Tools/fileman/ nsh scripts; writefile command.

11 files changed, 602 insertions, 0 deletions

diff --git a/Tools/fileman/deletelogs.py b/Tools/fileman/deletelogs.py
new file mode 100755
index 000000000..b27b3e87b
--- /dev/null
+++ b/Tools/fileman/deletelogs.py
@@ -0,0 +1,24 @@
+#!/usr/bin/env python
+#
+# Logs deleter
+#
+
+from nsh import NSH
+
+def main():
+	try:
+		logs_dir = "/fs/microsd/log"
+		nsh = NSH()
+		nsh.wait_and_open_nsh()
+		for file in nsh.get_all_files(logs_dir):
+			print("Removing file: {}{}".format(logs_dir, file))
+			nsh.exec_cmd("rm {}{}".format(logs_dir, file), 2.0)
+		for dir in nsh.get_all_dirs(logs_dir):
+			print("Removing dir: {}/{}".format(logs_dir, dir))
+			nsh.exec_cmd("rmdir {}/{}".format(logs_dir, dir[:-1]), 1.0)
+		print("Done.")
+	finally:
+		nsh.close()
+
+if __name__ == "__main__":
+	main()
diff --git a/Tools/fileman/delmix.py b/Tools/fileman/delmix.py
new file mode 100755
index 000000000..b6b8cdd4b
--- /dev/null
+++ b/Tools/fileman/delmix.py
@@ -0,0 +1,24 @@
+#!/usr/bin/env python
+#
+# /fs/microsd/etc/mixers/FMU_quad_x.mix file deleter
+#
+
+from nsh import NSH
+
+def main():
+	fn = "/fs/microsd/etc/mixers/FMU_quad_x.mix"
+
+	try:
+		nsh = NSH()
+		nsh.wait_and_open_nsh()
+		if nsh.file_exists(fn):
+			nsh.exec_cmd("rm {}".format(fn), 2.0)
+			print("Success.")
+		else:
+			print("Cannot find {}".format(fn))
+
+	finally:
+		nsh.close()
+
+if __name__ == "__main__":
+	main()
diff --git a/Tools/fileman/delrc.py b/Tools/fileman/delrc.py
new file mode 100755
index 000000000..3606d2bed
--- /dev/null
+++ b/Tools/fileman/delrc.py
@@ -0,0 +1,24 @@
+#!/usr/bin/env python
+#
+# /fs/microsd/etc/rc.txt file deleter
+#
+
+from nsh import NSH
+
+def main():
+	fn = "/fs/microsd/etc/rc.txt"
+
+	try:
+		nsh = NSH()
+		nsh.wait_and_open_nsh()
+		if nsh.file_exists(fn):
+			nsh.exec_cmd("rm {}".format(fn), 2.0)
+			print("Success.")
+		else:
+			print("Cannot find {}".format(fn))
+
+	finally:
+		nsh.close()
+
+if __name__ == "__main__":
+	main()
diff --git a/Tools/fileman/getlog.py b/Tools/fileman/getlog.py
new file mode 100755
index 000000000..e3a68baac
--- /dev/null
+++ b/Tools/fileman/getlog.py
@@ -0,0 +1,80 @@
+#!/usr/bin/env python
+#
+# Log file downloader
+#
+
+from nsh import NSH
+from sys import argv, exit
+from datetime import datetime
+import re
+
+def main():
+	if(len(argv) != 2):
+		print("usage: getlog [last|list|log_path]")
+		exit(1)
+
+	cmd = argv[1]
+	logs_dir = "/fs/microsd/log"
+
+	try:
+		nsh = NSH()
+		nsh.wait_and_open_nsh()
+		if cmd == "list":
+			for file in nsh.get_all_files(logs_dir):
+				print(file)
+		elif cmd == "all":
+			for file in nsh.get_all_files(logs_dir):
+				with open(fn[fn.rindex('/')+1:], "wb") as f:
+					data = nsh.download_file(logs_dir + file)
+					print("Writing buffer to file..")
+					f.write(data)
+					print("Success.")
+		elif cmd == "last":
+			dirs = nsh.ls_dir(logs_dir)
+			# Keep entries only "date/" entries
+			dirs = filter(lambda d: re.sub("[0-9]{4}\-[0-9]{2}\-[0-9]{2}", '', d) == "/", dirs)
+			if dirs:
+				dirs.sort(key=lambda x: datetime.strptime(x, '%Y-%m-%d/'))
+
+				last_dir = dirs.pop()
+				print("Getting logs from {}/{}".format(logs_dir, last_dir))
+
+				logs = nsh.ls_dir(logs_dir + '/' + last_dir)
+				# Keep entries only which end with .bin
+				logs = filter(lambda l: l.endswith('.bin'), logs)
+				if logs:
+					logs.sort(key=lambda x: datetime.strptime(x, "%H_%M_%S.bin"))
+
+					last_log = logs.pop()
+					data = nsh.download_file(logs_dir + '/' + last_dir + last_log)
+					with open(last_log, "wb") as f:
+						f.write(data)
+
+					preflight = "preflight_perf" + last_log[:-3] + "txt"
+					if nsh.file_exists(logs_dir + '/' + last_dir + preflight):
+						data = nsh.download_file(logs_dir + '/' + last_dir + preflight)
+						with open(preflight, "wb") as f:
+							f.write(data)
+					else:
+						print("Cannot find {} file (ignoring it).".format(preflight))
+
+					print("Success.")
+				else:
+					print("Cannot find any log with timestamp!")
+			else:
+				print("Unable to find any log with date")
+		else:
+			fn = logs_dir + "/" + cmd
+			if nsh.file_exists(fn):
+				data = nsh.download_file(fn)
+				with open(fn[fn.rindex('/')+1:], "wb") as f:
+					f.write(data)
+				print("Success.")
+			else:
+				print("File {} does not exists!")
+	finally:
+		nsh.close()
+
+if __name__ == "__main__":
+	main()
+
diff --git a/Tools/fileman/getmix.py b/Tools/fileman/getmix.py
new file mode 100755
index 000000000..e375c71ae
--- /dev/null
+++ b/Tools/fileman/getmix.py
@@ -0,0 +1,34 @@
+#!/usr/bin/env python
+#
+# /fs/microsd/etc/mixers/FMU_quad_x.mix file downloader
+#
+
+from nsh import NSH
+
+def main():
+	fn = "/fs/microsd/etc/mixers/FMU_quad_x.mix"
+
+	if len(argv) == 1:
+		out_fn = fn[fn.rindex('/')+1:]
+	else:
+		out_fn = argv[1]
+
+
+	try:
+		nsh = NSH()
+		nsh.wait_and_open_nsh()
+		if nsh.file_exists(fn):
+			with open(out_fn, "wb") as f:
+				data = nsh.download_file(fn)
+				print("Writing buffer to file..")
+				f.write(data)
+				print("Success.")
+		else:
+			print("Cannot find {}".format(fn))
+
+	finally:
+		nsh.close()
+
+if __name__ == "__main__":
+	main()
+
diff --git a/Tools/fileman/getrc.py b/Tools/fileman/getrc.py
new file mode 100755
index 000000000..902fe857b
--- /dev/null
+++ b/Tools/fileman/getrc.py
@@ -0,0 +1,34 @@
+#!/usr/bin/env python
+#
+# /fs/microsd/etc/rc.txt file downloader
+#
+
+from nsh import NSH
+from sys import argv
+
+def main():
+	fn = "/fs/microsd/etc/rc.txt"
+
+	if len(argv) == 1:
+		out_fn = fn[fn.rindex('/')+1:]
+	else:
+		out_fn = argv[1]
+
+	try:
+		nsh = NSH()
+		nsh.wait_and_open_nsh()
+		if nsh.file_exists(fn):
+			with open(out_fn, "wb") as f:
+				data = nsh.download_file(fn)
+				print("Writing buffer to file..")
+				f.write(data)
+				print("Success.")
+		else:
+			print("Cannot find {}".format(fn))
+
+	finally:
+		nsh.close()
+
+if __name__ == "__main__":
+	main()
+
diff --git a/Tools/fileman/nsh.py b/Tools/fileman/nsh.py
new file mode 100755
index 000000000..8336b3c50
--- /dev/null
+++ b/Tools/fileman/nsh.py
@@ -0,0 +1,222 @@
+import os, sys, serial, time, struct
+
+class NSH:
+	def __init__(self):
+		self.serial = None
+
+	def flush(self):
+		self.serial.flush()
+
+	def send(self, data):
+		from collections import deque
+		data = deque(data)
+		attempt = 0
+		while data:
+			if self.serial.write(data.popleft()) == 0:
+				print("Failed to write {}".format(attempt))
+				attempt += 1
+				if attempt > 50:
+					raise RuntimeError("fail")
+			else:
+				attempt = 0
+			self.serial.flush()
+
+	def recv(self, size=1):
+		if size is not None:
+			attempt = 1
+			data = self.serial.read(size)
+			if len(data) < 1:
+				raise RuntimeError("timeout waiting for data")
+			size -= len(data)
+			if size > 0:
+				#raise RuntimeError("received less data than expected ({}/{})".format(len(data), size))
+				attempt += 1
+				if attempt > 10:
+					raise RuntimeError("Couldn't receive all the data ({} bytes left)".format(size))
+			return data
+		else:
+			return self.serial.read()
+
+	def wait_for_string(self, s, timeout, debug=False):
+		t0 = time.time()
+		buf = []
+		res = []
+		n = 0
+		if type(s) == str:
+			s = (s,)
+		maxlen = max((len(string) for string in s))
+		while True:
+			c = self.recv(size=None)
+			if debug:
+				sys.stderr.write(c)
+			buf.append(c)
+			if len(buf) > maxlen:
+				res.append(buf.pop(0))
+				n += 1
+				if n % 10000 == 0:
+					sys.stderr.write(str(n) + "\n")
+			string = "".join(buf)
+			for sz in s:
+				index = string.find(sz)
+				if index != -1:
+					res += buf[:index]
+					return "".join(res)
+			if timeout > 0.0 and time.time() - t0 > timeout:
+				raise Exception("Timeout while waiting for: {}".format(s))
+
+	def exec_cmd(self, cmd, timeout, cmd_end_str=("nsh> \x1b[K",)):
+		print("nsh> {}".format(cmd))
+		self.send(cmd + "\n")
+		self.flush()
+		self.wait_for_string(cmd + "\r\n", timeout)
+		if cmd_end_str:
+			return self.wait_for_string(cmd_end_str, timeout)
+		else:
+			return None
+
+	def identify(self):
+		#ver hw
+		#PX4FMU_V2
+		return self.exec_cmd("ver hw", 1.0).startswith("PX4FMU_V2")
+
+	def ls_dir(self, dir, timeout=1.0):
+		res = []
+		dir = dir.rstrip("/")
+		for line in self.exec_cmd("ls " + dir, timeout).splitlines()[1:]:
+			res.append(line[1:])
+		return res
+
+	def get_dir_files(self, directory="/"):
+		res = []
+		for f in self.ls_dir(directory):
+			if f[-1] != '/': #is file
+				res.append(f)
+		return f
+
+	def get_all_files(self, basedir="/", subdir="/"):
+		dir = basedir + subdir
+		res = []
+		for d in self.ls_dir(dir):
+			if d[-1] == '/':
+				res += self.get_all_files(basedir, subdir + d)
+			else:
+				res.append(subdir + d)
+		return res
+
+	def get_all_dirs(self, basedir="/", subdir="/"):
+		dir = basedir + subdir
+		res = []
+		for d in self.ls_dir(dir):
+			if d[-1] == '/':
+				res += self.get_all_files(basedir, subdir + d)
+				res.append(d)
+		return res
+
+	def file_exists(self, fn):
+		rslash = fn.rindex("/")
+		dir = fn[:rslash]
+		fn = fn[rslash+1:]
+		found = False
+		for file in self.ls_dir(dir):
+			if file == fn:
+				return True
+		return False
+
+	def download_file(self, fn):
+		res = self.exec_cmd("dumpfile " + fn, 1.0, ("\n",))
+		data = []
+		if res.startswith("OK"):
+			size = int(res.split()[1])
+			block_size = 1024 * 16
+			print("Reading file {}:".format(fn))
+			while size > 0:
+				buf = self.recv(min(size, block_size))
+				data.append(buf)
+				size -= len(buf)
+				print("Read {} bytes / {} left".format(len(buf), size))
+				sys.stdout.flush()
+			print("Successfully read file {}".format(fn))
+		else:
+			raise Exception("Error downloading file (not exists?)")
+		self.wait_for_string("nsh> \x1b[K", 2.0)
+		return "".join(data)
+
+	def random_str(self, length):
+		from random import shuffle
+		from math import ceil
+		abc = ''.join([chr(c) for c in range(ord('a'), ord('z') + 1)])
+		ABC = ''.join([chr(c) for c in range(ord('A'), ord('Z') + 1)])
+		num = '0123456789'
+		string = abc + ABC + num
+		mul = int(ceil(float(length) / len(string)))
+		res = list(string * mul)
+		shuffle(res)
+		return ''.join(res[:length])
+
+	def upload_file(self, out_fn, in_fn):
+		f = open(in_fn, 'rb')
+		filedata = f.read()
+		f.close()
+
+		szOK = "OK\r\n"
+		szDEFEND = "nsh> \x1b[K"
+
+		while True:
+			tmp_fn = '/fs/microsd/' + self.random_str(14) + '.tmp'
+			if not self.file_exists(tmp_fn):
+				break
+
+		res = self.exec_cmd("writefile {} {}".format(tmp_fn, len(filedata)), 1.0, (szDEFEND, szOK))
+		if len(res) == 0: #szOK found
+			self.flush()
+			print("Writing file {}".format(tmp_fn))
+			self.send(filedata)
+			self.wait_for_string("nsh> \x1b[K", 2.0)
+			print("Deleting {}".format(out_fn))
+			self.exec_cmd("rm {}".format(out_fn), 2.0)
+			print("Coping {} to {}".format(tmp_fn, out_fn))
+			self.exec_cmd("cp {} {}".format(tmp_fn, out_fn), 2.0)
+			print("Removing temponary file {}".format(tmp_fn))
+			self.exec_cmd("rm {}".format(tmp_fn), 2.0)
+			return True
+		else: #nsh> found
+			print("Error occured during the file upload (`{}` < `{}`)".format(out_fn, in_fn))
+			print(res)
+			return False
+
+	def wait_and_open_nsh(self):
+		print("Waiting for the device.. (Press Ctrl+C to stop)")
+		while True:
+			if os.name == 'nt':
+				port_list = ['COM32', 'COM31', 'COM30', 'COM29', 'COM28', 'COM27', 'COM26', 'COM25', 'COM24', 'COM23', 'COM22', 'COM21', 'COM20', 'COM19', 'COM18', 'COM17', 'COM16', 'COM15', 'COM14', 'COM13', 'COM12', 'COM11', 'COM10', 'COM9', 'COM8', 'COM7', 'COM6', 'COM5', 'COM4', 'COM3', 'COM2', 'COM1', 'COM0']
+			else:
+				from glob import glob
+				port_list = glob("/dev/serial/by-id/usb-3D_Robotics*") #linux
+				port_list += glob("/dev/tty.usbmodem*") #mac
+
+			for port in port_list:
+				try:
+					self.serial = serial.Serial(port, 57600, timeout=0.5)
+				except serial.SerialException:
+					#open failed, rate-limit our attempts
+					time.sleep(0.05)
+					# and loop to the next port
+					continue
+
+				# port is open, try talking to it
+				# identify the bootloader
+				if self.identify():
+					print("Found device on port {}".format(port))
+					return
+				else:
+					print("Ignoring invalid board on port {}".format(port))
+					self.close()
+					continue
+
+	def close(self):
+		if self.serial is not None:
+			self.serial.close()
+
+if __name__ == "__main__":
+	print("This is class file. It does nothing.")
+
diff --git a/Tools/fileman/setmix.py b/Tools/fileman/setmix.py
new file mode 100755
index 000000000..d010596c8
--- /dev/null
+++ b/Tools/fileman/setmix.py
@@ -0,0 +1,30 @@
+#!/usr/bin/env python
+#
+# /fs/microsd/etc/mixers/FMU_quad_x.mix file uploader
+#
+
+from nsh import NSH
+
+from os import path
+from sys import argv, exit
+
+def main():
+	if len(argv) != 2:
+		print("usage: setmix <path to FMU_quad_x.mix>")
+		exit(1)
+
+	rc_path = argv[1]
+	if not path.isfile(rc_path):
+		print("cannot find file {}".format(rc_path))
+		exit(2)
+
+	try:
+		nsh = NSH()
+		nsh.wait_and_open_nsh()
+		if nsh.upload_file("/fs/microsd/etc/mixers/FMU_quad_x.mix", rc_path):
+			print("Success.")
+	finally:
+		nsh.close()
+
+if __name__ == "__main__":
+	main()
diff --git a/Tools/fileman/setrc.py b/Tools/fileman/setrc.py
new file mode 100755
index 000000000..13088f721
--- /dev/null
+++ b/Tools/fileman/setrc.py
@@ -0,0 +1,30 @@
+#!/usr/bin/env python
+#
+# /fs/microsd/etc/rc.txt file uploader
+#
+
+from nsh import NSH
+
+from os import path
+from sys import argv, exit
+
+def main():
+	if len(argv) != 2:
+		print("usage: setrc <path to rc.txt>")
+		exit(1)
+
+	rc_path = argv[1]
+	if not path.isfile(rc_path):
+		print("cannot find file {}".format(rc_path))
+		exit(2)
+
+	try:
+		nsh = NSH()
+		nsh.wait_and_open_nsh()
+		if nsh.upload_file("/fs/microsd/etc/rc.txt", rc_path):
+			print("Success.")
+	finally:
+		nsh.close()
+
+if __name__ == "__main__":
+	main()
diff --git a/src/systemcmds/writefile/module.mk b/src/systemcmds/writefile/module.mk
new file mode 100755
index 000000000..10390a454
--- /dev/null
+++ b/src/systemcmds/writefile/module.mk
@@ -0,0 +1,8 @@
+#
+# Write file utility
+#
+
+MODULE_COMMAND	 = writefile
+SRCS		 = writefile.c
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/systemcmds/writefile/writefile.c b/src/systemcmds/writefile/writefile.c
new file mode 100755
index 000000000..54b210805
--- /dev/null
+++ b/src/systemcmds/writefile/writefile.c
@@ -0,0 +1,92 @@
+/**

+ * @file writefile.c

+ *

+ * Write file utility. Writes file from stdin.

+ *

+ * @author Richard Dzenis <rixript@gmail.com>

+ */

+

+#include <nuttx/config.h>

+#include <unistd.h>

+#include <stdio.h>

+#include <string.h>

+#include <stdlib.h>

+#include <fcntl.h>

+#include <termios.h>

+

+#include <systemlib/err.h>

+

+__EXPORT int writefile_main(int argc, char *argv[]);

+

+static

+ssize_t

+min(ssize_t v1, ssize_t v2)

+{

+	return v1 > v2 ? v2 : v1;

+}

+

+int

+writefile_main(int argc, char *argv[])

+{

+	if (argc < 3) {

+		errx(1, "usage: writefile <filename> <filesize in bytes>");

+	}

+

+	/* open output file */

+	FILE *f;

+	f = fopen(argv[1], "w");

+

+	if (f == NULL) {

+		printf("ERROR opening file\n");

+		exit(1);

+	}

+	

+	ssize_t size = atol(argv[2]);

+	if(size <= 0) {

+		warnx("ERROR invalid size");

+	}

+

+	/* configure stdin */

+	int in = fileno(stdin);

+

+	struct termios tc;

+	struct termios tc_old;

+	tcgetattr(in, &tc);

+

+	/* save old terminal attributes to restore it later on exit */

+	memcpy(&tc_old, &tc, sizeof(tc));

+

+	/* don't add CR on each LF*/

+	tc.c_oflag &= ~ONLCR;

+

+	if (tcsetattr(in, TCSANOW, &tc) < 0) {

+		warnx("ERROR setting stdin attributes");

+		exit(1);

+	}

+

+	char buf[512];

+	ssize_t nread = 0;

+

+	printf("OK\r\n");

+

+	/* read stdin, and write to file */

+	while ((nread = read(in, buf, min(sizeof(buf), size))) > 0) {

+		if (fwrite(buf, 1, nread, f) != nread) {

+			warnx("ERROR writing file");

+			break;

+		}

+		size -= nread;

+		if (size <= 0)

+			break;

+	}

+

+	fclose(f);

+

+	/* restore old terminal attributes */

+	if (tcsetattr(in, TCSANOW, &tc_old) < 0) {

+		warnx("ERROR restoring stdin attributes");

+		exit(1);

+	}

+

+	return OK;

+}