255 lines
7.7 KiB
Python
Executable File
255 lines
7.7 KiB
Python
Executable File
#!/usr/bin/env python
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"""
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pyboard interface
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This module provides the Pyboard class, used to communicate with and
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control the pyboard over a serial USB connection.
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Example usage:
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import pyboard
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pyb = pyboard.Pyboard('/dev/ttyACM0')
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pyb.enter_raw_repl()
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pyb.exec('pyb.LED(1).on()')
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pyb.exit_raw_repl()
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To run a script from the local machine on the board and print out the results:
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import pyboard
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pyboard.execfile('test.py', device='/dev/ttyACM0')
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This script can also be run directly. To execute a local script, use:
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./pyboard.py test.py
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Or:
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python pyboard.py test.py
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"""
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import sys
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import time
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import serial
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def stdout_write_bytes(b):
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sys.stdout.buffer.write(b)
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sys.stdout.buffer.flush()
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class PyboardError(BaseException):
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pass
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class Pyboard:
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def __init__(self, serial_device):
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self.serial = serial.Serial(serial_device, baudrate=115200, interCharTimeout=1)
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def close(self):
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self.serial.close()
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def read_until(self, min_num_bytes, ending, timeout=10, data_consumer=None):
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data = self.serial.read(min_num_bytes)
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if data_consumer:
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data_consumer(data)
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timeout_count = 0
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while True:
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if data.endswith(ending):
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break
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elif self.serial.inWaiting() > 0:
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new_data = self.serial.read(1)
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data = data + new_data
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if data_consumer:
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data_consumer(new_data)
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#time.sleep(0.01)
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timeout_count = 0
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else:
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timeout_count += 1
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if timeout is not None and timeout_count >= 10 * timeout:
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break
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time.sleep(0.1)
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return data
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def enter_raw_repl(self):
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self.serial.write(b'\r\x03\x03') # ctrl-C twice: interrupt any running program
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self.serial.write(b'\r\x01') # ctrl-A: enter raw REPL
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data = self.read_until(1, b'to exit\r\n>')
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if not data.endswith(b'raw REPL; CTRL-B to exit\r\n>'):
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print(data)
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raise PyboardError('could not enter raw repl')
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self.serial.write(b'\x04') # ctrl-D: soft reset
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data = self.read_until(1, b'to exit\r\n>')
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if not data.endswith(b'raw REPL; CTRL-B to exit\r\n>'):
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print(data)
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raise PyboardError('could not enter raw repl')
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def exit_raw_repl(self):
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self.serial.write(b'\r\x02') # ctrl-B: enter friendly REPL
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def follow(self, timeout, data_consumer=None):
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# wait for normal output
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data = self.read_until(1, b'\x04', timeout=timeout, data_consumer=data_consumer)
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if not data.endswith(b'\x04'):
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raise PyboardError('timeout waiting for first EOF reception')
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data = data[:-1]
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# wait for error output
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data_err = self.read_until(2, b'\x04>', timeout=timeout)
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if not data_err.endswith(b'\x04>'):
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raise PyboardError('timeout waiting for second EOF reception')
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data_err = data_err[:-2]
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# return normal and error output
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return data, data_err
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def exec_raw_no_follow(self, command):
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if isinstance(command, bytes):
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command_bytes = command
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else:
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command_bytes = bytes(command, encoding='utf8')
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# write command
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for i in range(0, len(command_bytes), 256):
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self.serial.write(command_bytes[i:min(i + 256, len(command_bytes))])
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time.sleep(0.01)
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self.serial.write(b'\x04')
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# check if we could exec command
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data = self.serial.read(2)
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if data != b'OK':
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raise PyboardError('could not exec command')
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def exec_raw(self, command, timeout=10, data_consumer=None):
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self.exec_raw_no_follow(command);
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return self.follow(timeout, data_consumer)
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def eval(self, expression):
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ret = self.exec('print({})'.format(expression))
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ret = ret.strip()
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return ret
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def exec(self, command):
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ret, ret_err = self.exec_raw(command)
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if ret_err:
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raise PyboardError('exception', ret, ret_err)
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return ret
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def execfile(self, filename):
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with open(filename, 'rb') as f:
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pyfile = f.read()
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return self.exec(pyfile)
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def get_time(self):
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t = str(self.eval('pyb.RTC().datetime()'), encoding='utf8')[1:-1].split(', ')
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return int(t[4]) * 3600 + int(t[5]) * 60 + int(t[6])
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def execfile(filename, device='/dev/ttyACM0'):
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pyb = Pyboard(device)
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pyb.enter_raw_repl()
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output = pyb.execfile(filename)
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stdout_write_bytes(output)
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pyb.exit_raw_repl()
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pyb.close()
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def run_test(device):
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pyb = Pyboard(device)
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pyb.enter_raw_repl()
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print('opened device {}'.format(device))
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pyb.exec('import pyb') # module pyb no longer imported by default, required for pyboard tests
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print('seconds since boot:', pyb.get_time())
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pyb.exec('def apply(l, f):\r\n for item in l:\r\n f(item)\r\n')
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pyb.exec('leds=[pyb.LED(l) for l in range(1, 5)]')
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pyb.exec('apply(leds, lambda l:l.off())')
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## USR switch test
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pyb.exec('switch = pyb.Switch()')
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for i in range(2):
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print("press USR button")
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pyb.exec('while switch(): pyb.delay(10)')
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pyb.exec('while not switch(): pyb.delay(10)')
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print('USR switch passed')
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## accel test
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if True:
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print("hold level")
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pyb.exec('accel = pyb.Accel()')
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pyb.exec('while abs(accel.x()) > 10 or abs(accel.y()) > 10: pyb.delay(10)')
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print("tilt left")
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pyb.exec('while accel.x() > -10: pyb.delay(10)')
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pyb.exec('leds[0].on()')
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print("tilt forward")
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pyb.exec('while accel.y() < 10: pyb.delay(10)')
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pyb.exec('leds[1].on()')
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print("tilt right")
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pyb.exec('while accel.x() < 10: pyb.delay(10)')
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pyb.exec('leds[2].on()')
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print("tilt backward")
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pyb.exec('while accel.y() > -10: pyb.delay(10)')
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pyb.exec('leds[3].on()')
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print('accel passed')
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print('seconds since boot:', pyb.get_time())
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pyb.exec('apply(leds, lambda l:l.off())')
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pyb.exit_raw_repl()
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pyb.close()
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def main():
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import argparse
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cmd_parser = argparse.ArgumentParser(description='Run scripts on the pyboard.')
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cmd_parser.add_argument('--device', default='/dev/ttyACM0', help='the serial device of the pyboard')
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cmd_parser.add_argument('--follow', action='store_true', help='follow the output after running the scripts [default if no scripts given]')
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cmd_parser.add_argument('--test', action='store_true', help='run a small test suite on the pyboard')
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cmd_parser.add_argument('files', nargs='*', help='input files')
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args = cmd_parser.parse_args()
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if args.test:
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run_test(device=args.device)
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for filename in args.files:
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try:
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pyb = Pyboard(args.device)
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pyb.enter_raw_repl()
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with open(filename, 'rb') as f:
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pyfile = f.read()
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ret, ret_err = pyb.exec_raw(pyfile, timeout=None, data_consumer=stdout_write_bytes)
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pyb.exit_raw_repl()
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pyb.close()
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except PyboardError as er:
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print(er)
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sys.exit(1)
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except KeyboardInterrupt:
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sys.exit(1)
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if ret_err:
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stdout_write_bytes(ret_err)
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sys.exit(1)
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if args.follow or len(args.files) == 0:
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try:
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pyb = Pyboard(args.device)
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ret, ret_err = pyb.follow(timeout=None, data_consumer=stdout_write_bytes)
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pyb.close()
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except PyboardError as er:
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print(er)
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sys.exit(1)
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except KeyboardInterrupt:
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sys.exit(1)
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if ret_err:
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stdout_write_bytes(ret_err)
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sys.exit(1)
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if __name__ == "__main__":
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main()
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