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#!/usr/bin/env python
"""
pyboard interface
This module provides the Pyboard class, used to communicate with and
control the pyboard over a serial USB connection.
Example usage:
import pyboard
pyb = pyboard.Pyboard('/dev/ttyACM0')
pyb.enter_raw_repl()
pyb.exec('pyb.LED(1).on()')
pyb.exit_raw_repl()
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 serial
class PyboardError(BaseException):
pass
class Pyboard:
def __init__(self, serial_device):
self.serial = serial.Serial(serial_device, baudrate=115200, interCharTimeout=1)
def close(self):
self.serial.close()
def read_until(self, min_num_bytes, ending, timeout=10, data_consumer=None):
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)
data = data + new_data
if data_consumer:
data_consumer(new_data)
#time.sleep(0.01)
timeout_count = 0
else:
timeout_count += 1
if timeout is not None and timeout_count >= 10 * timeout:
break
time.sleep(0.1)
return data
def enter_raw_repl(self):
self.serial.write(b'\r\x03\x03') # ctrl-C twice: interrupt any running program
self.serial.write(b'\r\x01') # ctrl-A: enter raw REPL
data = self.read_until(1, 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'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(2, b'\x04>', timeout=timeout)
if not data_err.endswith(b'\x04>'):
raise PyboardError('timeout waiting for second EOF reception')
data_err = data_err[:-2]
# return normal and error output
return data, data_err
def exec_raw(self, command, timeout=10, data_consumer=None):
if isinstance(command, bytes):
command_bytes = command
else:
command_bytes = bytes(command, encoding='ascii')
# 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')
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):
ret, ret_err = self.exec_raw(command)
if ret_err:
raise PyboardError('exception', ret, ret_err)
return ret
def execfile(self, filename):
with open(filename) as f:
pyfile = f.read()
return self.exec(pyfile)
def get_time(self):
t = str(self.eval('pyb.RTC().datetime()'), encoding='ascii')[1:-1].split(', ')
return int(t[4]) * 3600 + int(t[5]) * 60 + int(t[6])
def execfile(filename, device='/dev/ttyACM0'):
pyb = Pyboard(device)
pyb.enter_raw_repl()
output = pyb.execfile(filename)
print(str(output, encoding='ascii'), end='')
pyb.exit_raw_repl()
pyb.close()
def run_test(device):
pyb = Pyboard(device)
pyb.enter_raw_repl()
print('opened device {}'.format(device))
pyb.exec('import pyb') # module pyb no longer imported by default, required for pyboard tests
print('seconds since boot:', pyb.get_time())
pyb.exec('def apply(l, f):\r\n for item in l:\r\n f(item)\r\n')
pyb.exec('leds=[pyb.LED(l) for l in range(1, 5)]')
pyb.exec('apply(leds, lambda l:l.off())')
## USR switch test
pyb.exec('switch = pyb.Switch()')
for i in range(2):
print("press USR button")
pyb.exec('while switch(): pyb.delay(10)')
pyb.exec('while not switch(): pyb.delay(10)')
print('USR switch passed')
## accel test
if True:
print("hold level")
pyb.exec('accel = pyb.Accel()')
pyb.exec('while abs(accel.x()) > 10 or abs(accel.y()) > 10: pyb.delay(10)')
print("tilt left")
pyb.exec('while accel.x() > -10: pyb.delay(10)')
pyb.exec('leds[0].on()')
print("tilt forward")
pyb.exec('while accel.y() < 10: pyb.delay(10)')
pyb.exec('leds[1].on()')
print("tilt right")
pyb.exec('while accel.x() < 10: pyb.delay(10)')
pyb.exec('leds[2].on()')
print("tilt backward")
pyb.exec('while accel.y() > -10: pyb.delay(10)')
pyb.exec('leds[3].on()')
print('accel passed')
print('seconds since boot:', pyb.get_time())
pyb.exec('apply(leds, lambda l:l.off())')
pyb.exit_raw_repl()
pyb.close()
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 of the pyboard')
cmd_parser.add_argument('--test', action='store_true', help='run a small test suite on the pyboard')
cmd_parser.add_argument('files', nargs='*', help='input files')
args = cmd_parser.parse_args()
if args.test:
run_test(device=args.device)
if len(args.files) == 0:
try:
pyb = Pyboard(args.device)
ret, ret_err = pyb.follow(timeout=None, data_consumer=lambda d:print(str(d, encoding='ascii'), end=''))
pyb.close()
except PyboardError as er:
print(er)
sys.exit(1)
except KeyboardInterrupt:
sys.exit(1)
if ret_err:
print(str(ret_err, encoding='ascii'), end='')
sys.exit(1)
for filename in args.files:
try:
pyb = Pyboard(args.device)
pyb.enter_raw_repl()
with open(filename) as f:
pyfile = f.read()
ret, ret_err = pyb.exec_raw(pyfile, timeout=None, data_consumer=lambda d:print(str(d, encoding='ascii'), end=''))
pyb.exit_raw_repl()
pyb.close()
except PyboardError as er:
print(er)
sys.exit(1)
except KeyboardInterrupt:
sys.exit(1)
if ret_err:
print(str(ret_err, encoding='ascii'), end='')
sys.exit(1)
if __name__ == "__main__":
main()
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