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#!/usr/bin/env python2
# Script to implement a test console with firmware over serial port
#
# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import sys, optparse, os, re, logging
import reactor, serialhdl, pins, util, msgproto, clocksync
help_txt = """
This is a debugging console for the Klipper micro-controller.
In addition to mcu commands, the following artificial commands are
available:
PINS : Load pin name aliases (eg, "PINS arduino")
DELAY : Send a command at a clock time (eg, "DELAY 9999 get_uptime")
FLOOD : Send a command many times (eg, "FLOOD 22 .01 get_uptime")
SUPPRESS : Suppress a response message (eg, "SUPPRESS analog_in_state 4")
SET : Create a local variable (eg, "SET myvar 123.4")
STATS : Report serial statistics
LIST : List available mcu commands, local commands, and local variables
HELP : Show this text
All commands also support evaluation by enclosing an expression in { }.
For example, "reset_step_clock oid=4 clock={clock + freq}". In addition
to user defined variables (via the SET command) the following builtin
variables may be used in expressions:
clock : The current mcu clock time (as estimated by the host)
freq : The mcu clock frequency
"""
re_eval = re.compile(r'\{(?P<eval>[^}]*)\}')
class KeyboardReader:
def __init__(self, ser, reactor):
self.ser = ser
self.reactor = reactor
self.start_time = reactor.monotonic()
self.clocksync = clocksync.ClockSync(self.reactor)
self.fd = sys.stdin.fileno()
util.set_nonblock(self.fd)
self.mcu_freq = 0
self.pins = pins.PinResolver(validate_aliases=False)
self.data = ""
reactor.register_fd(self.fd, self.process_kbd)
reactor.register_callback(self.connect)
self.local_commands = {
"PINS": self.command_PINS, "SET": self.command_SET,
"DELAY": self.command_DELAY, "FLOOD": self.command_FLOOD,
"SUPPRESS": self.command_SUPPRESS, "STATS": self.command_STATS,
"LIST": self.command_LIST, "HELP": self.command_HELP,
}
self.eval_globals = {}
def connect(self, eventtime):
self.output(help_txt)
self.output("="*20 + " attempting to connect " + "="*20)
self.ser.connect()
msgparser = self.ser.get_msgparser()
self.output("Loaded %d commands (%s / %s)" % (
len(msgparser.messages_by_id),
msgparser.version, msgparser.build_versions))
self.output("MCU config: %s" % (" ".join(
["%s=%s" % (k, v) for k, v in msgparser.config.items()])))
self.clocksync.connect(self.ser)
self.ser.handle_default = self.handle_default
self.ser.register_response(self.handle_output, '#output')
self.mcu_freq = msgparser.get_constant_float('CLOCK_FREQ')
self.output("="*20 + " connected " + "="*20)
return self.reactor.NEVER
def output(self, msg):
sys.stdout.write("%s\n" % (msg,))
sys.stdout.flush()
def handle_default(self, params):
tdiff = params['#receive_time'] - self.start_time
msg = self.ser.get_msgparser().format_params(params)
self.output("%07.3f: %s" % (tdiff, msg))
def handle_output(self, params):
tdiff = params['#receive_time'] - self.start_time
self.output("%07.3f: %s: %s" % (tdiff, params['#name'], params['#msg']))
def handle_suppress(self, params):
pass
def update_evals(self, eventtime):
self.eval_globals['freq'] = self.mcu_freq
self.eval_globals['clock'] = self.clocksync.get_clock(eventtime)
def command_PINS(self, parts):
mcu_type = self.ser.get_msgparser().get_constant('MCU')
self.pins.add_pin_mapping(mcu_type, parts[1])
def command_SET(self, parts):
val = parts[2]
try:
val = float(val)
except ValueError:
pass
self.eval_globals[parts[1]] = val
def command_DELAY(self, parts):
try:
val = int(parts[1])
except ValueError as e:
self.output("Error: %s" % (str(e),))
return
try:
self.ser.send(' '.join(parts[2:]), minclock=val)
except msgproto.error as e:
self.output("Error: %s" % (str(e),))
return
def command_FLOOD(self, parts):
try:
count = int(parts[1])
delay = float(parts[2])
except ValueError as e:
self.output("Error: %s" % (str(e),))
return
msg = ' '.join(parts[3:])
delay_clock = int(delay * self.mcu_freq)
msg_clock = int(self.clocksync.get_clock(self.reactor.monotonic())
+ self.mcu_freq * .200)
try:
for i in range(count):
next_clock = msg_clock + delay_clock
self.ser.send(msg, minclock=msg_clock, reqclock=next_clock)
msg_clock = next_clock
except msgproto.error as e:
self.output("Error: %s" % (str(e),))
return
def command_SUPPRESS(self, parts):
oid = None
try:
name = parts[1]
if len(parts) > 2:
oid = int(parts[2])
except ValueError as e:
self.output("Error: %s" % (str(e),))
return
self.ser.register_response(self.handle_suppress, name, oid)
def command_STATS(self, parts):
curtime = self.reactor.monotonic()
self.output(' '.join([self.ser.stats(curtime),
self.clocksync.stats(curtime)]))
def command_LIST(self, parts):
self.update_evals(self.reactor.monotonic())
mp = self.ser.get_msgparser()
out = "Available mcu commands:"
out += "\n ".join([""] + sorted([
mp.messages_by_id[i].msgformat for i in mp.command_ids]))
out += "\nAvailable artificial commands:"
out += "\n ".join([""] + [n for n in sorted(self.local_commands)])
out += "\nAvailable local variables:"
lvars = sorted(self.eval_globals.items())
out += "\n ".join([""] + ["%s: %s" % (k, v) for k, v in lvars])
self.output(out)
def command_HELP(self, parts):
self.output(help_txt)
def translate(self, line, eventtime):
evalparts = re_eval.split(line)
if len(evalparts) > 1:
self.update_evals(eventtime)
try:
for i in range(1, len(evalparts), 2):
e = eval(evalparts[i], dict(self.eval_globals))
if type(e) == type(0.):
e = int(e)
evalparts[i] = str(e)
except:
self.output("Unable to evaluate: %s" % (line,))
return None
line = ''.join(evalparts)
self.output("Eval: %s" % (line,))
try:
line = self.pins.update_command(line).strip()
except:
self.output("Unable to map pin: %s" % (line,))
return None
if line:
parts = line.split()
if parts[0] in self.local_commands:
self.local_commands[parts[0]](parts)
return None
return line
def process_kbd(self, eventtime):
self.data += os.read(self.fd, 4096)
kbdlines = self.data.split('\n')
for line in kbdlines[:-1]:
line = line.strip()
cpos = line.find('#')
if cpos >= 0:
line = line[:cpos]
if not line:
continue
msg = self.translate(line.strip(), eventtime)
if msg is None:
continue
try:
self.ser.send(msg)
except msgproto.error as e:
self.output("Error: %s" % (str(e),))
self.data = kbdlines[-1]
def main():
usage = "%prog [options] <serialdevice> <baud>"
opts = optparse.OptionParser(usage)
options, args = opts.parse_args()
serialport, baud = args
baud = int(baud)
logging.basicConfig(level=logging.DEBUG)
r = reactor.Reactor()
ser = serialhdl.SerialReader(r, serialport, baud)
kbd = KeyboardReader(ser, r)
try:
r.run()
except KeyboardInterrupt:
sys.stdout.write("\n")
if __name__ == '__main__':
main()
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