diff --git a/code/clibs.py b/code/clibs.py index c059e2e..0c60c39 100644 --- a/code/clibs.py +++ b/code/clibs.py @@ -16,6 +16,7 @@ password = "luoshi2019" # for real robot xService_port = 6666 external_port = 8080 modbus_port = 502 +upgrade_port = 4567 interval = 0.5 # interval after actions being triggered, such as modbus/socket/external communication operations heartbeat_interval = 2 RADIAN = 57.3 # 180 / 3.1415926 diff --git a/code/common.py b/code/common.py index 9c9ba81..f5e5e91 100644 --- a/code/common.py +++ b/code/common.py @@ -1,7 +1,13 @@ +import os.path +import socket import time import openapi import json import clibs +from socket import * +from ctypes import * +import hashlib +import struct def initialization(): @@ -115,5 +121,190 @@ def initialization(): md.r_clear_alarm() +def fw_updater(local_file_path): + fw_size = os.path.getsize(local_file_path) + if fw_size > 10000000: + # get previous version of xCore + hr = openapi.HmiRequest() + version_previous = hr.get_robot_params["version"] + hr.close() + + # var def + remote_file_path = './upgrade/lircos.zip' + fw_content = bytearray() + package_data = bytearray() + package_data_with_head = bytearray() + + # socket connect + clibs.logger.info(f"正在连接 {clibs.ip_addr}:{clibs.upgrade_port}...") + try: + tcp_socket = socket(AF_INET, SOCK_STREAM) + tcp_socket.connect((clibs.ip_addr, clibs.upgrade_port)) + tcp_socket.setblocking(True) + except Exception as Err: + clibs.logger.error(f"{Err} | 连接 {clibs.ip_addr}:{clibs.upgrade_port} 失败...") + exit(1) + + # get firmware content of binary format + clibs.logger.info(f"正在读取 {local_file_path} 文件内容...") + with open(local_file_path, 'rb') as f_fw: + fw_content += f_fw.read() + + # construct package data: http://confluence.i.rokae.com/pages/viewpage.action?pageId=15634148 + clibs.logger.info("正在构造数据包，以及包头...") + # 1 protocol id + protocol_id = c_ushort(htons(0)) # 2 bytes + package_data += protocol_id + + # 2 write type + write_type = c_ubyte(0) + package_data += bytes(write_type) + + # 3 md5 + md5_hash = hashlib.md5() + md5_hash.update(fw_content) + fw_md5 = md5_hash.hexdigest() + i = 0 + while i < len(fw_md5): + _ = (fw_md5[i:i + 2]) + package_data += bytes.fromhex(_) + i += 2 + + # 4 remote path len + remote_file_path_len = c_ushort(htons(len(remote_file_path))) + package_data += remote_file_path_len + + # 5 remote path + package_data += remote_file_path.encode("ascii") + + # 6 file + package_data += fw_content + + # construct communication protocol: http://confluence.i.rokae.com/pages/viewpage.action?pageId=15634045 + # 1 get package data with header + package_size = c_uint(htonl(len(package_data))) + package_type = c_ubyte(1) # 0-无协议 1-文件 2-json + package_reserve = c_ubyte(0) # 预留位 + + package_data_with_head += package_size + package_data_with_head += package_type + package_data_with_head += package_reserve + package_data_with_head += package_data + + # 2 send data to server + clibs.logger.info("正在发送数据到 xCore，升级控制器无需重启，升级配置文件会自动软重启...") + start = 0 + len_of_package = len(package_data_with_head) + while start < len_of_package: + end = 10240 + start + if end > len_of_package: + end = len_of_package + sent = tcp_socket.send((package_data_with_head[start:end])) + time.sleep(0.01) + if sent == 0: + raise RuntimeError("socket connection broken") + else: + start += sent + + waited = 5 if fw_size > 10000000 else 25 + time.sleep(waited) + + if fw_size > 10000000: + # get current version of xCore + hr = openapi.HmiRequest() + version_current = hr.get_robot_params["version"] + hr.close() + + clibs.logger.info(f"控制器升级成功：from {version_previous} to {version_current} :)") + else: + clibs.logger.info(f"配置文件升级成功 :)") + + tcp_socket.close() + + +class UpgradeJsonCmd(object): + def __init__(self): + self.__c = None + self.__sock_conn() + + def __sock_conn(self): + # socket connect + clibs.logger.info(f"正在连接 {clibs.ip_addr}:{clibs.upgrade_port}...") + try: + self.__c = socket(AF_INET, SOCK_STREAM) + self.__c.connect((clibs.ip_addr, clibs.upgrade_port)) + self.__c.setblocking(True) + self.__c.settimeout(3) + except Exception as Err: + clibs.logger.error(f"{Err} | 连接 {clibs.ip_addr}:{clibs.upgrade_port} 失败...") + exit(1) + + @staticmethod + def __do_package(cmd): + package_size = struct.pack('!I', len(cmd)) + package_type = struct.pack('B', 2) + reserved_byte = struct.pack('B', 0) + return package_size + package_type + reserved_byte + cmd + + def __recv_result(self, cmd): + time.sleep(2) + try: + res = self.__c.recv(10240).decode() + except timeout: + res = "ResponseNone" + clibs.logger.info(f"请求命令 {cmd.decode()} 的返回信息：\n{res[8:]}") + self.__c.close() + time.sleep(2) + + def __exec(self, command: dict): + try: + self.__c.recv(10240) + except timeout: + pass + cmd = json.dumps(command, separators=(",", ":")).encode("utf-8") + self.__c.sendall(self.__do_package(cmd)) + self.__recv_result(cmd) + + def erase_cfg(self): + # 一键抹除机器人配置(.rc_cfg)、交互数据配置(interactive_data)，但保留用户日志 + # 场景：如果xCore版本升级跨度过大，配置文件可能不兼容导致无法启动，可以使用该功能抹除配置，重新生成配置。 + # 机器人参数、零点等会丢失！ + self.__exec({"cmd": "erase"}) + + def clear_rubbish(self): + self.__exec({"cmd": "clearRubbish"}) + + def soft_reboot(self): + self.__exec({"cmd": "soft_reboot"}) + + def version_query(self): + self.__exec({"query": "version"}) + + def robot_reboot(self): + self.__exec({"cmd": "reboot"}) + + def reset_passwd(self): + # 不生效，有问题 + self.__exec({"cmd": "passwd"}) + + def backup_origin(self): + # xCore + # .rc_cfg / + # interactive_data / + # module / + # demo_project / + # robot_cfg / + # dev_eni.xml + # ecat_license + # libemllI8254x.so & libemllI8254x_v3.so + # set_network_parameters + self.__exec({"cmd": "backup_origin"}) + + def origin_recovery(self): + self.__exec({"cmd": "recover"}) + + if __name__ == "__main__": - initialization() + # initialization() + # fw_updater() + pass