tos-nwprog

tinyos-2.x.rar

#!/usr/bin/env python

# Copyright (c) 2007 Johns Hopkins University.
# All rights reserved.
#
# Permission to use, copy, modify, and distribute this software and its
# documentation for any purpose, without fee, and without written
# agreement is hereby granted, provided that the above copyright
# notice, the (updated) modification history and the author appear in
# all copies of this source code.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS `AS IS'
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS
# BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, LOSS OF USE, DATA,
# OR PROFITS) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF
# THE POSSIBILITY OF SUCH DAMAGE.

# @author Razvan Musaloiu-E. <[e-mail]>
# @author Chieh-Jan Mike Liang <[e-mail]>

# b6lowpan/nwprog port:
# @author Stephen Dawson-Haggerty <[e-mail]>

import sys, stat, struct, subprocess, time, os.path, socket, getopt, re
try:
    import tos
except ImportError:
    import posix
    sys.path = [os.path.join(posix.environ['TOSROOT'], 'support', 'sdk', 'python')] + sys.path
    import tos
from datetime import datetime

# Path to the python script that builds Deluge image from XML
PATH_PY_BUILD_IMAGE  = os.path.join(os.path.dirname(sys.argv[0]), 'tos-build-deluge-image')

# Commands for NWProg
NWPROG_CMD_ERASE = 1
NWPROG_CMD_WRITE = 2
NWPROG_CMD_READ  = 3


# Deluge parameters
DELUGE_MAX_PAGES    = 128
DELUGE_IDENT_OFFSET = 0
DELUGE_IDENT_SIZE   = 128

NWPROG_PORT = 5213
NWPROG_PKT_SIZE = 64
NWPROG_REQ_FMT = "!BBH"
NWPROG_REPLY_FMT = "!BBBBH"

ERROR_SUCCESS = 0
nRetries = 3

class CommandFailedException:
    pass

def send_command(cmd_str, retries):
    s.sendto(cmd_str, (remote, NWPROG_PORT))
    s.settimeout(3)
    (real_cmd, real_imgno, real_offset) = struct.unpack(NWPROG_REQ_FMT, cmd_str[0:4])
    try:
        data, addr = s.recvfrom(1024)
        # make sure this is the guy we're programming
        if (addr[0] == remote):
            (error, pack, cmd, imgno, offset) = struct.unpack(NWPROG_REPLY_FMT, data)
            if error != ERROR_SUCCESS or real_offset != offset or real_imgno != imgno:
                print "WARNING: received error while sending block; retrying"
                raise socket.timeout
            else: return data
        else:
            print "WARNING: received unexpected reply from", addr[0]
            return False
    except socket.timeout:
        # socket timeout out try again
        if retries > 0:
            return send_command(cmd_str, retries - 1)
        else:
            return False

def erase(imgNum, none=None):
    e_req = struct.pack(NWPROG_REQ_FMT, NWPROG_CMD_ERASE, imgNum, 0)
    return send_command(e_req, 1)

def read(imgNum, unused=None):
    length = 40000
    pkt_offset = 0
    while length > 0:
        sreqpkt = struct.pack(NWPROG_REQ_FMT, NWPROG_CMD_READ, imgNum, pkt_offset)

        data = send_command(sreqpkt, 5)
        if data != False:
            (error, pack, cmd, imgno, offset) = struct.unpack(NWPROG_REPLY_FMT, data[0:6])
            if offset == pkt_offset:
                for c in data[6:]:
                    print >>sys.stderr, ord(c)
            else:
                print "ERROR: Out of sequence data: aborting"
                sys.exit(1)
        pkt_offset += len(data) - 6
        length -= (len(data) - 6)
    return True
            

def write(imgNum, data):
    length = len(data)
    total_length = length   # For progress bar
    next_tick = 100         # For progress bar
    start_time = time.time()

    print "[0%        25%         50%         75%         100%]\r[",

    pkt_offset = 0
    pkt_length = 0

    while length > 0:
        if ((length * 100) / total_length) < next_tick:
            next_tick = next_tick - 2
            sys.stdout.write('-')
            sys.stdout.flush()

        # Calculates the payload size for the current packet
        if length >= NWPROG_PKT_SIZE:
            pkt_length = NWPROG_PKT_SIZE
        else:
            pkt_length = length

        sreqpkt = struct.pack(NWPROG_REQ_FMT,
                              NWPROG_CMD_WRITE, imgNum, pkt_offset)

        for i in data[pkt_offset:pkt_offset+pkt_length]:
            sreqpkt += chr(i)

        # Sends packet to serial
        if not send_command(sreqpkt, 5):
            print "\nReceived error from mote while programming"
            print "Perhaps the block size is too large, or the flash is broken?"
            return False

        length -= pkt_length
        pkt_offset += pkt_length


    print '\r' + ' ' * 52,
    elasped_time = time.time() - start_time
    print "\r%s bytes in %.2f seconds (%.4f bytes/s)" % (total_length, elasped_time, int(total_length) / (elasped_time))

    return True


# Injects an image (specified by tos_image_xml) to an image volume
def upload(imgNum, tos_image_xml):
    # Checks for valid file path
    try:
        os.stat(tos_image_xml)         # Checks whether tos_image_xml is a valid file
    except:
        print "ERROR: Unable to find the TOS image XML, \"%s\"" % tos_image_xml
        return False
    try:
        os.stat(PATH_PY_BUILD_IMAGE)   # Checks whether PATH_PY_BUILD_IMAGE is a valid file
    except:
        print "ERROR: Unable to find the image building utility, \"%s\"" % PATH_PY_BUILD_IMAGE
        return False

    # Creates binary image from the TOS image XML
    print "--------------------------------------------------"
    cmd = [PATH_PY_BUILD_IMAGE, "-i", str(imgNum), tos_image_xml]
    print "Create image:", ' '.join(cmd)
    p = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
    (out, err) = p.communicate(None)
    print err,
    print "--------------------------------------------------"

    # Writes the new binary image
    image = [struct.unpack("B", c)[0] for c in out]
    if len(image) > 0 and erase(imgNum):
        return write(imgNum, image)
    else:
        print "Could not proceed: image size is zero or erase failed"

    return False


def print_usage():
    print
    print "Usage: %s <(-e|-u) image_number> <-f app_xml> [options] [ip_address]" % sys.argv[0]
    print "  -u --upload      Upload a compiled TinyOS application"
    print "  -r --read        Read back a volume"
    print "  -e --erase       Erase an image in the external flash"
    print "  -f --appfile     The tos_image.xml file to upload"
    print "  -m --motelist    A file containing a list of IPv6 addresses to upload to"
    print "  -r --retries     The number of times to retry each operation (currently %i)" % nRetries
    print "  -p --payload-sz  How much payload to include in every packet (currently %i)" % NWPROG_PKT_SIZE
    print "  -d --dudfile     File to write list of motes which did not program (default: stdout)"
    print

def checkImgNum(imgNum):
    # Checks for valid image number format
    try:
        imgNum = int(imgNum)
    except:
        print "ERROR: Image number is not valid"
        sys.exit(-1)
    return imgNum

# ======== MAIN ======== #
if __name__ == '__main__':

    try:
        opts, args = getopt.getopt(sys.argv[1:], "e:u:m:f:r:p:d:r:",
                                   ["--erase", "--upload", "--motelist", "--appfile",
                                    "--retries", "--payload", "--dudfile",
                                    "--upload"])
    except getopt.GetoptError, err:
        print str(err)
        print_usage()
        sys.exit(1)

    imgNum = None
    uploadFile = None
    appFile = None
    dudFile = None
    
    for o, a in opts:
        if o in ["-e", "--erase"]:
            imgNum = checkImgNum(a)
            cmd = "eras"
        elif o in ["-u", "--upload"]:
            imgNum = checkImgNum(a)
            cmd = "upload"
        elif o in ["-r", "--read"]:
            imgNum = checkImgNum(a)
            cmd = "read"
        elif o in ["-m", "--motelist"]:
            uploadFile = a
        elif o in ["-f", "--appfile"]:
            appFile = a
        elif o in ["-r", "--retries"]:
            nRetries = int(a)
        elif o in ["-p", "--payload-sz"]:
            NWPROG_PKT_SIZE = int(a)
        elif o in ["-d", "--dudfile"]:
            dudFile = a

    if imgNum == None or (cmd != "eras" and cmd != "read" and appFile == None):
        print_usage()
        sys.exit(1)

    upload_list = []
    if uploadFile == None:
        upload_list = [(ip, nRetries) for ip in args]
    else:
        fp = open(uploadFile, "r")
        rexp = re.compile("^.*#")
        for ip in fp.readlines():
            if re.match(rexp,ip): continue
            upload_list.append( (ip.strip().lower(), nRetries) )
        fp.close()

    if cmd == 'upload': cmd_fn = upload
    elif cmd == 'read': cmd_fn = read
    else: cmd_fn = erase

    print "%sing %i motes" % (cmd, len(upload_list))
    print "retries: %i payload: %i" % (nRetries, NWPROG_PKT_SIZE)

    for t in range(0, nRetries):
        for i in range(0, len(upload_list)):
            remote, tries_left = upload_list[i]
            if tries_left <= 0: continue
            print "%sing %s, %i tries remaining ..." % (cmd, remote, tries_left)
            try:
                s = socket.socket(socket.AF_INET6, socket.SOCK_DGRAM)
                if not cmd_fn(imgNum, appFile):
                    upload_list[i] = (remote, tries_left - 1)
                else:
                    upload_list[i] = (remote, -1)
                    print "Success!"
                s.close()
            except KeyboardInterrupt:
                print "Interrupted; exiting"
                sys.exit(2)
            except Exception, e:
                print "Received unexpected exception while programming"
                print str(e)
                s.close()
                pass

    printedHeading = False
    if dudFile != None:
        dudFp = open(dudFile, "w")
    else: dudFp = sys.stdout
    
    for i in range(0, len(upload_list)):
        remote, tries_left = upload_list[i]
        if tries_left == 0 and not printedHeading:
            printedHeading = True
            print "WARNING: not all motes were succesfully %sed!" % cmd
        if tries_left == 0:
            print >>dudFp, remote

    if dudFp != sys.stdout:
        dudFp.close()