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manageFWrobot.py
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#!/usr/bin/env python3
# Copyright (C) 2018 iCub Facility - Istituto Italiano di Tecnologia
# Author: Marco Accame
# email: [email protected]
# website: www.robotcub.org
# Permission is granted to copy, distribute, and/or modify this program
# under the terms of the GNU General Public License, version 2 or any
# later version published by the Free Software Foundation.
#
# A copy of the license can be found at
# http://www.robotcub.org/icub/license/gpl.txt
#
# This program is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
# Public License for more details
# description:
# this script is a front-end for the FirmwareUpdater program in non GUI mode. it performs automatic firmware programs on robots.
import os
import sys
pyprefix = 'PY: '
debugprefix = ' [debug] '
errorprefix = ' [error] '
# it retrieves properties of a given board
def get_board_properties(boardroot, brdtype):
prop = {}
for p in boardroot.findall('board'):
if brdtype == p.get('type'):
prop = p
return prop
# end of: def
def get_string_of_fulldescriptionofboard(brd):
sss = 'board = ' + brd.get('type') + ', name = ' + brd.get('name')
if None != brd.find('version'):
if brd.get('required', '') == 'version':
version = ', required firmware version = '
else:
version = ', firmware version = '
targetversion = brd.find('version').attrib
tmajor = targetversion.get('major', '0')
tminor = targetversion.get('minor', '0')
tbuild = targetversion.get('build', '0')
sss = sss + version + tmajor + '.' + tminor + '.' + tbuild
sss = sss + ', device = ' + brd.find('ondevice').text + ', address = ' + from_board_to_stringofaddress(brd)
return sss
# end of: def
def eval_equal_or_zero(target, value):
if target == '0':
return True
elif target == value:
return True
else:
return False
# end of: def
# it retrieves properties of a given board
def get_board_properties2(boardroot, brd):
prop = {}
targetbrdtype = brd.get('type')
findAlsoByVersion = False
major = 0
minor = 0
build = 0
if brd.get('required', '') == 'version':
findAlsoByVersion = True
if None == brd.find('version'):
print (pyprefix + errorprefix + 'syntax error in the xml robot network: cannot find tag <version> as indicated by <board type= .... required="version">' )
print (pyprefix + errorprefix + 'i will not consider this board. please rewrite the xml file.')
return prop
targetversion = brd.find('version').attrib
tmajor = targetversion.get('major', '0')
tminor = targetversion.get('minor', '0')
tbuild = targetversion.get('build', '0')
elif brd.get('required', '') != '':
print (pyprefix + errorprefix + 'syntax error in the xml robot network: <board type= .... required="' + brd.get('required') +'"> is not allowed. if required is present, it can be only: ="version"')
print (pyprefix + errorprefix + 'i will not consider this board. please rewrite the xml file.')
return prop
for p in boardroot.findall('board'):
if targetbrdtype == p.get('type'):
if findAlsoByVersion == False:
prop = p
break
else:
# must match also the major.mino.build etc.
fw = p.find('firmware')
ma = fw.find('version').get('major', '0')
mi = fw.find('version').get('minor', '0')
bu = fw.find('version').get('build', '0')
if (True == eval_equal_or_zero(tmajor, ma)) and (True == eval_equal_or_zero(tminor, mi)) and (True == eval_equal_or_zero(tbuild, bu)):
prop = p
break
return prop
# end of: def
# it retrieves the address of a board in string form
def from_board_to_stringofaddress(brd):
adr = brd.find('ataddress').attrib
ss = adr.get('ip', '0') + ':CAN' + adr.get('canbus', '0') + ':' + adr.get('canadr', '0')
return ss
# end of: def
# it retrieves the ip address of a board in string form
def from_board_to_stringofIPaddress(brd):
adr = brd.find('ataddress').attrib
ss = adr.get('ip', '0')
return ss
# end of: def
# it retrieves the address of a board in string form
def from_board_to_stringofrequiredversion(brd):
sss = ''
if brd.get('required') != 'version':
return sss
ver = brd.find('version').attrib
sss = ver.get('major', '0') + '.' + ver.get('minor', '0') + '.' + ver.get('build', '0')
return sss
# end of: def
# it retrieves the firmware version of a board in string form
def from_firmware_to_stringofversion(fw):
ss = fw.find('version').get('major', '0') + '.' + fw.find('version').get('minor', '0') + '.' + fw.find('version').get('build', '0')
return ss
# end of: def
# it retrieves the firmware version of a board in string form for ETH boards
def from_firmware_to_stringofversionETH(fw):
ss = fw.find('version').get('major', '0') + '.' + fw.find('version').get('minor', '0')
return ss
# end of: def
# FirmwareUpdater --nogui --force-eth-maintenance --device ETH --id eth1 --eth_board $ipaddress --verbosity $verbosity
# FirmwareUpdater --nogui --force-eth-application --device ETH --id eth1 --eth_board $ipaddress --verbosity $verbosity
# FirmwareUpdater --nogui --program --device ETH --id eth1 --eth_board $ipaddress --file ${mapofboards[$boardtag]} --verbosity $verbosity
# FirmwareUpdater --nogui --program --device ETH --id eth1 --eth_board $ipaddress --can_line $canline --can_id $canid --file ${mapofboards[$boardtag]} --verbosity $verbosity
# it send eth board in maintenance by calling the external program
def eth_force_maintenance(brd, prp):
r = 1
adr = brd.find('ataddress').attrib
fw = prp.find('firmware')
command = 'FirmwareUpdater --nogui --force-eth-maintenance --device ' + brd.find('ondevice').text + ' --id eth1 --eth_board ' + adr.get('ip') + ' --verbosity ' + str(_verbosityFU)
if _verbose > 1:
print (pyprefix + debugprefix + 'eth_force_maintenance(): sending eth board in maintenance mode w/ command:')
print (pyprefix + debugprefix+ command)
if 1 == _debugmode:
r = 0
else:
r = os.system(command)
r = r / 256
if 0 != r:
print (pyprefix + errorprefix + 'eth_force_maintenance(): FAILURE sending in maintenance mode eth board @ ' + adr.get('ip'))
return r
return r
# end of: def eth_force_maintenance():
# it send eth board in application by calling the external program
def eth_force_application(brd, prp):
r = 1
adr = brd.find('ataddress').attrib
fw = prp.find('firmware')
command = 'FirmwareUpdater --nogui --force-eth-application --device ' + brd.find('ondevice').text + ' --id eth1 --eth_board ' + adr.get('ip') + ' --verbosity ' + str(_verbosityFU)
if _verbose > 1:
print (pyprefix + debugprefix + 'eth_force_application(): sending eth board in application mode w/ command:')
print (pyprefix + debugprefix + command)
if 1 == _debugmode:
r = 0
else:
r = os.system(command)
r = r / 256
if 0 != r:
print (pyprefix + errorprefix + 'eth_force_application(): FAILURE sending in application mode eth board @ ' + adr.get('ip'))
return r
return r
# end of: def eth_force_application():
# it decides if to go to maintenance (only eth, eth:can)
def goto_maintenance(brd, prp):
r = 1
ondevice = brd.find('ondevice').text
adr = brd.find('ataddress').attrib
if 'ETH' == ondevice:
if 0 == adr.get('canbus', 0):
r = eth_force_maintenance(brd, prp)
elif 0 != adr.get('canadr', 0):
r = eth_force_maintenance(brd, prp)
else:
print (pyprefix + errorprefix + 'goto_maintenance(): FAILURE the device ' + ondevice + ' with CAN' + adr.get('canbus', '0') + ':' + adr.get('canadr', '0') + ' is unsupported')
r = 1
elif 'CFW' == ondevice:
print (pyprefix + ' [info]: boards on device ' + ondevice + ' dont need to be forced in maintenance mode!' )
r = 0
else:
print (pyprefix + errorprefix + 'goto_maintenance(): FAILURE the device ' + ondevice + ' is unsupported')
r = 1
return r
# end of: def
# it decides if to go to application (only eth, eth:can)
def goto_application(brd, prp):
ondevice = brd.find('ondevice').text
adr = brd.find('ataddress').attrib
if 'ETH' == ondevice:
if 0 == adr.get('canbus', 0):
r = eth_force_application(brd, prp)
elif 0 != adr.get('canadr', 0):
r = eth_force_application(brd, prp)
else:
print (pyprefix + errorprefix + 'goto_application(): FAILURE the device ' + ondevice + ' with CAN' + adr.get('canbus', '0') + ':' + adr.get('canadr', '0') + ' is unsupported')
r = 1
elif 'CFW' == ondevice:
print (pyprefix + ' [info]: boards on device ' + ondevice + ' dont need to be forced in application mode!' )
r = 0
else:
print (pyprefix + errorprefix + 'goto_application(): FAILURE the device ' + ondevice + ' is unsupported')
r = 1
return r
# end of: def
# it performs fw verify of cfw device
def do_firmware_verify_cfw(brd, prp):
r = 2
adr = brd.find('ataddress').attrib
fw = prp.find('firmware')
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_verify_cfw(): performing fw verify on board @ ' + adr.get('ip', '0') + ':CAN' + adr.get('canbus', '0') + ':' + adr.get('canadr', '0'))
stringOfCANfwversion = from_firmware_to_stringofversion(fw)
tmp1 = 'FirmwareUpdater --nogui --verify ' + stringOfCANfwversion + ' --device CFW2 --id ' + adr.get('canbus', '0')
tmp2 = ' --can_line ' + adr.get('canbus', '0') + ' --can_id ' + adr.get('canadr', '0') + ' --verbosity ' + str(_verbosityFU)
command = tmp1 + tmp2
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_verify_cfw(): verifying can firmware w/ command:')
print (pyprefix + debugprefix + command )
if 1 == _debugmode:
r = 0
else:
r = os.system(command)
r = r / 256
if 0 == r:
r = 0
elif 1 == r:
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_verify_cfw(): TODO update FW of can board @ ' + adr.get('ip', '0') + ':CAN' + adr.get('canbus', '0') + ':' + adr.get('canadr', '0'))
return r
else:
print (pyprefix + errorprefix + 'do_firmware_verify_cfw(): ERROR cannot find can board @ ' + adr.get('ip', '0') + ':CAN' + adr.get('canbus', '0') + ':' + adr.get('canadr', '0'))
return r
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_verify_cfw(): FW is OK!')
return r
# end of: def
# it performs fw verify of can over eth device
def do_firmware_verify_canovereth(brd, prp):
r = 2
adr = brd.find('ataddress').attrib
fw = prp.find('firmware')
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_verify_canovereth(): performing fw verify on board @ ' + adr.get('ip', '0') + ':CAN' + adr.get('canbus', '0') + ':' + adr.get('canadr', '0'))
r = eth_force_maintenance(brd, prp)
if 0 != r:
print (pyprefix + errorprefix + 'do_firmware_verify_canovereth(): FAILURE sending in maintenance mode eth board @ ' + adr.get('ip', '0'))
return r
stringOfCANfwversion = from_firmware_to_stringofversion(fw)
tmp1 = 'FirmwareUpdater --nogui --verify ' + stringOfCANfwversion + ' --device ' + brd.find('ondevice').text + ' --id eth1 --eth_board ' + adr.get('ip')
tmp2 = ' --can_line ' + adr.get('canbus', '0') + ' --can_id ' + adr.get('canadr', '0') + ' --verbosity ' + str(_verbosityFU)
command = tmp1 + tmp2
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_verify_canovereth(): verifying can firmware w/ command:')
print (pyprefix + debugprefix + command )
if 1 == _debugmode:
r = 0
else:
r = os.system(command)
r = r / 256
if 0 == r:
r = 0
elif 1 == r:
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_verify_canovereth(): TODO update FW of can board @ ' + adr.get('ip', '0') + ':CAN' + adr.get('canbus', '0') + ':' + adr.get('canadr', '0'))
return r
else:
print (pyprefix + errorprefix + 'do_firmware_verify_canovereth(): ERROR cannot find can board @ ' + adr.get('ip', '0') + ':CAN' + adr.get('canbus', '0') + ':' + adr.get('canadr', '0'))
return r
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_verify_canovereth(): FW is OK!')
return r
# end of: def
# it performs firmware verify by calling the external program
def do_firmware_verify_eth(brd, prp):
r = 2
adr = brd.find('ataddress').attrib
fw = prp.find('firmware')
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_verify_eth(): performing fw verify on board @ ' + adr.get('ip', '0') + ':CAN' + adr.get('canbus', '0') + ':' + adr.get('canadr', '0'))
# r = eth_force_maintenance(brd, prp)
#
# if 0 != r:
# print (pyprefix + errorprefix + 'do_firmware_verify_eth(): FAILURE sending in maintenance mode eth board @ ' + adr.get('ip', '0'))
# return r
stringOfETHfwversion = from_firmware_to_stringofversionETH(fw)
command = 'FirmwareUpdater --nogui --verify ' + stringOfETHfwversion + ' --device ' + brd.find('ondevice').text + ' --id eth1 --eth_board ' + adr.get('ip', '0') + ' --verbosity ' + str(_verbosityFU)
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_verify_eth(): verifying eth firmware w/ command:' )
print (pyprefix + debugprefix + command )
if 1 == _debugmode:
r = 0
else:
r = os.system(command)
r = r / 256
if 0 == r:
r = 0
elif 1 == r:
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_verify_eth(): TODO update FW of eth board @ ' + adr.get('ip', '0'))
return r
else:
print (pyprefix + errorprefix + 'do_firmware_verify_eth(): ERROR cannot find eth board @ ' + adr.get('ip', '0'))
return r
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_verify_eth(): FW is the latest one!')
return r
# end of: def
# it selects what kind of fw verify to do: eth, eth:can, cfw
def do_firmware_verify(brd, prp):
r = 2
ondevice = brd.find('ondevice').text
adr = brd.find('ataddress').attrib
if 'ETH' == ondevice:
if 0 == adr.get('canbus', 0):
r = do_firmware_verify_eth(brd, prp)
elif 0 != adr.get('canadr', 0):
r = do_firmware_verify_canovereth(brd, prp)
else:
print (pyprefix + errorprefix + 'do_firmware_verify(): FAILURE the device ' + ondevice + ' with CAN' + adr.get('canbus', '0') + ':' + adr.get('canadr', '0') + ' is unsupported')
r = 2
elif 'CFW' == ondevice:
r = do_firmware_verify_cfw(brd, prp)
else:
print (pyprefix + errorprefix + 'do_firmware_verify(): FAILURE the device ' + ondevice + ' is unsupported')
r = 2
return r
# end of: def
# it performs fw query of cfw device
def do_firmware_query_cfw(brd, prp):
r = 2
adr = brd.find('ataddress').attrib
fw = prp.find('firmware')
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_query_cfw(): performing query on board @ ' + adr.get('ip', '0') + ':CAN' + adr.get('canbus', '0') + ':' + adr.get('canadr', '0'))
stringOfCANfwversion = from_firmware_to_stringofversion(fw)
tmp1 = 'FirmwareUpdater --nogui --query' + ' --device CFW2 --id ' + adr.get('canbus', '0')
tmp2 = ' --can_line ' + adr.get('canbus', '0') + ' --can_id ' + adr.get('canadr', '0') + ' --verbosity ' + str(_verbosityFU)
command = tmp1 + tmp2
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_query_cfw(): querying can board type + firmware w/ command:')
print (pyprefix + debugprefix + command )
if 1 == _debugmode:
r = 0
else:
r = os.system(command)
r = r / 256
if 0 == r:
r = 0
else:
print (pyprefix + errorprefix + 'do_firmware_query_cfw(): ERROR cannot find can board @ ' + adr.get('ip', '0') + ':CAN' + adr.get('canbus', '0') + ':' + adr.get('canadr', '0'))
return r
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_query_cfw(): board is found!')
return r
# end of: def
# it performs fw query of can over eth device
def do_firmware_query_canovereth(brd, prp):
r = 2
adr = brd.find('ataddress').attrib
fw = prp.find('firmware')
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_query_canovereth(): performing query on board @ ' + adr.get('ip', '0') + ':CAN' + adr.get('canbus', '0') + ':' + adr.get('canadr', '0'))
r = eth_force_maintenance(brd, prp)
if 0 != r:
print (pyprefix + errorprefix + 'do_firmware_query_canovereth(): FAILURE sending in maintenance mode eth board @ ' + adr.get('ip', '0'))
return r
#stringOfCANfwversion = from_firmware_to_stringofversion(fw)
tmp1 = 'FirmwareUpdater --nogui --query' + ' --device ' + brd.find('ondevice').text + ' --id eth1 --eth_board ' + adr.get('ip')
tmp2 = ' --can_line ' + adr.get('canbus', '0') + ' --can_id ' + adr.get('canadr', '0') + ' --verbosity ' + str(_verbosityFU)
command = tmp1 + tmp2
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_query_canovereth(): querying can board + firmware w/ command:')
print (pyprefix + debugprefix + command )
if 1 == _debugmode:
r = 0
else:
r = os.system(command)
r = r / 256
if 0 == r:
r = 0
else:
print (pyprefix + errorprefix + 'do_firmware_query_canovereth(): ERROR cannot find can board @ ' + adr.get('ip', '0') + ':CAN' + adr.get('canbus', '0') + ':' + adr.get('canadr', '0'))
return r
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_query_canovereth(): FW is OK!')
return r
# end of: def
# it performs firmware query by calling the external program
def do_firmware_query_eth(brd, prp):
r = 2
adr = brd.find('ataddress').attrib
fw = prp.find('firmware')
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_query_eth(): performing fw query on board @ ' + adr.get('ip', '0') + ':CAN' + adr.get('canbus', '0') + ':' + adr.get('canadr', '0'))
# r = eth_force_maintenance(brd, prp)
#
# if 0 != r:
# print (pyprefix + errorprefix + 'do_firmware_query_eth(): FAILURE sending in maintenance mode eth board @ ' + adr.get('ip', '0'))
# return r
# stringOfETHfwversion = from_firmware_to_stringofversionETH(fw)
command = 'FirmwareUpdater --nogui --query' + ' --device ' + brd.find('ondevice').text + ' --id eth1 --eth_board ' + adr.get('ip', '0') + ' --verbosity ' + str(_verbosityFU)
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_query_eth(): querying eth board + firmware w/ command:' )
print (pyprefix + debugprefix + command )
if 1 == _debugmode:
r = 0
else:
r = os.system(command)
r = r / 256
if 0 == r:
r = 0
else:
print (pyprefix + errorprefix + 'do_firmware_query_eth(): ERROR cannot find eth board @ ' + adr.get('ip', '0'))
return r
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_query_eth(): board found!')
return r
# end of: def
# it selects what kind of fw query to do: eth, eth:can, cfw
def do_firmware_query(brd, prp):
r = 2
ondevice = brd.find('ondevice').text
adr = brd.find('ataddress').attrib
if 'ETH' == ondevice:
if 0 == adr.get('canbus', 0):
r = do_firmware_query_eth(brd, prp)
elif 0 != adr.get('canadr', 0):
r = do_firmware_query_canovereth(brd, prp)
else:
print (pyprefix + errorprefix + 'do_firmware_query(): FAILURE the device ' + ondevice + ' with CAN' + adr.get('canbus', '0') + ':' + adr.get('canadr', '0') + ' is unsupported')
r = 2
elif 'CFW' == ondevice:
r = do_firmware_query_cfw(brd, prp)
else:
print (pyprefix + errorprefix + 'do_firmware_query(): FAILURE the device ' + ondevice + ' is unsupported')
r = 2
return r
# end of: def
# it tells how long it takes to perform fw program
def getTimeOfFirmwareUpdate(brdtype):
r = 666
if brdtype == 'ems4':
r = 15
elif brdtype == 'mc4plus':
r = 15
elif brdtype == 'mc2plus':
r = 15
elif brdtype == 'foc':
r = 105
elif brdtype == 'foc-special':
r = 105
elif brdtype == 'mtb':
r = 105
elif brdtype == 'mtb4':
r = 280
elif brdtype == 'mtb4c':
r = 280
elif brdtype == 'mais':
r = 50
elif brdtype == 'strain':
r = 70
elif brdtype == 'strain2':
r = 280
elif brdtype == 'strain2c':
r = 280
elif brdtype == 'rfe':
r = 280
elif brdtype == 'mc4':
r = 66
elif brdtype == 'bll':
r = 66
elif brdtype == 'dsp':
r = 66
elif brdtype == 'amc':
r = 30
elif brdtype == 'amc2c':
r = 30
elif brdtype == 'amcbldc':
r = 280
else:
r = 666
return r
# end of: def
# it selects what kind of fw program to do: eth, eth:can, cfw
def do_firmware_program(brd, prp):
r = 1
ondevice = brd.find('ondevice').text
adr = brd.find('ataddress').attrib
if 'ETH' == ondevice:
if 0 == adr.get('canbus', 0):
r = do_firmware_program_eth(brd, prp)
elif 0 != adr.get('canadr', 0):
r = do_firmware_program_canovereth(brd, prp)
else:
print (pyprefix + errorprefix + 'do_firmware_program(): FAILURE the device ' + ondevice + ' with CAN' + adr.get('canbus', '0') + ':' + adr.get('canadr', '0') + ' is unsupported')
r = 1
elif 'CFW' == ondevice:
r = do_firmware_program_cfw(brd, prp)
else:
print (pyprefix + errorprefix + 'do_firmware_program(): FAILURE the device ' + ondevice + ' is unsupported')
r = 1
return r
# end of: def
# it performs fw program of cfw device
def do_firmware_program_cfw(brd, prp):
r = 1
adr = brd.find('ataddress').attrib
fw = prp.find('firmware')
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_program_cfw(): performing fw program on board @ ' + adr.get('ip', '0') + ':CAN' + adr.get('canbus', '0') + ':' + adr.get('canadr', '0'))
tmp1 = 'FirmwareUpdater --nogui --program --device CFW2 --id ' + adr.get('canbus', '0')
tmp2 = ' --can_line ' + adr.get('canbus', '0') + ' --can_id ' + adr.get('canadr', '0') + ' --file ' + fw.find('file').text + ' --verbosity ' + str(_verbosityFU)
command = tmp1 + tmp2
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_program_cfw(): uploading can firmware w/ command:')
print (pyprefix + debugprefix + command )
if _verbose > 0:
boardtype = brd.get('type')
timeofupload = getTimeOfFirmwareUpdate(boardtype)
print (pyprefix + ' - message: please be prepared to wait for some time ... fw program of a ' + boardtype + ' typically lasts ' + str(timeofupload) + ' seconds')
if 1 == _debugmode:
r = 0
else:
r = os.system(command)
r = r / 256
if 0 != r:
print (pyprefix + errorprefix + 'do_firmware_program_cfw(): FAILURE programming can board @ ' + adr.get('ip', '0') + ':CAN' + adr.get('canbus', '0') + ':' + adr.get('canadr', '0'))
return r
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_program_cfw(): done!')
return r
# end of: def
# it performs fw program of can over eth device
def do_firmware_program_canovereth(brd, prp):
r = 1
adr = brd.find('ataddress').attrib
fw = prp.find('firmware')
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_program_canovereth(): performing fw program on board @ ' + adr.get('ip', '0') + ':CAN' + adr.get('canbus', '0') + ':' + adr.get('canadr', '0'))
r = eth_force_maintenance(brd, prp)
if 0 != r:
print (pyprefix + errorprefix + 'do_firmware_program_canovereth(): FAILURE sending in maintenance mode eth board @ ' + adr.get('ip', '0'))
return r
tmp1 = 'FirmwareUpdater --nogui --program --device ' + brd.find('ondevice').text + ' --id eth1 --eth_board ' + adr.get('ip', '0')
tmp2 = ' --can_line ' + adr.get('canbus', '0') + ' --can_id ' + adr.get('canadr', '0') + ' --file ' + fw.find('file').text + ' --verbosity ' + str(_verbosityFU)
command = tmp1 + tmp2
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_program_canovereth(): uploading can firmware w/ command:')
print (pyprefix + debugprefix + command )
if _verbose > 0:
boardtype = brd.get('type')
timeofupload = getTimeOfFirmwareUpdate(boardtype)
print (pyprefix + ' - message: please be prepared to wait for some time ... fw program of a ' + boardtype + ' typically lasts ' + str(timeofupload) + ' seconds')
if 1 == _debugmode:
r = 0
else:
r = os.system(command)
r = r / 256
if 0 != r:
print (pyprefix + errorprefix + 'do_firmware_program_canovereth(): FAILURE programming can board @ ' + adr.get('ip', '0') + ':CAN' + adr.get('canbus', '0') + ':' + adr.get('canadr', '0'))
return r
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_program_canovereth(): done!')
return r
# end of: def
# it performs firmware program by calling the external program
def do_firmware_program_eth(brd, prp):
r = 1
adr = brd.find('ataddress').attrib
fw = prp.find('firmware')
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_program_eth(): performing fw program on board @ ' + adr.get('ip', '0') + ':CAN' + adr.get('canbus', '0') + ':' + adr.get('canadr', '0'))
r = eth_force_maintenance(brd, prp)
if 0 != r:
print (pyprefix + errorprefix + 'do_firmware_program_eth(): FAILURE sending in maintenance mode eth board @ ' + adr.get('ip', '0'))
return r
command = 'FirmwareUpdater --nogui --program --device ' + brd.find('ondevice').text + ' --id eth1 --eth_board ' + adr.get('ip', '0') + ' --file ' + fw.find('file').text + ' --verbosity ' + str(_verbosityFU)
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_program_eth(): uploading eth firmware w/ command:' )
print (pyprefix + debugprefix + command )
if _verbose > 0:
boardtype = brd.get('type')
timeofupload = getTimeOfFirmwareUpdate(boardtype)
print (pyprefix + ' - message: please be prepared to wait for some time ... fw program of a ' + boardtype + ' typically lasts ' + str(timeofupload) + ' seconds')
if 1 == _debugmode:
r = 0
else:
r = os.system(command)
r = r / 256
if 0 != r:
print (pyprefix + errorprefix + 'do_firmware_program_eth(): FAILURE programming eth board @ ' + adr.get('ip', '0'))
return r
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_program_eth(): done!')
return r
# end of: def
#print (pyprefix + 'processing: part = ' + part.get('name') + ', board = ' + brd.get('type') + ', name = ' + brd.get('name') + ', address = ' + from_board_to_stringofaddress(brd))
def get_string_of_firmwareproperties(prp):
fw = prp.find('firmware')
sss = 'required firmware version = ' + from_firmware_to_stringofversion(fw) + ', file location = ' + fw.find('file').text
return sss
# end of: def
# it prints info about a given board as found in firmware xml file
def print_firmware_info(partname, brd, prp):
r = 0
print (pyprefix + ' - [INFO] board = ' + brd.get('type') + ', ' + get_string_of_firmwareproperties(prp))
import os.path
fw = prp.find('firmware')
fname = fw.find('file').text
if False == os.path.exists(fname):
print (pyprefix + ' - [ERROR] file ' + fname + ' does not exist')
return 1
return r
# end of: def
# 0 is ok programmed, 1 is ko programming, 10 is no need to program
# it selects what kind of fw update to do: eth, eth:can, cfw
def do_firmware_update(brd, prp):
r = 1
ondevice = brd.find('ondevice').text
adr = brd.find('ataddress').attrib
if 'ETH' == ondevice:
if 0 == adr.get('canbus', 0):
r = do_firmware_verify_eth(brd, prp)
if 0 == r:
print (pyprefix + ' - message: the board already has the most recent FW.')
r = 10
if _verbose > 1:
adr = brd.find('ataddress').attrib
print (pyprefix + debugprefix + 'do_firmware_update(): no need to program board @ ' + adr.get('ip', '0') )
elif 1 == r:
print (pyprefix + ' - message: the board has an old FW which is going to be updated.')
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_update(): will program board @ ' + adr.get('ip', '0'))
r = do_firmware_program_eth(brd, prp)
else:
print (pyprefix + errorprefix + 'do_firmware_update(): FAILURE because cannot verify board @ ' + adr.get('ip', '0') )
elif 0 != adr.get('canadr', 0):
r = do_firmware_verify_canovereth(brd, prp)
if 0 == r:
print (pyprefix + ' - message: the board already has the most recent FW.')
r = 10
if _verbose > 1:
adr = brd.find('ataddress').attrib
print (pyprefix + debugprefix + 'do_firmware_update(): no need to program board @ ' + adr.get('ip', '0') + ':CAN' + adr.get('canbus', '0') + ':' + adr.get('canadr', '0') )
elif 1 == r:
print (pyprefix + ' - message: the board has an old FW which is going to be updated.')
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_update(): will program board @ ' + adr.get('ip', '0') + ':CAN' + adr.get('canbus', '0') + ':' + adr.get('canadr', '0') )
r = do_firmware_program_canovereth(brd, prp)
else:
print (pyprefix + errorprefix + 'do_firmware_update(): FAILURE because cannot find board @ ' + adr.get('ip', '0') + ':CAN' + adr.get('canbus', '0') + ':' + adr.get('canadr', '0') )
else:
print (pyprefix + errorprefix + 'do_firmware_update(): FAILURE the device ' + ondevice + ' with CAN' + adr.get('canbus', '0') + ':' + adr.get('canadr', '0') + ' is unsupported')
r = 2
elif 'CFW' == ondevice:
r = do_firmware_verify_cfw(brd, prp)
if 0 == r:
print (pyprefix + ' - message: the board already has the most recent FW.')
r = 10
if _verbose > 1:
adr = brd.find('ataddress').attrib
print (pyprefix + debugprefix + 'do_firmware_update(): no need to program board @ ' + adr.get('ip', '0') + ':CAN' + adr.get('canbus', '0') + ':' + adr.get('canadr', '0') )
elif 1 == r:
print (pyprefix + ' - message: the board has an old FW which is going to be updated.')
if _verbose > 1:
print (pyprefix + debugprefix + 'do_firmware_update(): will program board @ ' + adr.get('ip', '0') + ':CAN' + adr.get('canbus', '0') + ':' + adr.get('canadr', '0') )
r = do_firmware_program_cfw(brd, prp)
else:
print (pyprefix + errorprefix + 'do_firmware_update(): FAILURE because cannot find board @ ' + adr.get('ip', '0') + ':CAN' + adr.get('canbus', '0') + ':' + adr.get('canadr', '0') )
else:
print (pyprefix + errorprefix + 'do_firmware_update(): FAILURE the device ' + ondevice + ' is unsupported')
r = 1
return r
# end of: def
# query fw versions of all the boards in the xml file which are inside targetpart and are targetboard
def query(targetpart, targetboard, robotroot, boardroot, verbose):
r = 1
countOfFound = 0
countOfExcluded = 0
countOfFailures = 0
countOfAttempts = 0
if _verbose > 1:
print (pyprefix + '[debug] processing a --query request:')
for part in robotroot.findall('part'):
# print (pyprefix + part.tag, part.attrib)
if ('all' == targetpart) or (targetpart == part.get('name')):
#print (pyprefix + 'processing part = ' + part.get('name'))
for brd in part.findall('board'):
prp = get_board_properties2(boardroot, brd)
if len(prp) == 0:
print (pyprefix + errorprefix + 'cannot find a match for ' + 'following board' + ' in firmware xml file. i continue parsing other boards of network file')
print (pyprefix + errorprefix + 'part = ' + part.get('name') + ', ' + get_string_of_fulldescriptionofboard(brd))
continue
if ('all' == targetboard) or (targetboard == brd.get('type')):
countOfFound = countOfFound + 1
# details = 'part = ' + part.get('name') + ', board = ' + brd.get('type') + ', name = ' + brd.get('name') + ', address = ' + from_board_to_stringofaddress(brd)
details = 'part = ' + part.get('name') + ', ' + get_string_of_fulldescriptionofboard(brd)
if _excludedboard == brd.get('type'):
countOfExcluded = countOfExcluded + 1
if _verbose > 0:
print (pyprefix + '- EXCLUSION #' + str(countOfExcluded))
print (pyprefix + ' - of: ' + details)
else:
countOfAttempts = countOfAttempts + 1
if _verbose > 0:
print (pyprefix + '- OPERATION #' + str(countOfAttempts))
print (pyprefix + ' - type: firmware query')
print (pyprefix + ' - target: ' + details)
print (pyprefix + ' - using: ' + get_string_of_firmwareproperties(prp))
r = do_firmware_query(brd, prp)
if 0 == r:
if _verbose > 0:
print (pyprefix + ' - result: SUCCESS!! found the board')
elif 1 == r:
countOfFailures = countOfFailures + 1
print (pyprefix + ' - result: FAILURE!! the remote board cannot be found')
else:
countOfFailures = countOfFailures + 1
print (pyprefix + ' - result: FAILURE!! unknown return value from FirmwareUpdater =' + r)
# end of: if _excl...
# end of: if targetboard
# end of: for brd
# end of: if targetpart
# end of: for part
if _verbose > 0:
print_result('verify()', countOfFound, countOfExcluded, countOfFailures)
# end of if ...
return
# end of: def verify
# verify fw versions of all the boards in the xml file which are inside targetpart and are targetboard
def verify(targetpart, targetboard, robotroot, boardroot, verbose):
r = 1
countOfFound = 0
countOfExcluded = 0
countOfFailures = 0
countOfAttempts = 0
countOfRequiredUpdates = 0
estimatedTimeForFWprogram = 0
if _verbose > 1:
print (pyprefix + '[debug] processing a --verify request:')
for part in robotroot.findall('part'):
# print (pyprefix + part.tag, part.attrib)
if ('all' == targetpart) or (targetpart == part.get('name')):
#print (pyprefix + 'processing part = ' + part.get('name'))
for brd in part.findall('board'):
prp = get_board_properties2(boardroot, brd)
if len(prp) == 0:
print (pyprefix + errorprefix + 'cannot find a match for ' + 'following board' + ' in firmware xml file. i continue parsing other boards of network file')
print (pyprefix + errorprefix + 'part = ' + part.get('name') + ', ' + get_string_of_fulldescriptionofboard(brd))
continue
if ('all' == targetboard) or (targetboard == brd.get('type')):
countOfFound = countOfFound + 1
# details = 'part = ' + part.get('name') + ', board = ' + brd.get('type') + ', name = ' + brd.get('name') + ', address = ' + from_board_to_stringofaddress(brd)
details = 'part = ' + part.get('name') + ', ' + get_string_of_fulldescriptionofboard(brd)
if _excludedboard == brd.get('type'):
countOfExcluded = countOfExcluded + 1
if _verbose > 0:
print (pyprefix + '- EXCLUSION #' + str(countOfExcluded))
print (pyprefix + ' - of: ' + details)
else: