PFCMD PY
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These commands typically live in "support_scripts", as of late 2010 are in trunk\H22\support_scripts.
Contents
keys.py
Writes to the keys registry on the robot. Note, there is an issue writing to 32 bit keys on the command line - thus the script file must be used.
keys.py -p xx <options> -p COM port / or IP address port -b baudrate -i <name or IP address> : IP address of the SWIFI -r read keys by name that follow (multiple keys allowed) -w write key values by name, value that follow (multiple key values are allowed) (N -S process script file -D generation keys.h wiki documentation file -l log file name -v verify : after writing ALL values, will go back and verify them. (def=TRUE) -V verify table : will read the init tables and verify hashs and CRCs. (def = False
example: keys.py -p 26 -V -r serial_number run_level -w run_level 22 -r run_level
example to read a script file and set all the keys : keys.py -p 18 -S keys_baudrate_script.txt
example: set baudrate to 833333: keys.py -p xx [-b 833333] -S keys_baudrate_script.txt
Baudrate script example:
keys_baudrate_script.txt # parse rules: # '#' start a comment # to write a key : <key> = <value> # to read a key : <key> # to verify a key : <key> == <value> # # SC_FUP_BAUDRATE = 833333 #SC_FUP_BAUDRATE = 115200
do_command.py
Usage: do_command.py [options]
Options:
-h, --help show this help message and exit
-i IP_ADDRESS, --ip_address=IP_ADDRESS
make a TCP connection to the specified IP (instead of
using serial)
-P PORT, --port=PORT port number for TCP connections.
-c COM_PORT, -p COM_PORT, --com_port=COM_PORT
COM PORT number for serial port connection
-b BAUDRATE, --baud_rate=BAUDRATE
baurdrate when using serial port (default is 115200)
-g GET_TYPE get IO channels : options are [ai, di, ao, do]
--suffix=SPECIAL_COMMAND_SUFFIX
suffix for special commands (thus variations on the
special commands can be used.)
-D REPEAT_DELAY, --delay=REPEAT_DELAY
special command repeat delay in milliseconds
-v GET_VERSION, --version=GET_VERSION
execute the version command on each of the specified
platforms. Eg -v smi does all platforms.
-n REPEAT_COUNT, --repeat_count=REPEAT_COUNT
number of times to repeat the supplied special
command(s)
-T, --set_time use the PC time to set the robot clock
-t TIMEOUT, --timeout=TIMEOUT
serial or TCP communcations timeout (sec)
-X, --hex_mode display the special command results in hex
-F, --float_mode interpret the data from the special command as
floating point numbers
-f LOG_FILE_NAME, --file_name=LOG_FILE_NAME
log the results to a file.
-S STRUCT_STRING, --struct_string=STRUCT_STRING
use struct.unpack(STRUT_STRING, data) to process the
result of the special command. Eg -S =10L
-R READ_ADDRESS, --read_address=READ_ADDRESS
read memory from address (int or hex)
-W WRITE_ADDRESS, --write_address=WRITE_ADDRESS
write data to address (int or hex)
-d DATA_FILENAME, --data_filename=DATA_FILENAME
text file source for data that is written. file should
contain numbers (UINT8_T) separated with a char from
[,;:= ]. these numbers will be turned into a
bytestream for use with memory write.
-L READ_LENGTH, --read_length=READ_LENGTH
length of memory buffer to read
-M MEMORY_TYPE, --memory_type=MEMORY_TYPE
numeric code to specify the memory type and platform
for read and write. Use -H for a list.
-s, --special -s N [arg1, ... ] issue special command N with
arguments. Args may be negative, and multiple
commands may be issued by repeating the -s
-V, --write_data list of SPACE separated values available for memory
write command. Eg -V 1 2 3
-H, --memory_type_help
list the ID numbers for various robot memory types.
HOSTCMD_SC_RAM_MEM_TYPE 1 HOSTCMD_SC_FLASH_MEM_TYPE 2 HOSTCMD_SC_MFG_EEPROM_MEM_TYPE 3 HOSTCMD_SC_USR_EEPROM_MEM_TYPE 4 HOSTCMD_MC_RAM_MEM_TYPE 5 HOSTCMD_MC_FLASH_MEM_TYPE 6 HOSTCMD_IMU_RAM_MEM_TYPE 11 HOSTCMD_IMU_FLASH_MEM_TYPE 12 HOSTCMD_IMU_MFG_EEPROM_MEM_TYPE 13 HOSTCMD_IMU_USR_EEPROM_MEM_TYPE 14
examples
- Using two special commands, each 10 times to read the SC and MC state:
do_command.py -p <COM PORT> -n 10 -s 104 -s 1420
- Read IMU data and display as a float:
do_command.py -p <COM PORT> -F -s 2025
- Read IMU and run through a strut string to produce 4 ints, 4 longs, and 4 floats (length = 40)
do_command.py -p <COM PORT> -S =4h4L4F -s 2030
- Read 512 bytes of IMU FLASH memory at address 4096:
do_command.py -p <COM PORT> -L 0x200 -R 0x1000 -M 12
- Write 3 bytes ('A','B','C') to SC USR EEPROM at address 0xff0, then read it back
do_command.py -p <COM PORT> -W 0xff0 -V 65 66 67 -M 4 -R 0xff0
- Write a list of numbers from a file to SC USR_EEPROM
do_command.py -p <COM PORT> -W 0xff0 -d eeprom_data.txt -M 4 -R 0xff0
robo_config.py
robo_config is used to read / write / modify tables on the robot.
Usage: robo_config.py [options]
Options:
-h, --help show this help message and exit
-i IP_ADDRESS, --ip_address=IP_ADDRESS
Connect to robo via TCP to specified address or DNS
name
-p COM_PORT, -c COM_PORT, --com_port=COM_PORT
communcation port for serial communcation
-P TCP_PORT, --tcp_port=TCP_PORT
TCP port to use when using an IP address connection
-b BAUD_RATE, --baud_rate=BAUD_RATE
baudrate for serial communcation. default is
115.2kbaud
--debug=DEBUG_LEVEL set debug level, not necessarly consistently
implmented or used
-Q, --quiet not necessarly used.
--dump_table read header string table from robot, decode it and
save it to text file dump_table.txt
-l, --list List available shared variables and their addresses
from robot
-Z TARGET_DEVICE, --target_device=TARGET_DEVICE
Which processor is the target of the application.
OPTIONS = SC, MC, IMU (or the first letter of)
-T TABLE_FILE_LIST, --table_file=TABLE_FILE_LIST
specify the table file used with the -W and -M options
-M MODIFY_TABLE_LIST, --modify_table=MODIFY_TABLE_LIST
specify which tables from calibration file may be
modified.
-W WRITE_TABLE_LIST, --write_table=WRITE_TABLE_LIST
specify which tables from calibration file may be
written.
--WA, --write_all (under development) if specified, then all sections in
the KVF are written
-s, --stdout when reading tables to a file, output will be to
screen.
-O OUTPUT_FILE_LIST, --output_file=OUTPUT_FILE_LIST
when reading table, they can be written to the file
specified here.
-A, --read_all read all tables in the robot
-R READ_TABLE_LIST, --read_table=READ_TABLE_LIST
read specific tables from the robot.
examples
- list tables on robo with SWIFI at IP ...192
robo_config.py -i 192.168.192.192 -l
- list IMU tables :
robo_config.py -p 10 -Z IMU -l
- read the boot_status table
robo_config.py -p 10 -s -R boot_status_obj
- read all tables, and save to file
robo_config.py -p 10 -l -s --read_all -O output_file_kvf.txt
- write all the sections in the KVF file:
robo_config.py -p 10 -T calb_params_kvf.txt --write_all
- write a specific section from the KVF file, and read it back:
robo_config.py -p 10 -l -T calb_params_kvf_.txt -W EE_state_calb_param -s -R EE_state_calb_param
- write and verify a section : (UNDER DEVELOPMENT)
robo_config.py -p 10 -l -T calb_params_kvf_.txt -V EE_state_calb_param
Coming options:
- The -s option will only be required to display a table only if the -O option is present.
- The -Q option will be used to suppress automatic table display.
- The -V option will write and verify a section
- All table names can be expressed as a number from the list.
- The -M option will perform at read, modify, write, verify cycle. This will allow certain the modification of only some values of a table.
Issues
- Tables read back aren't tested to be valid WRT to its CRC or magic number.
- Typos can cause the program to fail in unexpected / or unobvious ways.
- Using a non-existant section name crashs the problem
- In a KVF file, using an unknown field name outputs a message that will never be seen.
robo_update.py
robo_update is a robo_config like application that allows the direct editing of table values
robo_update.py [options] table.variable=value <table.variable=value>
Options:
-h, --help show this help message and exit
-i IP_ADDRESS, --ip_address=IP_ADDRESS
Connect to robo via TCP to specified address or DNS
name
-p COM_PORT, -c COM_PORT, --com_port=COM_PORT
communication port for serial communication
-P TCP_PORT, --tcp_port=TCP_PORT
TCP port to use when using an IP address connection
-b BAUD_RATE, --baud_rate=BAUD_RATE
baudrate for serial communication. default is
115.2kbaud
-R READ_TABLE_LIST, --read_table=READ_TABLE_LIST
read specific tables from the robot.
-l, --list List available shared variables and their addresses
from robot
-Z TARGET_DEVICE, --target_device=TARGET_DEVICE
Which processor is the target of the application.
OPTIONS = SC, MC, IMU (or the first letter of)
-D DEBUG_LEVEL, --debug=DEBUG_LEVEL
set debug level, not necessarily consistently
implemented or used
examples
- to use the program to update two values in the table EE_state_fixed_param:
robo_update.py -p 40 EE_state_fixed_param.low_voltage_shutdown_mv=19500 EE_state_fixed_param.BSE_serial_number=71
update_firmware.py
This script analyzes the firmware, then adds source code to the project that facilitate the sharing of data structures between the robot and the PC. It is run by the MPLAB compiler as part of a pre-build script.
At present there are two files created:
- pygen_header_bzip2_str.h : The file declares a const that contains the source code (compressed) for 'interesting' data structures. This 'string' can be read from the robot and is used to decipher the data structures.
- pygen_shared_object_hash_codes.h : For each of the 'interesting' data structures from the source code, a HASH is made of the typedef source code. These hashes are used to link data in an EEPROM table with the source code data structure.
Usage: update_firmware.py [options]
Options:
-h, --help show this help message and exit
-p FIRMWARE_PATH, --path=FIRMWARE_PATH
path to the firmware directory
-O FILENAME_SHARED_OBJ, --shared_object=FILENAME_SHARED_OBJ
filename in the SC subpath that contains the shared
object decleration. (default = pyshared.c)
-H HEADER_FILE_LIST, --header_file=HEADER_FILE_LIST
header file to parse. Can repeat the -H.
key_value_file.py
Module used to read - write key value files. Can be used as a command line tool to test a file.
Usage: key_value_file.py [options]
Options:
-h, --help show this help message and exit
-p FILENAME_PATH, --path=FILENAME_PATH
path to append to file names
-f FILENAME, --filename=FILENAME
KVF files to read, repeat option to read a list of
files.
-w WRITE_FILENAME, --write_filename=WRITE_FILENAME
name of the KVF file to write.
-d, --display
dashboard
This is the compiled version of the H2dashboard program.
download/install
Download the package at : http://web.media.mit.edu/~cbarn/dashboard_2010b/
When run, it will extract the MCRInstaller.exe (matlab run time library. Install that and afterward logout or restart the machine to allow windows to make us of the DLL.
using
The command format is:
dashboard.exe robo_id weight_lbs filename
- robo_id is "H2_001" or "H2_005"
- weight of subject in lbs (eg 200)
- wifi_fast log file
- known to work with the .txt file
- may also work with the .zip
