mirror of
https://github.com/andreili/katapult.git
synced 2025-08-23 11:24:06 +02:00
flashtool: support USB-CAN bridge detection
This enables single step flashing for Klipper devices configured as a USB-CAN bridge. Signed-off-by: Eric Callahan <arksine.code@gmail.com>
This commit is contained in:
Eric Callahan
parent
40b22bdf6e
commit
b22330e917
@ -86,6 +86,7 @@ CANBUS_NODEID_OFFSET = 128
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# USB IDs
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KATAPULT_USB_ID = "1d50:6177"
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KLIPPER_USB_ID = "1d50:614e"
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GS_CAN_USB_ID = "1d50:606f"
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SERIAL_BL_REQ = b"~ \x1c Request Serial Bootloader!! ~"
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class FlashError(Exception):
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@ -94,19 +95,24 @@ class FlashError(Exception):
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def get_usb_info(usb_path: pathlib.Path) -> Dict[str, Any]:
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usb_info: Dict[str, Any] = {}
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id_path = usb_path.joinpath("idVendor")
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prod_path = usb_path.joinpath("idProduct")
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prod_id_path = usb_path.joinpath("idProduct")
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mfr_path = usb_path.joinpath("manufacturer")
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prod_path = usb_path.joinpath("product")
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if id_path.is_file() and prod_path.is_file():
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serial_path = usb_path.joinpath("serial")
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usb_info["usb_id"] = ""
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if id_path.is_file() and prod_id_path.is_file():
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vid = id_path.read_text().strip().lower()
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pid = prod_path.read_text().strip().lower()
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pid = prod_id_path.read_text().strip().lower()
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usb_info["usb_id"] = f"{vid}:{pid}"
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usb_info["manufacturer"] = "unknown"
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usb_info["product"] = "unknown"
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usb_info["serial_number"] = ""
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if mfr_path.is_file():
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usb_info["manufacturer"] = mfr_path.read_text().strip().lower()
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if prod_path.is_file():
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usb_info["product"] = prod_path.read_text().strip().lower()
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if serial_path.is_file():
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usb_info["serial_number"] = serial_path.read_text().strip().lower()
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return usb_info
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def get_usb_path(device: pathlib.Path) -> Optional[pathlib.Path]:
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@ -136,6 +142,72 @@ def get_stable_usb_symlink(device: pathlib.Path) -> pathlib.Path:
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pass
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return device_path
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# Python Port of fasthash6
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# Host URL: http://github.com/ztanml/fast-hash
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# Original Copyright:
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# Copyright (C) 2012 Zilong Tan (eric.zltan@gmail.com)
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#
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# MIT License
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#
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# Permission is hereby granted, free of charge, to any person
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# obtaining a copy of this software and associated documentation
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# files (the "Software"), to deal in the Software without
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# restriction, including without limitation the rights to use, copy,
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# modify, merge, publish, distribute, sublicense, and/or sell copies
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# of the Software, and to permit persons to whom the Software is
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# furnished to do so, subject to the following conditions:
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#
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# The above copyright notice and this permission notice shall be
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# included in all copies or substantial portions of the Software.
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#
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
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# BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
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# ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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# CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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# SOFTWARE.
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MASK_64 = 0xFFFFFFFFFFFFFFFF
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def mix(val: int) -> int:
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val ^= val >> 23
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val = (val * 0x2127599bf4325c37) & MASK_64
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val ^= val >> 47
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return val
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def fasthash64(buffer: bytes, seed: int) -> int:
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m = 0x880355f21e6d1965
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h = seed ^ ((len(buffer) * m) & MASK_64)
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long_count = len(buffer) // 8
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remaining: bytes = buffer
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if long_count:
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byte_count = long_count * 8
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buf = struct.unpack(f"<{long_count}Q", buffer[:byte_count])
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for v in buf:
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h ^= mix(v)
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h = (h * m) & MASK_64
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remaining = buffer[byte_count:]
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if remaining:
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v = 0
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print(remaining)
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for i in range(len(remaining), 0, -1):
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v ^= remaining[i -1] << (8 * (i - 1))
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h ^= mix(v)
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h = (h * m) & MASK_64
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return mix(h)
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def convert_usbsn_to_uuid(serial_number: str) -> int:
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seed = 0xA16231A7
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chip_id = bytes.fromhex(serial_number)
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result = fasthash64(chip_id, seed)
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swapped = 0
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# The UUID returned by Klipper firmware is byteswapped
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for i in range(6):
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swapped |= ((result >> (i * 8)) & 0xFF) << ((5 - i) * 8)
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return swapped
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class CanFlasher:
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def __init__(
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self,
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@ -475,6 +547,14 @@ class BaseSocket:
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def is_query(self) -> bool:
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return self._args.query
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@property
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def is_usb_can_bridge(self) -> bool:
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return False
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@property
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def usb_serial_path(self) -> pathlib.Path:
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raise NotImplementedError()
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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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@ -490,6 +570,8 @@ class CanSocket(BaseSocket):
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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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self._can_bridge_path: pathlib.Path | None = None
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self._can_bridge_serial_path: pathlib.Path | None = None
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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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@ -498,6 +580,7 @@ class CanSocket(BaseSocket):
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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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self._search_canbus_bridge()
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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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@ -512,6 +595,26 @@ class CanSocket(BaseSocket):
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self.output_busy = False
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self.closed = True
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@property
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def is_usb_can_bridge(self) -> bool:
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return self._can_bridge_path is not None
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@property
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def usb_serial_path(self) -> pathlib.Path:
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if self._can_bridge_serial_path is not None:
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return self._can_bridge_serial_path
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# find tty path
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assert self._can_bridge_path is not None
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dir_name = self._can_bridge_path.name
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ttys = list(self._can_bridge_path.glob(f"{dir_name}:*/tty/tty*"))
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if not ttys:
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raise FlashError("Failed to locate serial tty path")
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tty_path = pathlib.Path("/dev").joinpath(ttys[0].name)
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if not tty_path.exists():
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raise FlashError("Detected tty path does not exist")
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self._can_bridge_serial_path = tty_path
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return tty_path
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def _handle_can_response(self) -> None:
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try:
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data = self.cansock.recv(4096)
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@ -630,6 +733,54 @@ class CanSocket(BaseSocket):
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self.nodes[decoded_id + 1] = node
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return node
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def _search_canbus_bridge(self) -> None:
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can_intf = self._can_interface.lower()
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sysfs_usb_path = pathlib.Path("/sys/bus/usb/devices")
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if not sysfs_usb_path.is_dir():
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return
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for item in sysfs_usb_path.iterdir():
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if not item.joinpath("bDeviceClass").is_file():
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continue
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usb_info = get_usb_info(item)
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if (
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usb_info["usb_id"] != GS_CAN_USB_ID or
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usb_info["manufacturer"] != "klipper"
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):
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continue
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if not list(item.glob(f"{item.name}:*/net/{can_intf}")):
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continue
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# Klipper GS USB Device matches
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serial_no = usb_info["serial_number"]
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logging.info(
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f"Found Klipper USB-CAN bridge on {can_intf}, serial {serial_no}"
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)
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if serial_no:
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det_uuid = convert_usbsn_to_uuid(serial_no)
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logging.info(
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f"Detected UUID: {det_uuid:x}, provided UUID: {self._uuid:x}"
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)
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if det_uuid == self._uuid:
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self._can_bridge_path = item
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output_line(f"Canbus Bridge detected at {item}")
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break
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async def _wait_canbridge_reset(self) -> None:
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if self._can_bridge_path is None:
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return
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output("Waiting for USB Reconnect.")
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for _ in range(8):
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await asyncio.sleep(.5)
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output(".")
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usb_info = get_usb_info(self._can_bridge_path)
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mfr = usb_info.get("manufacturer")
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if mfr == "katapult":
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await asyncio.sleep(.5)
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serial_path = self.usb_serial_path
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output_line(f"Katapult detected at serial port {serial_path}")
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break
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else:
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output_line("timed out")
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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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@ -642,7 +793,11 @@ class CanSocket(BaseSocket):
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self.cansock.fileno(), self._handle_can_response)
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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_usb_can_bridge:
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await self._wait_canbridge_reset()
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return
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else:
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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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@ -701,6 +856,10 @@ class SerialSocket(BaseSocket):
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def is_query(self) -> bool:
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return False
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@property
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def usb_serial_path(self) -> pathlib.Path:
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return pathlib.Path(self._device)
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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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@ -899,6 +1058,11 @@ async def main(args: argparse.Namespace) -> int:
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else:
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sock = SerialSocket(args)
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await sock.run()
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if sock.is_usb_can_bridge and not sock.is_bootloader_req:
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args.device = str(sock.usb_serial_path)
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sock.close()
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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 Tool Error")
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return 1
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