally(self, artifacts: List[FlashArtifact], targets: List[Target], start_index: int,
enable_console_log: Optional[bool] = False):
flash_all_targets = len(targets) == 0
if self.progress_cb:
self.progress_cb('Identifying deck to be updated', 0)

with SyncCrazyflie(self.clink, cf=Crazyflie()) as scf:
# Uncomment to enable console logs from the CF.
# scf.cf.console.receivedChar.add_callback(self.console_callback)
if enable_console_log:
scf.cf.console.receivedChar.add_callback(self.console_callback)

deck_mems = scf.cf.mem.get_mems(MemoryElement.TYPE_DECK_MEMORY)
deck_mems_count = len(deck_mems)
Expand Down Expand Up @@ -499,6 +502,10 @@ def progress_cb(msg: str, percent: int):
self.progress_cb(f'Failed to update deck {deck.name}', int(0))
raise RuntimeError(f'Failed to update deck {deck.name}')

if enable_console_log:
# Wait a bit to let the console log print
time.sleep(4)

# We flashed a deck, return for re-boot
next_index = deck_index + 1
if next_index >= len(decks):
Expand Down