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cleanup

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This commit is contained in:
David Carley
2022-07-23 13:04:41 -07:00
parent 2e08c824de
commit 15a98972b3
21 changed files with 328 additions and 2932 deletions
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207
src/py/bbctrl/AVREmu.py
View File

@@ -1,207 +0,0 @@
################################################################################
# #
# This file is part of the Buildbotics firmware. #
# #
# Copyright (c) 2015 - 2018, Buildbotics LLC #
# All rights reserved. #
# #
# This file ("the software") is free software: you can redistribute it #
# and/or modify it under the terms of the GNU General Public License, #
# version 2 as published by the Free Software Foundation. You should #
# have received a copy of the GNU General Public License, version 2 #
# along with the software. If not, see <http://www.gnu.org/licenses/>. #
# #
# The software is distributed in the hope that it will be useful, but #
# WITHOUT ANY WARRANTY; without even the implied warranty of #
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU #
# Lesser General Public License for more details. #
# #
# You should have received a copy of the GNU Lesser General Public #
# License along with the software. If not, see #
# <http://www.gnu.org/licenses/>. #
# #
# For information regarding this software email: #
# "Joseph Coffland" <joseph@buildbotics.com> #
# #
################################################################################
import os
import sys
import traceback
import signal
import bbctrl
import bbctrl.Cmd as Cmd
class AVREmu(object):
def __init__(self, ctrl):
self.ctrl = ctrl
self.log = ctrl.log.get('AVREmu')
self.avrOut = None
self.avrIn = None
self.i2cOut = None
self.read_cb = None
self.write_cb = None
self.pid = None
def close(self):
# Close pipes
def _close(fd, withHandle):
if fd is None: return
try:
if withHandle: self.ctrl.ioloop.remove_handler(fd)
except: pass
try:
os.close(fd)
except: pass
_close(self.avrOut, True)
_close(self.avrIn, True)
_close(self.i2cOut, False)
self.avrOut, self.avrIn, self.i2cOut = None, None, None
# Kill process and wait for it
if self.pid is not None:
os.kill(self.pid, signal.SIGKILL)
os.waitpid(self.pid, 0)
self.pid = None
def _start(self):
try:
self.close()
# Create pipes
stdinFDs = os.pipe()
stdoutFDs = os.pipe()
i2cFDs = os.pipe()
self.pid = os.fork()
if not self.pid:
# Dup child ends
os.dup2(stdinFDs[0], 0)
os.dup2(stdoutFDs[1], 1)
os.dup2(i2cFDs[0], 3)
# Close orig fds
os.close(stdinFDs[0])
os.close(stdoutFDs[1])
os.close(i2cFDs[0])
# Close parent ends
os.close(stdinFDs[1])
os.close(stdoutFDs[0])
os.close(i2cFDs[1])
cmd = ['bbemu']
if self.ctrl.args.fast_emu: cmd.append('--fast')
os.execvp(cmd[0], cmd)
os._exit(1) # In case of failure
# Parent, close child ends
os.close(stdinFDs[0])
os.close(stdoutFDs[1])
os.close(i2cFDs[0])
# Non-blocking IO
os.set_blocking(stdinFDs[1], False)
os.set_blocking(stdoutFDs[0], False)
os.set_blocking(i2cFDs[1], False)
self.avrOut = stdinFDs[1]
self.avrIn = stdoutFDs[0]
self.i2cOut = i2cFDs[1]
ioloop = self.ctrl.ioloop
ioloop.add_handler(self.avrOut, self._avr_write_handler,
ioloop.WRITE | ioloop.ERROR)
ioloop.add_handler(self.avrIn, self._avr_read_handler,
ioloop.READ | ioloop.ERROR)
self.write_enabled = True
except Exception:
self.close()
self.log.exception('Internal error: Failed to start bbemu')
def set_handlers(self, read_cb, write_cb):
if self.read_cb is not None or self.write_cb is not None:
raise Exception('AVR handler already set')
self.read_cb = read_cb
self.write_cb = write_cb
self._start()
def enable_write(self, enable):
if self.avrOut is None: return
flags = self.ctrl.ioloop.WRITE if enable else 0
self.ctrl.ioloop.update_handler(self.avrOut, flags)
self.write_enabled = enable
def _avr_write(self, data):
try:
length = os.write(self.avrOut, data)
self.continue_write = length and length == len(data)
return length
except BlockingIOError: pass
except BrokenPipeError: pass
return 0
def _avr_write_handler(self, fd, events):
if self.avrOut is None: return
if events & self.ctrl.ioloop.ERROR:
self._start()
return
try:
while True:
self.continue_write = False
self.write_cb(self._avr_write)
if not self.continue_write: break
except Exception as e:
self.log.warning('AVR write handler error: %s',
traceback.format_exc())
def _avr_read_handler(self, fd, events):
if self.avrIn is None: return
if events & self.ctrl.ioloop.ERROR:
self._start()
return
try:
data = os.read(self.avrIn, 4096)
if data is not None: self.read_cb(data)
except Exception as e:
self.log.warning('AVR read handler error: %s %s' %
(data, traceback.format_exc()))
def i2c_command(self, cmd, byte = None, word = None, block = None):
if byte is not None: data = chr(byte)
elif word is not None: data = word
elif block is not None: data = block
else: data = ''
try:
if self.i2cOut is not None:
os.write(self.i2cOut, bytes(cmd + data + '\n', 'utf-8'))
except BrokenPipeError: pass

5
src/py/bbctrl/Ctrl.py
View File

@@ -25,10 +25,7 @@ class Ctrl(object):
self.log.get('Ctrl').info('Starting %s' % self.id)
try:
if args.demo:
self.avr = bbctrl.AVREmu(self)
else:
self.avr = bbctrl.AVR(self)
self.avr = bbctrl.AVR(self)
self.i2c = bbctrl.I2C(args.i2c_port, args.demo)
self.mach = bbctrl.Mach(self, self.avr)

1223
src/py/bbctrl/ObjGraph.py
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File diff suppressed because it is too large Load Diff

2
src/py/bbctrl/State.py
View File

@@ -123,8 +123,6 @@ class State(object):
if not os.path.exists(upload):
os.mkdir(upload)
from shutil import copy
copy(bbctrl.get_resource('http/buildbotics.nc'), upload)
for path in os.listdir(upload):
if os.path.isfile(upload + '/' + path):

145
src/py/bbctrl/__init__.py
View File

@@ -1,33 +1,5 @@
#!/usr/bin/env python3
################################################################################
# #
# This file is part of the Buildbotics firmware. #
# #
# Copyright (c) 2015 - 2018, Buildbotics LLC #
# All rights reserved. #
# #
# This file ("the software") is free software: you can redistribute it #
# and/or modify it under the terms of the GNU General Public License, #
# version 2 as published by the Free Software Foundation. You should #
# have received a copy of the GNU General Public License, version 2 #
# along with the software. If not, see <http://www.gnu.org/licenses/>. #
# #
# The software is distributed in the hope that it will be useful, but #
# WITHOUT ANY WARRANTY; without even the implied warranty of #
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU #
# Lesser General Public License for more details. #
# #
# You should have received a copy of the GNU Lesser General Public #
# License along with the software. If not, see #
# <http://www.gnu.org/licenses/>. #
# #
# For information regarding this software email: #
# "Joseph Coffland" <joseph@buildbotics.com> #
# #
################################################################################
import os
import sys
import signal
import tornado
@@ -53,13 +25,11 @@ from bbctrl.Comm import Comm
from bbctrl.CommandQueue import CommandQueue
from bbctrl.Camera import Camera, VideoHandler
from bbctrl.AVR import AVR
from bbctrl.AVREmu import AVREmu
from bbctrl.IOLoop import IOLoop
from bbctrl.MonitorTemp import MonitorTemp
import bbctrl.Cmd as Cmd
import bbctrl.v4l2 as v4l2
import bbctrl.Log as log
import bbctrl.ObjGraph as ObjGraph
ctrl = None
@@ -69,7 +39,7 @@ def get_resource(path):
return resource_filename(Requirement.parse('bbctrl'), 'bbctrl/' + path)
def on_exit(sig = 0, func = None):
def on_exit(sig=0, func=None):
global ctrl
print('Exit handler triggered: signal = %d', sig)
@@ -85,76 +55,46 @@ def time_str():
return datetime.datetime.now().strftime('%Y%m%d-%H:%M:%S')
class Debugger:
def __init__(self, ioloop, freq = 60 * 15, depth = 100):
self.ioloop = ioloop
self.freq = freq
self.depth = depth
self._callback()
def _callback(self):
with open('bbctrl-debug-%s.log' % time_str(), 'w') as log:
def line(name):
log.write('==== ' + name + ' ' + '=' * (74 - len(name)) + '\n')
line('Common')
ObjGraph.show_most_common_types(limit = self.depth, file = log)
log.write('\n')
line('Growth')
ObjGraph.show_growth(limit = self.depth, file = log)
log.write('\n')
line('New IDs')
ObjGraph.get_new_ids(limit = self.depth, file = log)
log.flush()
self.ioloop.call_later(self.freq, self._callback)
def parse_args():
parser = argparse.ArgumentParser(
description = 'Buildbotics Machine Controller')
description='Buildbotics Machine Controller')
parser.add_argument('-p', '--port', default = 80,
type = int, help = 'HTTP port')
parser.add_argument('-a', '--addr', metavar = 'IP', default = '0.0.0.0',
help = 'HTTP address to bind')
parser.add_argument('-s', '--serial', default = '/dev/ttyAMA0',
help = 'Serial device')
parser.add_argument('-b', '--baud', default = 230400, type = int,
help = 'Serial baud rate')
parser.add_argument('--i2c-port', default = 1, type = int,
help = 'I2C port')
parser.add_argument('--avr-addr', default = 0x2b, type = int,
help = 'AVR I2C address')
parser.add_argument('--pwr-addr', default = 0x60, type = int,
help = 'Power AVR I2C address')
parser.add_argument('-v', '--verbose', action = 'store_true',
help = 'Verbose output')
parser.add_argument('-l', '--log', metavar = "FILE",
help = 'Set a log file')
parser.add_argument('--disable-camera', action = 'store_true',
help = 'Disable the camera')
parser.add_argument('--width', default = 640, type = int,
help = 'Camera width')
parser.add_argument('--height', default = 480, type = int,
help = 'Camera height')
parser.add_argument('--fps', default = 15, type = int,
help = 'Camera frames per second')
parser.add_argument('--camera-clients', default = 4,
help = 'Maximum simultaneous camera clients')
parser.add_argument('--demo', action = 'store_true',
help = 'Enter demo mode')
parser.add_argument('--debug', default = 0, type = int,
help = 'Enable debug mode and set frequency in seconds')
parser.add_argument('--fast-emu', action = 'store_true',
help = 'Enter demo mode')
parser.add_argument('--client-timeout', default = 5 * 60, type = int,
help = 'Demo client timeout in seconds')
parser.add_argument('-p', '--port', default=80,
type=int, help='HTTP port')
parser.add_argument('-a', '--addr', metavar='IP', default='0.0.0.0',
help='HTTP address to bind')
parser.add_argument('-s', '--serial', default='/dev/ttyAMA0',
help='Serial device')
parser.add_argument('-b', '--baud', default=230400, type=int,
help='Serial baud rate')
parser.add_argument('--i2c-port', default=1, type=int,
help='I2C port')
parser.add_argument('--avr-addr', default=0x2b, type=int,
help='AVR I2C address')
parser.add_argument('--pwr-addr', default=0x60, type=int,
help='Power AVR I2C address')
parser.add_argument('-v', '--verbose', action='store_true',
help='Verbose output')
parser.add_argument('-l', '--log', metavar="FILE",
help='Set a log file')
parser.add_argument('--disable-camera', action='store_true',
help='Disable the camera')
parser.add_argument('--width', default=640, type=int,
help='Camera width')
parser.add_argument('--height', default=480, type=int,
help='Camera height')
parser.add_argument('--fps', default=15, type=int,
help='Camera frames per second')
parser.add_argument('--camera-clients', default=4,
help='Maximum simultaneous camera clients')
parser.add_argument('--demo', action='store_true',
help='Enter demo mode')
parser.add_argument('--debug', default=0, type=int,
help='Enable debug mode and set frequency in seconds')
parser.add_argument('--fast-emu', action='store_true',
help='Enter demo mode')
parser.add_argument('--client-timeout', default=5 * 60, type=int,
help='Demo client timeout in seconds')
return parser.parse_args()
@@ -170,16 +110,15 @@ def run():
# Create ioloop
ioloop = tornado.ioloop.IOLoop.current()
# Set ObjGraph signal handler
if args.debug: Debugger(ioloop, args.debug)
# Start server
web = Web(args, ioloop)
try:
ioloop.start()
except KeyboardInterrupt: on_exit()
except KeyboardInterrupt:
on_exit()
if __name__ == '__main__': run()
if __name__ == '__main__':
run()