mirror of
https://github.com/andreili/katapult.git
synced 2025-08-23 19:34:06 +02:00
flashtool: add support for status requests
Signed-off-by: Eric Callahan <arksine.code@gmail.com>
This commit is contained in:
Eric Callahan
parent
5e11a9a905
commit
40b22bdf6e
@ -61,7 +61,7 @@ BOOTLOADER_CMDS = {
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'SEND_EOF': 0x13,
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'REQUEST_BLOCK': 0x14,
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'COMPLETE': 0x15,
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'GET_CANBUS_ID': 0x16,
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'GET_CANBUS_ID': 0x16
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}
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ACK_SUCCESS = 0xa0
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@ -158,7 +158,7 @@ class CanFlasher:
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Extract klipper.dict from binary
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"""
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fw_name = self.firmware_path.name.lower()
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if fw_name != "klipper.bin":
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if fw_name != "klipper.bin" or not self.firmware_path.is_file():
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return
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bin_data = self.firmware_path.read_bytes()
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klipper_dict: Dict[str, Any] = {}
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@ -451,9 +451,54 @@ class CanNode:
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def close(self) -> None:
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self._reader.feed_eof()
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class CanSocket:
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def __init__(self, loop: asyncio.AbstractEventLoop):
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self._loop = loop
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class BaseSocket:
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def __init__(self, args: argparse.Namespace) -> None:
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self._loop = asyncio.get_running_loop()
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self._args = args
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self._fw_path = pathlib.Path(args.firmware).expanduser().resolve()
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@property
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def is_flash_req(self) -> bool:
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return not (
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self.is_bootloader_req or self.is_status_req or self.is_query
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)
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@property
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def is_bootloader_req(self) -> bool:
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return self._args.request_bootloader
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@property
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def is_status_req(self) -> bool:
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return self._args.status
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@property
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def is_query(self) -> bool:
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return self._args.query
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def _check_firmware(self) -> None:
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if self.is_flash_req and not self._fw_path.is_file():
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raise FlashError("Invalid firmware path '%s'" % (self._fw_path))
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async def run(self) -> None:
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raise NotImplementedError()
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def close(self) -> None:
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raise NotImplementedError()
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class CanSocket(BaseSocket):
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def __init__(self, args: argparse.Namespace) -> None:
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super().__init__(args)
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self._uuid = 0
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self._can_interface = args.interface
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if not self.is_query:
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if args.uuid is None:
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raise FlashError(
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"The 'uuid' option must be specified to flash a CAN device"
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)
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else:
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intf = self._can_interface
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self._uuid = int(args.uuid, 16)
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output_line(f"Connecting to CAN UUID {args.uuid} on interface {intf}")
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self.cansock = socket.socket(socket.PF_CAN, socket.SOCK_RAW,
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socket.CAN_RAW)
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self.admin_node = CanNode(CANBUS_ID_ADMIN, self)
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@ -585,52 +630,41 @@ class CanSocket:
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self.nodes[decoded_id + 1] = node
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return node
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async def run(
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self, intf: str, uuid: int, fw_path: pathlib.Path, req_only: bool
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) -> None:
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if not req_only and not fw_path.is_file():
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raise FlashError("Invalid firmware path '%s'" % (fw_path))
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async def run(self) -> None:
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self._check_firmware()
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try:
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self.cansock.bind((intf,))
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self.cansock.bind((self._can_interface,))
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except Exception:
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raise FlashError("Unable to bind socket to can0")
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raise FlashError(f"Unable to bind socket to {self._can_interface}")
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self.closed = False
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self.cansock.setblocking(False)
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self._loop.add_reader(
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self.cansock.fileno(), self._handle_can_response)
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self._jump_to_bootloader(uuid)
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await asyncio.sleep(.5)
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if req_only:
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output_line("Bootloader request command sent")
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return
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if self.is_flash_req or self.is_bootloader_req:
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self._jump_to_bootloader(self._uuid)
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await asyncio.sleep(1.0)
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if self.is_bootloader_req:
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return
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self._reset_nodes()
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await asyncio.sleep(1.0)
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node = self._set_node_id(uuid)
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flasher = CanFlasher(node, fw_path)
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await asyncio.sleep(.5)
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if self.is_query:
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await self._query_uuids()
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return
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node = self._set_node_id(self._uuid)
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flasher = CanFlasher(node, self._fw_path)
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await asyncio.sleep(.5)
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try:
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await flasher.connect_btl()
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await flasher.verify_canbus_uuid(uuid)
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await flasher.send_file()
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await flasher.verify_file()
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await flasher.verify_canbus_uuid(self._uuid)
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if not self.is_status_req:
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await flasher.send_file()
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await flasher.verify_file()
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finally:
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# always attempt to send the complete command. If
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# there is an error it will exit the bootloader
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# unless comms were broken
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await flasher.finish()
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async def run_query(self, intf: str):
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try:
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self.cansock.bind((intf,))
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except Exception:
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raise FlashError("Unable to bind socket to can0")
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self.closed = False
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self.cansock.setblocking(False)
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self._loop.add_reader(
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self.cansock.fileno(), self._handle_can_response)
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self._reset_nodes()
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await asyncio.sleep(.5)
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await self._query_uuids()
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if self.is_flash_req:
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await flasher.finish()
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def close(self):
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if self.closed:
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@ -641,12 +675,32 @@ class CanSocket:
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self._loop.remove_reader(self.cansock.fileno())
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self.cansock.close()
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class SerialSocket:
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def __init__(self, loop: asyncio.AbstractEventLoop):
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self._loop = loop
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class SerialSocket(BaseSocket):
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def __init__(self, args: argparse.Namespace) -> None:
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super().__init__(args)
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self._device = args.device
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self._baud = args.baud
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if not HAS_SERIAL:
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ser_inst_cmd = "pip3 install serial"
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if shutil.which("apt") is not None:
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ser_inst_cmd = "sudo apt install python3-serial"
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raise FlashError(
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"The pyserial python package was not found. To install "
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"run the following command in a terminal: \n\n"
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f" {ser_inst_cmd}\n\n"
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)
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if self._device is None:
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raise FlashError(
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"The 'device' option must be specified to flash a device"
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)
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output_line(f"Connecting to Serial Device {self._device}, baud {self._baud}")
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self.serial: Optional[Serial] = None
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self.node = CanNode(0, self)
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@property
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def is_query(self) -> bool:
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return False
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def _handle_response(self) -> None:
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assert self.serial is not None
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try:
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@ -778,14 +832,12 @@ class SerialSocket:
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return variant not in ("f2", "f4", "h7")
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return False
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async def run(
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self, intf: str, baud: int, fw_path: pathlib.Path, req_only: bool
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) -> None:
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if not fw_path.is_file():
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raise FlashError("Invalid firmware path '%s'" % (fw_path))
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await self.validate_device(intf)
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intf_path = pathlib.Path(intf)
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usb_dev_path = get_usb_path(intf_path)
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async def run(self) -> None:
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self._check_firmware()
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device = self._device
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await self.validate_device(device)
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dev_path = pathlib.Path(device)
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usb_dev_path = get_usb_path(dev_path)
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dev_info: Dict[str, Any] = {}
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if usb_dev_path is not None:
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dev_info = get_usb_info(usb_dev_path)
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@ -795,23 +847,23 @@ class SerialSocket:
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if usb_mfr == "klipper" or usb_id == KLIPPER_USB_ID:
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# Request usb bootloader, wait for katapult
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output_line("Detected USB device running Klipper")
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new_intf = await self._request_usb_bootloader(intf_path)
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intf = str(new_intf)
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if req_only:
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new_dpath = await self._request_usb_bootloader(dev_path)
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device = str(new_dpath)
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if self.is_bootloader_req:
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return
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elif usb_mfr == "katapult" or usb_id == KATAPULT_USB_ID:
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output_line("Detected USB device running Katapult")
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if req_only:
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if self.is_bootloader_req:
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return
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elif req_only:
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elif self.is_bootloader_req:
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# Request serial bootloader and exit
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await self._request_serial_bootloader(intf, baud)
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await self._request_serial_bootloader(device, self._baud)
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return
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else:
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usb_prod = ""
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self.serial = self._open_device(intf, baud)
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self.serial = self._open_device(device, self._baud)
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self._loop.add_reader(self.serial.fileno(), self._handle_response)
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flasher = CanFlasher(self.node, fw_path)
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flasher = CanFlasher(self.node, self._fw_path)
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try:
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if self._has_double_buffering(usb_prod):
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# Prime the USB Connection with a dummy command. This is
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@ -819,13 +871,15 @@ class SerialSocket:
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# to respond immediately to the connect command.
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flasher.prime()
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await flasher.connect_btl()
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await flasher.send_file()
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await flasher.verify_file()
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if not self.is_status_req:
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await flasher.send_file()
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await flasher.verify_file()
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finally:
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# always attempt to send the complete command. If
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# there is an error it will exit the bootloader
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# unless comms were broken
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await flasher.finish()
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if self.is_flash_req:
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await flasher.finish()
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def close(self):
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if self.serial is None:
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@ -837,52 +891,30 @@ class SerialSocket:
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async def main(args: argparse.Namespace) -> int:
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if not args.verbose:
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logging.getLogger().setLevel(logging.ERROR)
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intf = args.interface
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fpath = pathlib.Path(args.firmware).expanduser().resolve()
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loop = asyncio.get_running_loop()
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iscan = args.device is None
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req_only = args.request_bootloader
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sock: CanSocket | SerialSocket | None = None
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try:
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if iscan:
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sock = CanSocket(loop)
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if args.query:
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await sock.run_query(intf)
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else:
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if args.uuid is None:
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raise FlashError(
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"The 'uuid' option must be specified to flash a device"
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)
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output_line(f"Flashing CAN UUID {args.uuid} on interface {intf}")
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uuid = int(args.uuid, 16)
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await sock.run(intf, uuid, fpath, req_only)
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sock = CanSocket(args)
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else:
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if not HAS_SERIAL:
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ser_inst_cmd = "pip3 install serial"
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if shutil.which("apt") is not None:
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ser_inst_cmd = "sudo apt install python3-serial"
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raise FlashError(
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"The pyserial python package was not found. To install "
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"run the following command in a terminal: \n\n"
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f" {ser_inst_cmd}\n\n"
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)
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if args.device is None:
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raise FlashError(
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"The 'device' option must be specified to flash a device"
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)
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output_line(f"Flashing Serial Device {args.device}, baud {args.baud}")
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sock = SerialSocket(loop)
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await sock.run(args.device, args.baud, fpath, req_only)
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sock = SerialSocket(args)
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await sock.run()
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except Exception:
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logging.exception("Flash Error")
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logging.exception("Flash Tool Error")
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return 1
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finally:
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if sock is not None:
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sock.close()
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if args.query:
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output_line("Query Complete")
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if sock is None:
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return 1
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if sock.is_query:
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output_line("CANBus UUID Query Complete")
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elif sock.is_bootloader_req:
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output_line("Bootloader Request Complete")
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elif sock.is_status_req:
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output_line("Status Request Complete")
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else:
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output_line("Flash Success")
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output_line("Programming Complete")
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return 0
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@ -911,7 +943,7 @@ if __name__ == '__main__':
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)
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parser.add_argument(
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"-q", "--query", action="store_true",
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help="Query Bootloader Device IDs"
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help="Query available CAN UUIDs (CANBus Ony)"
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)
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parser.add_argument(
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"-v", "--verbose", action="store_true",
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@ -921,6 +953,9 @@ if __name__ == '__main__':
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"-r", "--request-bootloader", action="store_true",
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help="Requests the bootloader and exits"
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)
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parser.add_argument(
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"-s", "--status", action="store_true",
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help="Connect to bootloader and print status"
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)
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args = parser.parse_args()
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exit(asyncio.run(main(args)))
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