#!/usr/bin/env python # # This file is part of the MicroPython project, http://micropython.org/ # # The MIT License (MIT) # # Copyright (c) 2014-2019 Damien P. George # Copyright (c) 2017 Paul Sokolovsky # # 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 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): # 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): 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 delayed = False for attempt in range(wait + 1): try: self.serial = serial.Serial(device, baudrate=baudrate, interCharTimeout=1) 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): 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 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 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') # By splitting this into 2 reads, it allows boot.py to print stuff, # which will show up after the soft reboot and before the 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') def exit_raw_repl(self): self.serial.write(b'\r\x02') # ctrl-B: enter friendly REPL 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 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') # write command 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') data = eval(str(data[:-3], 'ascii')) 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('--device', default='/dev/ttyACM0', help='the serial device or the IP address of the pyboard') cmd_parser.add_argument('-b', '--baudrate', default=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') cmd_parser.add_argument('--follow', action='store_true', help='follow the output after running the scripts [default if no scripts given]') cmd_parser.add_argument('-f', '--filesystem', action='store_true', help='perform a filesystem action') 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) 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() except PyboardError as er: print(er) pyb.close() sys.exit(1) def execbuffer(buf): try: 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) args.files.clear() # 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()