circuitpython/tools/pyboard.py

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#!/usr/bin/env python3
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#
# This file is part of the MicroPython project, http://micropython.org/
#
# The MIT License (MIT)
#
# Copyright (c) 2014-2021 Damien P. George
# Copyright (c) 2017 Paul Sokolovsky
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#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
# THE SOFTWARE.
"""
pyboard interface
This module provides the Pyboard class, used to communicate with and
control a MicroPython device over a communication channel. Both real
boards and emulated devices (e.g. running in QEMU) are supported.
Various communication channels are supported, including a serial
connection, telnet-style network connection, external process
connection.
Example usage:
import pyboard
pyb = pyboard.Pyboard('/dev/ttyACM0')
Or:
pyb = pyboard.Pyboard('192.168.1.1')
Then:
pyb.enter_raw_repl()
pyb.exec('import pyb')
pyb.exec('pyb.LED(1).on()')
pyb.exit_raw_repl()
Note: if using Python2 then pyb.exec must be written as pyb.exec_.
To run a script from the local machine on the board and print out the results:
import pyboard
pyboard.execfile('test.py', device='/dev/ttyACM0')
This script can also be run directly. To execute a local script, use:
./pyboard.py test.py
Or:
python pyboard.py test.py
"""
import sys
import time
import os
import ast
try:
stdout = sys.stdout.buffer
except AttributeError:
# Python2 doesn't have buffer attr
stdout = sys.stdout
def stdout_write_bytes(b):
b = b.replace(b"\x04", b"")
stdout.write(b)
stdout.flush()
class PyboardError(Exception):
pass
class TelnetToSerial:
def __init__(self, ip, user, password, read_timeout=None):
self.tn = None
import telnetlib
self.tn = telnetlib.Telnet(ip, timeout=15)
self.read_timeout = read_timeout
if b"Login as:" in self.tn.read_until(b"Login as:", timeout=read_timeout):
self.tn.write(bytes(user, "ascii") + b"\r\n")
if b"Password:" in self.tn.read_until(b"Password:", timeout=read_timeout):
# needed because of internal implementation details of the telnet server
time.sleep(0.2)
self.tn.write(bytes(password, "ascii") + b"\r\n")
if b"for more information." in self.tn.read_until(
b'Type "help()" for more information.', timeout=read_timeout
):
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# login successful
from collections import deque
self.fifo = deque()
return
raise PyboardError("Failed to establish a telnet connection with the board")
def __del__(self):
self.close()
def close(self):
if self.tn:
self.tn.close()
def read(self, size=1):
while len(self.fifo) < size:
timeout_count = 0
data = self.tn.read_eager()
if len(data):
self.fifo.extend(data)
timeout_count = 0
else:
time.sleep(0.25)
if self.read_timeout is not None and timeout_count > 4 * self.read_timeout:
break
timeout_count += 1
data = b""
while len(data) < size and len(self.fifo) > 0:
data += bytes([self.fifo.popleft()])
return data
def write(self, data):
self.tn.write(data)
return len(data)
def inWaiting(self):
n_waiting = len(self.fifo)
if not n_waiting:
data = self.tn.read_eager()
self.fifo.extend(data)
return len(data)
else:
return n_waiting
class ProcessToSerial:
"Execute a process and emulate serial connection using its stdin/stdout."
def __init__(self, cmd):
import subprocess
self.subp = subprocess.Popen(
cmd,
bufsize=0,
shell=True,
preexec_fn=os.setsid,
stdin=subprocess.PIPE,
stdout=subprocess.PIPE,
)
# Initially was implemented with selectors, but that adds Python3
# dependency. However, there can be race conditions communicating
# with a particular child process (like QEMU), and selectors may
# still work better in that case, so left inplace for now.
#
# import selectors
# self.sel = selectors.DefaultSelector()
# self.sel.register(self.subp.stdout, selectors.EVENT_READ)
import select
self.poll = select.poll()
self.poll.register(self.subp.stdout.fileno())
def close(self):
import signal
os.killpg(os.getpgid(self.subp.pid), signal.SIGTERM)
def read(self, size=1):
data = b""
while len(data) < size:
data += self.subp.stdout.read(size - len(data))
return data
def write(self, data):
self.subp.stdin.write(data)
return len(data)
def inWaiting(self):
# res = self.sel.select(0)
res = self.poll.poll(0)
if res:
return 1
return 0
class ProcessPtyToTerminal:
"""Execute a process which creates a PTY and prints slave PTY as
first line of its output, and emulate serial connection using
this PTY."""
def __init__(self, cmd):
import subprocess
import re
import serial
self.subp = subprocess.Popen(
cmd.split(),
bufsize=0,
shell=False,
preexec_fn=os.setsid,
stdin=subprocess.PIPE,
stdout=subprocess.PIPE,
stderr=subprocess.PIPE,
)
pty_line = self.subp.stderr.readline().decode("utf-8")
m = re.search(r"/dev/pts/[0-9]+", pty_line)
if not m:
print("Error: unable to find PTY device in startup line:", pty_line)
self.close()
sys.exit(1)
pty = m.group()
# rtscts, dsrdtr params are to workaround pyserial bug:
# http://stackoverflow.com/questions/34831131/pyserial-does-not-play-well-with-virtual-port
self.ser = serial.Serial(pty, interCharTimeout=1, rtscts=True, dsrdtr=True)
def close(self):
import signal
os.killpg(os.getpgid(self.subp.pid), signal.SIGTERM)
def read(self, size=1):
return self.ser.read(size)
def write(self, data):
return self.ser.write(data)
def inWaiting(self):
return self.ser.inWaiting()
class Pyboard:
def __init__(
self, device, baudrate=115200, user="micro", password="python", wait=0, exclusive=True
):
self.in_raw_repl = False
self.use_raw_paste = True
if device.startswith("exec:"):
self.serial = ProcessToSerial(device[len("exec:") :])
elif device.startswith("execpty:"):
self.serial = ProcessPtyToTerminal(device[len("qemupty:") :])
elif device and device[0].isdigit() and device[-1].isdigit() and device.count(".") == 3:
# device looks like an IP address
self.serial = TelnetToSerial(device, user, password, read_timeout=10)
else:
import serial
# Set options, and exclusive if pyserial supports it
serial_kwargs = {"baudrate": baudrate, "interCharTimeout": 1}
if serial.__version__ >= "3.3":
serial_kwargs["exclusive"] = exclusive
delayed = False
for attempt in range(wait + 1):
try:
self.serial = serial.Serial(device, **serial_kwargs)
break
except (OSError, IOError): # Py2 and Py3 have different errors
if wait == 0:
continue
if attempt == 0:
sys.stdout.write("Waiting {} seconds for pyboard ".format(wait))
delayed = True
time.sleep(1)
sys.stdout.write(".")
sys.stdout.flush()
else:
if delayed:
print("")
raise PyboardError("failed to access " + device)
if delayed:
print("")
def close(self):
self.serial.close()
def read_until(self, min_num_bytes, ending, timeout=10, data_consumer=None):
# if data_consumer is used then data is not accumulated and the ending must be 1 byte long
assert data_consumer is None or len(ending) == 1
data = self.serial.read(min_num_bytes)
if data_consumer:
data_consumer(data)
timeout_count = 0
while True:
if data.endswith(ending):
break
elif self.serial.inWaiting() > 0:
new_data = self.serial.read(1)
if data_consumer:
data_consumer(new_data)
data = new_data
else:
data = data + new_data
timeout_count = 0
else:
timeout_count += 1
if timeout is not None and timeout_count >= 100 * timeout:
break
time.sleep(0.01)
return data
def enter_raw_repl(self, soft_reset=True):
self.serial.write(b"\r\x03\x03") # ctrl-C twice: interrupt any running program
# flush input (without relying on serial.flushInput())
n = self.serial.inWaiting()
while n > 0:
self.serial.read(n)
n = self.serial.inWaiting()
self.serial.write(b"\r\x01") # ctrl-A: enter raw REPL
if soft_reset:
data = self.read_until(1, b"raw REPL; CTRL-B to exit\r\n>")
if not data.endswith(b"raw REPL; CTRL-B to exit\r\n>"):
print(data)
raise PyboardError("could not enter raw repl")
self.serial.write(b"\x04") # ctrl-D: soft reset
# Waiting for "soft reboot" independently to "raw REPL" (done below)
# allows boot.py to print, which will show up after "soft reboot"
# and before "raw REPL".
data = self.read_until(1, b"soft reboot\r\n")
if not data.endswith(b"soft reboot\r\n"):
print(data)
raise PyboardError("could not enter raw repl")
data = self.read_until(1, b"raw REPL; CTRL-B to exit\r\n")
if not data.endswith(b"raw REPL; CTRL-B to exit\r\n"):
print(data)
raise PyboardError("could not enter raw repl")
self.in_raw_repl = True
def exit_raw_repl(self):
self.serial.write(b"\r\x02") # ctrl-B: enter friendly REPL
self.in_raw_repl = False
def follow(self, timeout, data_consumer=None):
# wait for normal output
data = self.read_until(1, b"\x04", timeout=timeout, data_consumer=data_consumer)
if not data.endswith(b"\x04"):
raise PyboardError("timeout waiting for first EOF reception")
data = data[:-1]
# wait for error output
data_err = self.read_until(1, b"\x04", timeout=timeout)
if not data_err.endswith(b"\x04"):
raise PyboardError("timeout waiting for second EOF reception")
data_err = data_err[:-1]
# return normal and error output
return data, data_err
def raw_paste_write(self, command_bytes):
# Read initial header, with window size.
data = self.serial.read(2)
window_size = data[0] | data[1] << 8
window_remain = window_size
# Write out the command_bytes data.
i = 0
while i < len(command_bytes):
while window_remain == 0 or self.serial.inWaiting():
data = self.serial.read(1)
if data == b"\x01":
# Device indicated that a new window of data can be sent.
window_remain += window_size
elif data == b"\x04":
# Device indicated abrupt end. Acknowledge it and finish.
self.serial.write(b"\x04")
return
else:
# Unexpected data from device.
raise PyboardError("unexpected read during raw paste: {}".format(data))
# Send out as much data as possible that fits within the allowed window.
b = command_bytes[i : min(i + window_remain, len(command_bytes))]
self.serial.write(b)
window_remain -= len(b)
i += len(b)
# Indicate end of data.
self.serial.write(b"\x04")
# Wait for device to acknowledge end of data.
data = self.read_until(1, b"\x04")
if not data.endswith(b"\x04"):
raise PyboardError("could not complete raw paste: {}".format(data))
def exec_raw_no_follow(self, command):
if isinstance(command, bytes):
command_bytes = command
else:
command_bytes = bytes(command, encoding="utf8")
# check we have a prompt
data = self.read_until(1, b">")
if not data.endswith(b">"):
raise PyboardError("could not enter raw repl")
if self.use_raw_paste:
# Try to enter raw-paste mode.
self.serial.write(b"\x05A\x01")
data = self.serial.read(2)
if data == b"R\x00":
# Device understood raw-paste command but doesn't support it.
pass
elif data == b"R\x01":
# Device supports raw-paste mode, write out the command using this mode.
return self.raw_paste_write(command_bytes)
else:
# Device doesn't support raw-paste, fall back to normal raw REPL.
data = self.read_until(1, b"w REPL; CTRL-B to exit\r\n>")
if not data.endswith(b"w REPL; CTRL-B to exit\r\n>"):
print(data)
raise PyboardError("could not enter raw repl")
# Don't try to use raw-paste mode again for this connection.
self.use_raw_paste = False
# Write command using standard raw REPL, 256 bytes every 10ms.
for i in range(0, len(command_bytes), 256):
self.serial.write(command_bytes[i : min(i + 256, len(command_bytes))])
time.sleep(0.01)
self.serial.write(b"\x04")
# check if we could exec command
data = self.serial.read(2)
if data != b"OK":
raise PyboardError("could not exec command (response: %r)" % data)
def exec_raw(self, command, timeout=10, data_consumer=None):
self.exec_raw_no_follow(command)
return self.follow(timeout, data_consumer)
def eval(self, expression):
ret = self.exec_("print({})".format(expression))
ret = ret.strip()
return ret
def exec_(self, command, data_consumer=None):
ret, ret_err = self.exec_raw(command, data_consumer=data_consumer)
if ret_err:
raise PyboardError("exception", ret, ret_err)
return ret
def execfile(self, filename):
with open(filename, "rb") as f:
pyfile = f.read()
return self.exec_(pyfile)
def get_time(self):
t = str(self.eval("pyb.RTC().datetime()"), encoding="utf8")[1:-1].split(", ")
return int(t[4]) * 3600 + int(t[5]) * 60 + int(t[6])
def fs_ls(self, src):
cmd = (
"import uos\nfor f in uos.ilistdir(%s):\n"
" print('{:12} {}{}'.format(f[3]if len(f)>3 else 0,f[0],'/'if f[1]&0x4000 else ''))"
% (("'%s'" % src) if src else "")
)
self.exec_(cmd, data_consumer=stdout_write_bytes)
def fs_cat(self, src, chunk_size=256):
cmd = (
"with open('%s') as f:\n while 1:\n"
" b=f.read(%u)\n if not b:break\n print(b,end='')" % (src, chunk_size)
)
self.exec_(cmd, data_consumer=stdout_write_bytes)
def fs_get(self, src, dest, chunk_size=256):
self.exec_("f=open('%s','rb')\nr=f.read" % src)
with open(dest, "wb") as f:
while True:
data = bytearray()
self.exec_("print(r(%u))" % chunk_size, data_consumer=lambda d: data.extend(d))
assert data.endswith(b"\r\n\x04")
try:
data = ast.literal_eval(str(data[:-3], "ascii"))
if not isinstance(data, bytes):
raise ValueError("Not bytes")
except (UnicodeError, ValueError) as e:
raise PyboardError("fs_get: Could not interpret received data: %s" % str(e))
if not data:
break
f.write(data)
self.exec_("f.close()")
def fs_put(self, src, dest, chunk_size=256):
self.exec_("f=open('%s','wb')\nw=f.write" % dest)
with open(src, "rb") as f:
while True:
data = f.read(chunk_size)
if not data:
break
if sys.version_info < (3,):
self.exec_("w(b" + repr(data) + ")")
else:
self.exec_("w(" + repr(data) + ")")
self.exec_("f.close()")
def fs_mkdir(self, dir):
self.exec_("import uos\nuos.mkdir('%s')" % dir)
def fs_rmdir(self, dir):
self.exec_("import uos\nuos.rmdir('%s')" % dir)
def fs_rm(self, src):
self.exec_("import uos\nuos.remove('%s')" % src)
# in Python2 exec is a keyword so one must use "exec_"
# but for Python3 we want to provide the nicer version "exec"
setattr(Pyboard, "exec", Pyboard.exec_)
def execfile(filename, device="/dev/ttyACM0", baudrate=115200, user="micro", password="python"):
pyb = Pyboard(device, baudrate, user, password)
pyb.enter_raw_repl()
output = pyb.execfile(filename)
stdout_write_bytes(output)
pyb.exit_raw_repl()
pyb.close()
def filesystem_command(pyb, args):
def fname_remote(src):
if src.startswith(":"):
src = src[1:]
return src
def fname_cp_dest(src, dest):
src = src.rsplit("/", 1)[-1]
if dest is None or dest == "":
dest = src
elif dest == ".":
dest = "./" + src
elif dest.endswith("/"):
dest += src
return dest
cmd = args[0]
args = args[1:]
try:
if cmd == "cp":
srcs = args[:-1]
dest = args[-1]
if srcs[0].startswith("./") or dest.startswith(":"):
op = pyb.fs_put
fmt = "cp %s :%s"
dest = fname_remote(dest)
else:
op = pyb.fs_get
fmt = "cp :%s %s"
for src in srcs:
src = fname_remote(src)
dest2 = fname_cp_dest(src, dest)
print(fmt % (src, dest2))
op(src, dest2)
else:
op = {
"ls": pyb.fs_ls,
"cat": pyb.fs_cat,
"mkdir": pyb.fs_mkdir,
"rmdir": pyb.fs_rmdir,
"rm": pyb.fs_rm,
}[cmd]
if cmd == "ls" and not args:
args = [""]
for src in args:
src = fname_remote(src)
print("%s :%s" % (cmd, src))
op(src)
except PyboardError as er:
print(str(er.args[2], "ascii"))
pyb.exit_raw_repl()
pyb.close()
sys.exit(1)
_injected_import_hook_code = """\
import uos, uio
class _FS:
class File(uio.IOBase):
def __init__(self):
self.off = 0
def ioctl(self, request, arg):
return 0
def readinto(self, buf):
buf[:] = memoryview(_injected_buf)[self.off:self.off + len(buf)]
self.off += len(buf)
return len(buf)
mount = umount = chdir = lambda *args: None
def stat(self, path):
if path == '_injected.mpy':
return tuple(0 for _ in range(10))
else:
raise OSError(-2) # ENOENT
def open(self, path, mode):
return self.File()
uos.mount(_FS(), '/_')
uos.chdir('/_')
from _injected import *
uos.umount('/_')
del _injected_buf, _FS
"""
def main():
import argparse
cmd_parser = argparse.ArgumentParser(description="Run scripts on the pyboard.")
cmd_parser.add_argument(
"-d",
"--device",
default=os.environ.get("PYBOARD_DEVICE", "/dev/ttyACM0"),
help="the serial device or the IP address of the pyboard",
)
cmd_parser.add_argument(
"-b",
"--baudrate",
default=os.environ.get("PYBOARD_BAUDRATE", "115200"),
help="the baud rate of the serial device",
)
cmd_parser.add_argument("-u", "--user", default="micro", help="the telnet login username")
cmd_parser.add_argument("-p", "--password", default="python", help="the telnet login password")
cmd_parser.add_argument("-c", "--command", help="program passed in as string")
cmd_parser.add_argument(
"-w",
"--wait",
default=0,
type=int,
help="seconds to wait for USB connected board to become available",
)
group = cmd_parser.add_mutually_exclusive_group()
group.add_argument(
"--soft-reset",
default=True,
action=argparse.BooleanOptionalAction,
help="Whether to perform a soft reset when connecting to the board.",
)
group.add_argument(
"--follow",
action="store_true",
help="follow the output after running the scripts [default if no scripts given]",
)
group.add_argument(
"--no-follow",
action="store_true",
help="Do not follow the output after running the scripts.",
)
group.add_argument(
"--no-exclusive",
action="store_true",
help="Do not try to open the serial device for exclusive access.",
)
cmd_parser.add_argument(
"-f",
"--filesystem",
action="store_true",
help="perform a filesystem action: "
"cp local :device | cp :device local | cat path | ls [path] | rm path | mkdir path | rmdir path",
)
cmd_parser.add_argument("files", nargs="*", help="input files")
args = cmd_parser.parse_args()
# open the connection to the pyboard
try:
pyb = Pyboard(
args.device, args.baudrate, args.user, args.password, args.wait, not args.no_exclusive
)
except PyboardError as er:
print(er)
sys.exit(1)
# run any command or file(s)
if args.command is not None or args.filesystem or len(args.files):
# we must enter raw-REPL mode to execute commands
# this will do a soft-reset of the board
try:
pyb.enter_raw_repl(args.soft_reset)
except PyboardError as er:
print(er)
pyb.close()
sys.exit(1)
def execbuffer(buf):
try:
if args.no_follow:
pyb.exec_raw_no_follow(buf)
ret_err = None
else:
ret, ret_err = pyb.exec_raw(
buf, timeout=None, data_consumer=stdout_write_bytes
)
except PyboardError as er:
print(er)
pyb.close()
sys.exit(1)
except KeyboardInterrupt:
sys.exit(1)
if ret_err:
pyb.exit_raw_repl()
pyb.close()
stdout_write_bytes(ret_err)
sys.exit(1)
# do filesystem commands, if given
if args.filesystem:
filesystem_command(pyb, args.files)
del args.files[:]
# run the command, if given
if args.command is not None:
execbuffer(args.command.encode("utf-8"))
# run any files
for filename in args.files:
with open(filename, "rb") as f:
pyfile = f.read()
if filename.endswith(".mpy") and pyfile[0] == ord("M"):
pyb.exec_("_injected_buf=" + repr(pyfile))
pyfile = _injected_import_hook_code
execbuffer(pyfile)
# exiting raw-REPL just drops to friendly-REPL mode
pyb.exit_raw_repl()
# if asked explicitly, or no files given, then follow the output
if args.follow or (args.command is None and not args.filesystem and len(args.files) == 0):
try:
ret, ret_err = pyb.follow(timeout=None, data_consumer=stdout_write_bytes)
except PyboardError as er:
print(er)
sys.exit(1)
except KeyboardInterrupt:
sys.exit(1)
if ret_err:
pyb.close()
stdout_write_bytes(ret_err)
sys.exit(1)
# close the connection to the pyboard
pyb.close()
if __name__ == "__main__":
main()