Merge branch 'flasher-tinkering' and release 2.5.0

Fixes #28
Fixes #25
Fixes #23
Fixes purduesigbots/pros-atom#28
Fixes purduesigbots/pros-atom#39

Author: edjubuh

Jenkinsfile

@@ -9,7 +9,9 @@ stage('Build') {
       }
       stage('Dependencies') {
         tool 'python3'
-        sh 'sudo apt-get install -y python3-pip'
+		if(isUnix()) {
+	        sh 'sudo apt-get install -y python3-pip'
+		}
         venv.create_virtualenv()
         venv.run 'pip3 install wheel twine'
       }

proscli/flasher.py

@@ -7,6 +7,7 @@
 import prosflasher.upload
 import prosconfig
 from proscli.utils import default_cfg, AliasGroup
+from proscli.utils import get_version
 
 
 @click.group(cls=AliasGroup)
@@ -24,13 +25,16 @@ def flasher_cli():
               help='Specifies a binary file, project directory, or project config file.')
 @click.option('-p', '--port', default='auto', metavar='PORT', help='Specifies the serial port.')
 @click.option('--no-poll', is_flag=True, default=False)
+@click.option('-r', '--retry', default=2,
+              help='Specify the number of times the flasher should retry the flash when it detects a failure'
+                   ' (default two times).')
 @default_cfg
 # @click.option('-m', '--strategy', default='cortex', metavar='STRATEGY',
 #               help='Specify the microcontroller upload strategy. Not currently used.')
-def flash(ctx, save_file_system, y, port, binary, no_poll):
+def flash(ctx, save_file_system, y, port, binary, no_poll, retry):
     """Upload binaries to the microcontroller. A serial port and binary file need to be specified.
 
-    By default, the port is automatically selected (if you want to be pendantic, 'auto').
+    By default, the port is automatically selected (if you want to be pedantic, 'auto').
     Otherwise, a system COM port descriptor needs to be used. In Windows/NT, this takes the form of COM1.
     In *nx systems, this takes the form of /dev/tty1 or /dev/acm1 or similar.
     \b
@@ -39,6 +43,7 @@ def flash(ctx, save_file_system, y, port, binary, no_poll):
     By default, the CLI will look around for a proper binary to upload to the microcontroller. If one was not found, or
     if you want to change the default binary, you can specify it.
     """
+    click.echo(' ====:: PROS Flasher v{} ::===='.format(get_version()))
     if port == 'auto':
         ports = prosflasher.ports.list_com_ports()
         if len(ports) == 0:
@@ -87,7 +92,13 @@ def flash(ctx, save_file_system, y, port, binary, no_poll):
 
     click.echo('Flashing ' + binary + ' to ' + ', '.join(port))
     for p in port:
-        prosflasher.upload.upload(p, binary, no_poll, ctx)
+        tries = 1
+        while tries <= retry:
+            code = prosflasher.upload.upload(p, y, binary, no_poll, ctx)
+            if code or code == -1000:
+                break
+            click.echo('Retrying...')
+            tries += 1
 
 
 def find_binary(path):

proscli/main.py

@@ -1,10 +1,7 @@
 import click
 #from pkg_resources import get_distribution
 import proscli
-from proscli.utils import default_options
-import os.path
-import sys
-
+from proscli.utils import default_options, get_version
 
 def main():
     # the program name should always be pros. don't care if it's not...
@@ -13,22 +10,6 @@ def main():
     except KeyboardInterrupt:
         click.echo('Aborted!')
 
-
-def get_version():
-    try:
-        if os.path.isfile(os.path.join(__file__, '../../version')):
-            return open(os.path.join(__file__, '../../version')).read().strip()
-    except Exception:
-        pass
-    try:
-        if getattr(sys, 'frozen', False):
-            import BUILD_CONSTANTS
-            return BUILD_CONSTANTS.CLI_VERSION
-    except Exception:
-        pass
-    return None # Let click figure it out
-
-
 @click.command('pros',
                cls=click.CommandCollection,
                context_settings=dict(help_option_names=['-h', '--help']),

proscli/terminal.py

@@ -1,6 +1,7 @@
 import click
 import proscli.serial_terminal
 import prosflasher.ports
+import serial
 import signal
 import sys
 import time
@@ -28,7 +29,7 @@ def terminal(port):
             click.echo('No ports were found.')
             click.get_current_context().abort()
             sys.exit()
-    ser = prosflasher.ports.create_serial(port)
+    ser = prosflasher.ports.create_serial(port, serial.PARITY_NONE)
     term = proscli.serial_terminal.Terminal(ser)
     signal.signal(signal.SIGINT, term.stop)
     term.start()

proscli/utils.py

@@ -1,8 +1,25 @@
+import os
+
 import click
+import sys
+
 from proscli.state import State
 
 pass_state = click.make_pass_decorator(State)
 
+def get_version():
+    try:
+        if os.path.isfile(os.path.join(__file__, '../../version')):
+            return open(os.path.join(__file__, '../../version')).read().strip()
+    except Exception:
+        pass
+    try:
+        if getattr(sys, 'frozen', False):
+            import BUILD_CONSTANTS
+            return BUILD_CONSTANTS.CLI_VERSION
+    except Exception:
+        pass
+    return None # Let click figure it out
 
 def verbosity_option(f):
     """

prosflasher/bootloader.py

@@ -19,9 +19,8 @@ def debug_response(command, response, fmt='STM BL RESPONSE TO 0x{}: {}'):
 
 def send_bootloader_command(port, command, response_size=1):
     port.write([command, 0xff - command])
-    port.flush()
+    time.sleep(0.01)
     response = port.read(response_size)
-    debug_response(command, response)
     return response
 
 
@@ -44,22 +43,32 @@ def compute_address_commandable(address):
 
 
 def prepare_bootloader(port):
-    click.echo('Preparing bootloader...', nl=False)
-    prosflasher.upload.configure_port(port, serial.PARITY_EVEN)
-    port.flush()
-    port.write([0x7f])
-    response = port.read(1)
-    debug_response(0x07f, response)
-    if response is None or len(response) != 1 or response[0] != ACK:
-        click.echo('failed')
-        return False
-    click.echo('complete')
-    if click.get_current_context().obj.verbosity > 1:
-        click.echo('Extra commands:')
-        send_bootloader_command(port, 0x00, 15)
-        send_bootloader_command(port, 0x01, 5)
-        send_bootloader_command(port, 0x02, 5)
-    return True
+    click.echo('Preparing bootloader... ', nl=False)
+    # for _ in range(0, 3):
+    #     response = send_bootloader_command(port, 0x00, 15)
+    #     if response is not None and len(response) == 15 and response[0] == ACK and response[-1] == ACK:
+    #         click.echo('complete')
+    #         return True
+    time.sleep(0.01)
+    port.rts = 0
+    time.sleep(0.01)
+    for _ in range(0,3):
+        port.write([0x7f])
+        response = port.read(1)
+        debug_response(0x7f, response)
+        if not (response is None or len(response) != 1 or response[0] != ACK):
+            time.sleep(0.01)
+            response = send_bootloader_command(port, 0x00, 15)
+            debug_response(0x00, response)
+            if response is None or len(response) != 15 or response[0] != ACK or response[-1] != ACK:
+                click.echo('failed (couldn\'t verify commands)')
+                return False
+            # send_bootloader_command(port, 0x01, 5)
+            # send_bootloader_command(port, 0x02, 5)
+            click.echo('complete')
+            return True
+    click.echo('failed')
+    return False
 
 
 def read_memory(port, start_address, size=0x100):
@@ -95,59 +104,73 @@ def read_memory(port, start_address, size=0x100):
 
 
 def erase_flash(port):
-    click.echo('Erasing user flash...', nl=False)
-    prosflasher.upload.configure_port(port, serial.PARITY_EVEN)
+    click.echo('Erasing user flash... ', nl=False)
+    port.flush()
     response = send_bootloader_command(port, 0x43, 1)
-    if response is None or response[0] != 0x79:
+    if response is None or len(response) < 1 or response[0] != 0x79:
         click.echo('failed')
         return False
+    time.sleep(0.01)
     response = send_bootloader_command(port, 0xff, 1)
-    if response is None or response[0] != 0x79:
-        click.echo('failed')
+    debug_response(0xff, response)
+    if response is None or len(response) < 1 or response[0] != 0x79:
+        click.echo('failed (address unacceptable)')
         return False
     click.echo('complete')
     return True
 
 
-def write_flash(port, start_address, data):
+def write_flash(port, start_address, data, retry=2):
     data = bytearray(data)
     if len(data) > 256:
         click.echo('Tried writing too much data at once! ({} bytes)'.format(len(data)))
         return False
     port.read_all()
-    start_address = compute_address_commandable(start_address)
-    debug('Writing {} bytes to {}'.format(len(data), adr_to_str(start_address)))
+    c_addr = compute_address_commandable(start_address)
+    debug('Writing {} bytes to {}'.format(len(data), adr_to_str(c_addr)))
     response = send_bootloader_command(port, 0x31)
-    if response is None or response[0] != ACK:
+    if response is None or len(response) < 1 or response[0] != ACK:
         click.echo('failed (write command not accepted)')
         return False
-    port.write(start_address)
+    port.write(c_addr)
     port.flush()
     response = port.read(1)
-    debug_response(adr_to_str(start_address), response)
-    if response is None or response[0] != ACK:
-        click.echo('failed (address not accepted)')
-        return False
+    debug_response(adr_to_str(c_addr), response)
+    if response is None or len(response) < 1 or response[0] != ACK:
+        if retry > 0:
+            debug('RETRYING PACKET')
+            write_flash(port, start_address, data, retry=retry - 1)
+        else:
+            click.echo('failed (address not accepted)')
+            return False
     checksum = len(data) - 1
     for x in data:
         checksum ^= x
-    data.insert(0, len(data) - 1)
-    data.append(checksum)
-    port.write(data)
+    send_data = data
+    send_data.insert(0, len(send_data) - 1)
+    send_data.append(checksum)
+    port.write(send_data)
     time.sleep(0.005)
     response = port.read(1)
-    if response is None or response[0] != ACK:
-        port.write(data)
-        time.sleep(20)
-        response = port.read(1)
-        if response is None or response[0] != ACK:
+    debug('STM BL RESPONSE TO WRITE: {}'.format(response))
+    if response is None or len(response) < 1 or response[0] != ACK:
+        if retry > 0:
+            debug('RETRYING PACKET')
+            write_flash(port, start_address, data, retry=retry - 1)
+        else:
             click.echo('failed (could not complete upload)')
             return False
     port.flush()
     port.reset_input_buffer()
     return True
 
 
+def chunks(l, n):
+    """Yield successive n-sized chunks from l."""
+    for i in range(0, len(l), n):
+        yield l[i:i + n]
+
+
 def upload_binary(port, file):
     address = 0x08000000
     with open(file, 'rb') as f:
@@ -161,18 +184,23 @@ def upload_binary(port, file):
     return True
 
 
-def send_go_command(port, address):
-    click.echo('Executing binary...', nl=False)
-    address = compute_address_commandable(address)
-    debug('Executing binary at {}'.format(adr_to_str(address)))
+def send_go_command(port, address, retry=3):
+    click.echo('Executing user code... ', nl=False)
+    c_addr = compute_address_commandable(address)
+    debug('Executing binary at {}'.format(adr_to_str(c_addr)))
 
     response = send_bootloader_command(port, 0x21, 1)
-    if response is None or response[0] != ACK:
+    debug_response(0x21, response)
+    if response is None or len(response) < 1 or response[0] != ACK:
         click.echo('failed (execute command not accepted)')
         return False
-    port.write(address)
-    port.flush()
-    click.echo('complete')
+    time.sleep(0.01)
+    port.write(c_addr)
+    time.sleep(0.01)
+    response = port.read(1)
+    debug_response(adr_to_str(c_addr), response)
+    if response is None or len(response) < 1 or response[0] != ACK:
+        click.echo('user code might not have started properly. May need to restart Cortex')
+    else:
+        click.echo('complete')
     return True
-
-

prosflasher/ports.py

@@ -16,42 +16,38 @@ def list_com_ports():
     return [x for x in serial.tools.list_ports.comports() if x.vid is not None and (x.vid in USB_VID or 'vex' in x.product.lower())]
 
 
-def create_serial(port):
+def create_serial(port, parity):
     """
     Creates and/or configures a serial port to communicate with the Cortex Microcontroller
     :param port: A serial.Serial object, a device string identifier will create a corresponding serial port.
-        Anything elsse will create a default serial port with no device assigned.
+        Anything else will create a default serial port with no device assigned.
     :return: Returns a correctly configured instance of a serial.Serial object, potentially with a correctly configured
         device iff a correct port value was passed in
     """
+    # port_str = ''
     if isinstance(port, str):
         try:
-            port = serial.Serial(port)
+            # port_str = port
+            port = serial.Serial(port, baudrate=BAUD_RATE, bytesize=serial.EIGHTBITS, parity=parity, stopbits=serial.STOPBITS_ONE)
         except serial.SerialException as e:
             click.echo('WARNING: {}'.format(e))
-            port = serial.Serial()
+            port = serial.Serial(baudrate=BAUD_RATE, bytesize=serial.EIGHTBITS, parity=parity, stopbits=serial.STOPBITS_ONE)
     elif not isinstance(port, serial.Serial):
-        port = serial.Serial()
+        click.echo('port was not string, send help')
+        port = serial.Serial(baudrate=BAUD_RATE, bytesize=serial.EIGHTBITS, parity=parity, stopbits=serial.STOPBITS_ONE)
 
     assert isinstance(port, serial.Serial)
 
-    port.baudrate = BAUD_RATE
-    port.bytesize = serial.EIGHTBITS
-    port.parity = serial.PARITY_EVEN
-    port.stopbits = serial.STOPBITS_ONE
-    port.timeout = 5.0
-    port.xonxoff = False
-    port.rtscts = False
-    port.dsrdtr = False
+    # port.port = port_str if port_str != '' else None
+    port.timeout = 0.5
     # port.write_timeout = 5.0
-    # port.inter_byte_timeout = 0.005  # todo make sure this is seconds
-
+    port.inter_byte_timeout = 0.1  # todo make sure this is seconds
     return port
 
 
 def create_port_list(verbose=False):
     """
-    Returns a formatted string of all COM ports we believe are valid Cortex ports, delimted by \n
+    Returns a formatted string of all COM ports we believe are valid Cortex ports, delimited by \n
     :param verbose: If True, then the hwid will be added to the end of each device
     :return: A formatted string for printing describing the COM ports
     """