def __init__(self,
link,
download_dir=None,
prompt=True,
serial_upgrade=False):
"""
Traits tab with UI for updating Piksi firmware.
Parameters
----------
link : sbp.client.handler.Handler
Link for SBP transfer to/from Piksi.
prompt : bool
Prompt user to update console/firmware if out of date.
"""
self.link = link
self.settings = {}
self.prompt = prompt
self.python_console_cmds = {'update': self}
try:
self.update_dl = UpdateDownloader()
if download_dir:
self.update_dl.set_root_path(download_dir)
except URLError:
self.update_dl = None
pass
self.erase_en = True
self.stm_fw = FirmwareFileDialog('bin')
self.stm_fw.on_trait_change(self._manage_enables, 'status')
self.nap_fw = FirmwareFileDialog('M25')
self.nap_fw.on_trait_change(self._manage_enables, 'status')
self.stream = OutputStream()
self.serial_upgrade = serial_upgrade
self.last_call_fw_version = None
if not self.serial_upgrade:
self._write(
"1. Insert the USB flash drive provided with your Piki Multi into "
"your computer. Select the flash drive root directory as the "
"firmware download destination using the \"Please "
"choose a directory for downloaded firmware files\" directory "
"chooser above. Press the \"Download Latest Firmware\" button. "
"This will download the latest Piksi Multi firmware file onto the "
"USB flashdrive.\n"
"2. Eject the drive from your computer and plug it "
"into the Piksi Multi evaluation board.\n"
"3. Reset your Piksi Multi and it will upgrade to the version "
"on the USB flash drive. This should take less than 5 minutes.\n"
"4. When the upgrade completes you will be prompted to remove the "
"USB flash drive and reset your Piksi Multi.\n"
"5. Verify that the firmware version has upgraded via inspection "
"of the Current Firmware Version box on the Firmware Update Tab "
"of the Swift Console.\n")
def __init__(self, link, prompt=True):
self.link = link
self.settings = {}
self.prompt = prompt
self.python_console_cmds = {
'update': self
}
self.update_dl = None
self.stm_fw = IntelHexFileDialog('STM')
self.stm_fw.on_trait_change(self._manage_enables, 'status')
self.nap_fw = IntelHexFileDialog('M25')
self.nap_fw.on_trait_change(self._manage_enables, 'status')
self.stream = OutputStream()
self.get_latest_version_info()
def __init__(self, link, prompt=True):
"""
Traits tab with UI for updating Piksi firmware.
Parameters
----------
link : sbp.client.handler.Handler
Link for SBP transfer to/from Piksi.
prompt : bool
Prompt user to update console/firmware if out of date.
"""
self.link = link
self.settings = {}
self.prompt = prompt
self.python_console_cmds = {
'update': self
}
self.update_dl = None
self.erase_en = True
self.stm_fw = IntelHexFileDialog('STM')
self.stm_fw.on_trait_change(self._manage_enables, 'status')
self.nap_fw = IntelHexFileDialog('M25')
self.nap_fw.on_trait_change(self._manage_enables, 'status')
self.stream = OutputStream()
self.get_latest_version_info()
def __init__(self, *args, **kwargs):
try:
update = kwargs.pop('update')
except KeyError:
update = True
self.console_output = OutputStream()
sys.stdout = self.console_output
sys.stderr = self.console_output
self.log_file = None
log = kwargs.pop('log')
reset = kwargs.pop('reset')
try:
self.link = serial_link.SerialLink(*args, **kwargs)
self.link.add_callback(ids.PRINT, self.print_message_callback)
self.link.add_callback(ids.DEBUG_VAR, self.debug_var_callback)
# Setup logging
if log:
log_name = serial_link.generate_log_filename()
self.log_file = open(log_name, 'w+')
print "Logging at %s." % log_name
self.link.add_global_callback(serial_link.default_log_callback(self.log_file))
if reset:
self.link.send_message(ids.RESET, '')
settings_read_finished_functions = []
self.tracking_view = TrackingView(self.link)
self.solution_view = SolutionView(self.link)
self.baseline_view = BaselineView(self.link)
self.observation_view = ObservationView(self.link,
name='Rover', relay=False)
self.observation_view_base = ObservationView(self.link,
name='Base', relay=True)
self.system_monitor_view = SystemMonitorView(self.link)
self.update_view = UpdateView(self.link, prompt=update)
settings_read_finished_functions.append(self.update_view.compare_versions)
self.settings_view = \
SettingsView(self.link, settings_read_finished_functions)
self.update_view.settings = self.settings_view.settings
self.python_console_env = {
'send_message': self.link.send_message,
'link': self.link,
}
self.python_console_env.update(self.tracking_view.python_console_cmds)
self.python_console_env.update(self.solution_view.python_console_cmds)
self.python_console_env.update(self.baseline_view.python_console_cmds)
self.python_console_env.update(self.observation_view.python_console_cmds)
self.python_console_env.update(self.system_monitor_view.python_console_cmds)
self.python_console_env.update(self.update_view.python_console_cmds)
self.python_console_env.update(self.settings_view.python_console_cmds)
except:
import traceback
traceback.print_exc()
def __init__(self, link, prompt=True):
"""
Traits tab with UI for updating Piksi firmware.
Parameters
----------
link : sbp.client.handler.Handler
Link for SBP transfer to/from Piksi.
prompt : bool
Prompt user to update console/firmware if out of date.
"""
self.link = link
self.settings = {}
self.prompt = prompt
self.python_console_cmds = {'update': self}
self.update_dl = None
self.stm_fw = IntelHexFileDialog('STM')
self.stm_fw.on_trait_change(self._manage_enables, 'status')
self.nap_fw = IntelHexFileDialog('M25')
self.nap_fw.on_trait_change(self._manage_enables, 'status')
self.stream = OutputStream()
self.get_latest_version_info()
def __init__(self, link, update):
self.console_output = OutputStream()
sys.stdout = self.console_output
sys.stderr = self.console_output
try:
self.link = link
self.link.add_callback(self.print_message_callback, SBP_MSG_PRINT)
self.link.add_callback(self.debug_var_callback, SBP_MSG_DEBUG_VAR)
self.link.add_callback(self.ext_event_callback, SBP_MSG_EXT_EVENT)
self.link.start()
settings_read_finished_functions = []
self.tracking_view = TrackingView(self.link)
self.solution_view = SolutionView(self.link)
self.baseline_view = BaselineView(self.link)
self.observation_view = ObservationView(self.link,
name='Rover', relay=False)
self.observation_view_base = ObservationView(self.link,
name='Base', relay=True)
self.system_monitor_view = SystemMonitorView(self.link)
self.update_view = UpdateView(self.link, prompt=update)
settings_read_finished_functions.append(self.update_view.compare_versions)
# Once we have received the settings, update device_serial with the Piksi
# serial number which will be displayed in the window title
def update_serial():
serial_string = self.settings_view.settings['system_info']['serial_number'].value
self.device_serial = 'PK%04d' % int(serial_string)
settings_read_finished_functions.append(update_serial)
self.settings_view = \
SettingsView(self.link, settings_read_finished_functions)
self.update_view.settings = self.settings_view.settings
self.python_console_env = {
'send_message': self.link.send,
'link': self.link,
}
self.python_console_env.update(self.tracking_view.python_console_cmds)
self.python_console_env.update(self.solution_view.python_console_cmds)
self.python_console_env.update(self.baseline_view.python_console_cmds)
self.python_console_env.update(self.observation_view.python_console_cmds)
self.python_console_env.update(self.system_monitor_view.python_console_cmds)
self.python_console_env.update(self.update_view.python_console_cmds)
self.python_console_env.update(self.settings_view.python_console_cmds)
except:
import traceback
traceback.print_exc()
def __init__(self, link, prompt=True, serial_upgrade=False):
"""
Traits tab with UI for updating Piksi firmware.
Parameters
----------
link : sbp.client.handler.Handler
Link for SBP transfer to/from Piksi.
prompt : bool
Prompt user to update console/firmware if out of date.
"""
self.link = link
self.settings = {}
self.prompt = prompt
self.python_console_cmds = {
'update': self
}
try:
self.update_dl = UpdateDownloader()
except URLError:
self.update_dl = None
pass
self.erase_en = True
self.stm_fw = FirmwareFileDialog('bin')
self.stm_fw.on_trait_change(self._manage_enables, 'status')
self.nap_fw = FirmwareFileDialog('M25')
self.nap_fw.on_trait_change(self._manage_enables, 'status')
self.stream = OutputStream()
self.serial_upgrade = serial_upgrade
self.last_call_fw_version = None
if not self.serial_upgrade:
self._write(
"1. Insert the USB flash drive provided with your Piki Multi into "
"your computer. Select the flash drive root directory as the "
"firmware download destination using the \"Please "
"choose a directory for downloaded firmware files\" directory "
"chooser above. Press the \"Download Latest Firmware\" button. "
"This will download the latest Piksi Multi firmware file onto the "
"USB flashdrive.\n"
"2. Eject the drive from your computer and plug it "
"into the Piksi Multi evaluation board.\n"
"3. Reset your Piksi Multi and it will upgrade to the version "
"on the USB flash drive. This should take less than 5 minutes.\n"
"4. When the upgrade completes you will be prompted to remove the "
"USB flash drive and reset your Piksi Multi.\n"
"5. Verify that the firmware version has upgraded via inspection "
"of the Current Firmware Version box on the Firmware Update Tab "
"of the Swift Console.\n")
def __init__(self, port=serial_link.DEFAULT_PORT):
self.console_output = OutputStream()
self.link = serial_link.SerialLink(port)
self.link.add_callback(serial_link.MSG_PRINT,
self.print_message_callback)
self.tracking_view = TrackingView(self.link)
self.almanac_view = AlmanacView(self.link)
self.solution_view = SolutionView(self.link)
self.flash = flash.Flash(self.link)
self.flash.start()
self.python_console_env = {
'send_message': self.link.send_message,
'link': self.link,
'flash': self.flash
}
self.python_console_env.update(self.tracking_view.python_console_cmds)
self.python_console_env.update(self.almanac_view.python_console_cmds)
self.python_console_env.update(self.solution_view.python_console_cmds)
class UpdateView(HasTraits):
piksi_stm_vers = String('Waiting for Piksi to send settings...', width=COLUMN_WIDTH)
newest_stm_vers = String('Downloading Newest Firmware info...')
piksi_nap_vers = String('Waiting for Piksi to send settings...')
newest_nap_vers = String('Downloading Newest Firmware info...')
local_console_vers = String('v' + CONSOLE_VERSION)
newest_console_vers = String('Downloading Newest Console info...')
erase_stm = Bool(True)
erase_en = Bool(True)
update_stm_firmware = Button(label='Update STM')
update_nap_firmware = Button(label='Update NAP')
update_full_firmware = Button(label='Update Piksi STM and NAP Firmware')
updating = Bool(False)
update_stm_en = Bool(False)
update_nap_en = Bool(False)
update_en = Bool(False)
download_firmware = Button(label='Download Newest Firmware Files')
download_stm = Button(label='Download', height=HT)
download_nap = Button(label='Download', height=HT)
downloading = Bool(False)
download_fw_en = Bool(True)
stm_fw = Instance(IntelHexFileDialog)
nap_fw = Instance(IntelHexFileDialog)
stream = Instance(OutputStream)
view = View(
VGroup(
HGroup(
VGroup(
Item('piksi_stm_vers', label='Current', resizable=True),
Item('newest_stm_vers', label='Latest', resizable=True),
Item('stm_fw', style='custom', show_label=True, \
label="Local File", enabled_when='download_fw_en'),
HGroup(Item('update_stm_firmware', show_label=False, \
enabled_when='update_stm_en'),
Item('erase_stm', label='Erase STM flash\n(recommended)', \
enabled_when='erase_en', show_label=True)),
show_border=True, label="STM Firmware Version"
),
VGroup(
Item('piksi_nap_vers', label='Current', resizable=True),
Item('newest_nap_vers', label='Latest', resizable=True),
Item('nap_fw', style='custom', show_label=True, \
label="Local File", enabled_when='download_fw_en'),
HGroup(Item('update_nap_firmware', show_label=False, \
enabled_when='update_nap_en'),
Item(width=50, label=" ")),
show_border=True, label="NAP Firmware Version"
),
VGroup(
Item('local_console_vers', label='Current', resizable=True),
Item('newest_console_vers', label='Latest'),
label="Piksi Console Version", show_border=True),
),
UItem('download_firmware', enabled_when='download_fw_en'),
UItem('update_full_firmware', enabled_when='update_en'),
Item(
'stream',
style='custom',
editor=InstanceEditor(),
show_label=False,
),
)
)
def __init__(self, link, prompt=True):
"""
Traits tab with UI for updating Piksi firmware.
Parameters
----------
link : sbp.client.handler.Handler
Link for SBP transfer to/from Piksi.
prompt : bool
Prompt user to update console/firmware if out of date.
"""
self.link = link
self.settings = {}
self.prompt = prompt
self.python_console_cmds = {
'update': self
}
self.update_dl = None
self.erase_en = True
self.stm_fw = IntelHexFileDialog('STM')
self.stm_fw.on_trait_change(self._manage_enables, 'status')
self.nap_fw = IntelHexFileDialog('M25')
self.nap_fw.on_trait_change(self._manage_enables, 'status')
self.stream = OutputStream()
self.get_latest_version_info()
def _manage_enables(self):
""" Manages whether traits widgets are enabled in the UI or not. """
if self.updating == True or self.downloading == True:
self.update_stm_en = False
self.update_nap_en = False
self.update_en = False
self.download_fw_en = False
self.erase_en = False
else:
self.download_fw_en = True
self.erase_en = True
if self.stm_fw.ihx is not None:
self.update_stm_en = True
else:
self.update_stm_en = False
self.update_en = False
if self.nap_fw.ihx is not None:
self.update_nap_en = True
else:
self.update_nap_en = False
self.update_en = False
if self.nap_fw.ihx is not None and self.stm_fw.ihx is not None:
self.update_en = True
def _updating_changed(self):
""" Handles self.updating trait being changed. """
self._manage_enables()
def _downloading_changed(self):
""" Handles self.downloading trait being changed. """
self._manage_enables()
def _write(self, text):
"""
Stream style write function. Allows flashing debugging messages to be
routed to embedded text console.
Parameters
----------
text : string
Text to be written to screen.
"""
self.stream.write(text)
self.stream.write('\n')
self.stream.flush()
def _update_stm_firmware_fired(self):
"""
Handle update_stm_firmware button. Starts thread so as not to block the GUI
thread.
"""
try:
if self._firmware_update_thread.is_alive():
return
except AttributeError:
pass
self._firmware_update_thread = Thread(target=self.manage_firmware_updates,
args=("STM",))
self._firmware_update_thread.start()
def _update_nap_firmware_fired(self):
"""
Handle update_nap_firmware button. Starts thread so as not to block the GUI
thread.
"""
try:
if self._firmware_update_thread.is_alive():
return
except AttributeError:
pass
self._firmware_update_thread = Thread(target=self.manage_firmware_updates,
args=("M25",))
self._firmware_update_thread.start()
def _update_full_firmware_fired(self):
"""
Handle update_full_firmware button. Starts thread so as not to block the GUI
thread.
"""
try:
if self._firmware_update_thread.is_alive():
return
except AttributeError:
pass
self._firmware_update_thread = Thread(target=self.manage_firmware_updates,
args=("ALL",))
self._firmware_update_thread.start()
def _download_firmware(self):
""" Download latest firmware from swiftnav.com. """
self._write('')
# Check that we received the index file from the website.
if self.update_dl == None:
self._write("Error: Can't download firmware files")
return
self.downloading = True
status = 'Downloading Newest Firmware...'
self.nap_fw.clear(status)
self.stm_fw.clear(status)
self._write(status)
# Get firmware files from Swift Nav's website, save to disk, and load.
try:
self._write('Downloading Newest NAP firmware')
filepath = self.update_dl.download_nap_firmware()
self._write('Saved file to %s' % filepath)
self.nap_fw.load_ihx(filepath)
except AttributeError:
self.nap_fw.clear("Error downloading firmware")
self._write("Error downloading firmware: index file not downloaded yet")
except KeyError:
self.nap_fw.clear("Error downloading firmware")
self._write("Error downloading firmware: URL not present in index")
except URLError:
self.nap_fw.clear("Error downloading firmware")
self._write("Error: Failed to download latest NAP firmware from Swift Navigation's website")
try:
self._write('Downloading Newest STM firmware')
filepath = self.update_dl.download_stm_firmware()
self._write('Saved file to %s' % filepath)
self.stm_fw.load_ihx(filepath)
except AttributeError:
self.stm_fw.clear("Error downloading firmware")
self._write("Error downloading firmware: index file not downloaded yet")
except KeyError:
self.stm_fw.clear("Error downloading firmware")
self._write("Error downloading firmware: URL not present in index")
except URLError:
self.stm_fw.clear("Error downloading firmware")
self._write("Error: Failed to download latest STM firmware from Swift Navigation's website")
self.downloading = False
def _download_firmware_fired(self):
"""
Handle download_firmware button. Starts thread so as not to block the GUI
thread.
"""
try:
if self._download_firmware_thread.is_alive():
return
except AttributeError:
pass
self._download_firmware_thread = Thread(target=self._download_firmware)
self._download_firmware_thread.start()
def compare_versions(self):
"""
To be called after latest Piksi firmware info has been received from
device, to decide if current firmware on Piksi is out of date. Starts a
thread so as not to block GUI thread.
"""
try:
if self._compare_versions_thread.is_alive():
return
except AttributeError:
pass
self._compare_versions_thread = Thread(target=self._compare_versions)
self._compare_versions_thread.start()
def _compare_versions(self):
"""
Compares version info between received firmware version / current console
and firmware / console info from website to decide if current firmware or
console is out of date. Prompt user to update if so.
"""
# Check that settings received from Piksi contain FW versions.
try:
self.piksi_stm_vers = \
self.settings['system_info']['firmware_version'].value
self.piksi_nap_vers = \
self.settings['system_info']['nap_version'].value
except KeyError:
self._write("\nError: Settings received from Piksi don't contain firmware version keys. Please contact Swift Navigation.\n")
return
# Check that we received the index file from the website.
if self.update_dl == None:
self._write("Error: No website index to use to compare versions with local firmware")
return
# Check if console is out of date and notify user if so.
if self.prompt:
local_console_version = parse_version(CONSOLE_VERSION)
remote_console_version = parse_version(self.newest_console_vers)
self.console_outdated = remote_console_version > local_console_version
if self.console_outdated:
console_outdated_prompt = \
prompt.CallbackPrompt(
title="Piksi Console Outdated",
actions=[prompt.close_button],
)
console_outdated_prompt.text = \
"Your Piksi Console is out of date and may be incompatible\n" + \
"with current firmware. We highly recommend upgrading to\n" + \
"ensure proper behavior.\n\n" + \
"Please visit http://downloads.swiftnav.com to\n" + \
"download the newest version.\n\n" + \
"Local Console Version :\n\t" + \
"v" + CONSOLE_VERSION + \
"\nNewest Console Version :\n\t" + \
self.update_dl.index['piksi_v2.3.1']['console']['version'] + "\n"
console_outdated_prompt.run()
# For timing aesthetics between windows popping up.
sleep(0.5)
# Check if firmware is out of date and notify user if so.
if self.prompt:
local_stm_version = parse_version(
self.settings['system_info']['firmware_version'].value)
remote_stm_version = parse_version(self.newest_stm_vers)
local_nap_version = parse_version(
self.settings['system_info']['nap_version'].value)
remote_nap_version = parse_version(self.newest_nap_vers)
self.fw_outdated = remote_nap_version > local_nap_version or \
remote_stm_version > local_stm_version
if self.fw_outdated:
fw_update_prompt = \
prompt.CallbackPrompt(
title='Firmware Update',
actions=[prompt.close_button]
)
fw_update_prompt.text = \
"New Piksi firmware available.\n\n" + \
"Please use the Firmware Update tab to update.\n\n" + \
"Newest STM Version :\n\t%s\n\n" % \
self.update_dl.index['piksi_v2.3.1']['stm_fw']['version'] + \
"Newest SwiftNAP Version :\n\t%s\n\n" % \
self.update_dl.index['piksi_v2.3.1']['nap_fw']['version']
fw_update_prompt.run()
def get_latest_version_info(self):
"""
Get latest firmware / console version from website. Starts thread so as not
to block the GUI thread.
"""
try:
if self._get_latest_version_info_thread.is_alive():
return
except AttributeError:
pass
self._get_latest_version_info_thread = Thread(target=self._get_latest_version_info)
self._get_latest_version_info_thread.start()
def _get_latest_version_info(self):
""" Get latest firmware / console version from website. """
try:
self.update_dl = UpdateDownloader()
except URLError:
self._write("\nError: Failed to download latest file index from Swift Navigation's website. Please visit our website to check that you're running the latest Piksi firmware and Piksi console.\n")
return
# Make sure index contains all keys we are interested in.
try:
self.newest_stm_vers = self.update_dl.index['piksi_v2.3.1']['stm_fw']['version']
self.newest_nap_vers = self.update_dl.index['piksi_v2.3.1']['nap_fw']['version']
self.newest_console_vers = self.update_dl.index['piksi_v2.3.1']['console']['version']
except KeyError:
self._write("\nError: Index downloaded from Swift Navigation's website (%s) doesn't contain all keys. Please contact Swift Navigation.\n" % INDEX_URL)
return
def manage_stm_firmware_update(self):
# Erase all of STM's flash (other than bootloader) if box is checked.
if self.erase_stm:
text = "Erasing STM"
self._write(text)
self.create_flash("STM")
sectors_to_erase = set(range(self.pk_flash.n_sectors)).difference(set(self.pk_flash.restricted_sectors))
progress_dialog = PulsableProgressDialog(len(sectors_to_erase), False)
progress_dialog.title = text
GUI.invoke_later(progress_dialog.open)
erase_count = 0
for s in sorted(sectors_to_erase):
progress_dialog.progress(erase_count)
self._write('Erasing %s sector %d' % (self.pk_flash.flash_type,s))
self.pk_flash.erase_sector(s)
erase_count += 1
self.stop_flash()
self._write("")
progress_dialog.close()
# Flash STM.
text = "Updating STM"
self._write(text)
self.create_flash("STM")
stm_n_ops = self.pk_flash.ihx_n_ops(self.stm_fw.ihx, \
erase = not self.erase_stm)
progress_dialog = PulsableProgressDialog(stm_n_ops, True)
progress_dialog.title = text
GUI.invoke_later(progress_dialog.open)
# Don't erase sectors if we've already done so above.
self.pk_flash.write_ihx(self.stm_fw.ihx, self.stream, mod_print=0x40, \
elapsed_ops_cb = progress_dialog.progress, \
erase = not self.erase_stm)
self.stop_flash()
self._write("")
progress_dialog.close()
def manage_nap_firmware_update(self, check_version=False):
# Flash NAP if out of date.
try:
local_nap_version = parse_version(
self.settings['system_info']['nap_version'].value)
remote_nap_version = parse_version(self.newest_nap_vers)
nap_out_of_date = local_nap_version != remote_nap_version
except KeyError:
nap_out_of_date = True
if nap_out_of_date or check_version==False:
text = "Updating NAP"
self._write(text)
self.create_flash("M25")
nap_n_ops = self.pk_flash.ihx_n_ops(self.nap_fw.ihx)
progress_dialog = PulsableProgressDialog(nap_n_ops, True)
progress_dialog.title = text
GUI.invoke_later(progress_dialog.open)
self.pk_flash.write_ihx(self.nap_fw.ihx, self.stream, mod_print=0x40, \
elapsed_ops_cb = progress_dialog.progress)
self.stop_flash()
self._write("")
progress_dialog.close()
return True
else:
text = "NAP is already to latest version, not updating!"
self._write(text)
self._write("")
return False
# Executed in GUI thread, called from Handler.
def manage_firmware_updates(self, device):
"""
Update Piksi firmware. Erase entire STM flash (other than bootloader)
if so directed. Flash NAP only if new firmware is available.
"""
self.updating = True
update_nap = False
self._write('')
if device == "STM":
self.manage_stm_firmware_update()
elif device == "M25":
update_nap = self.manage_nap_firmware_update()
else:
self.manage_stm_firmware_update()
update_nap = self.manage_nap_firmware_update(check_version=True)
# Must tell Piksi to jump to application after updating firmware.
if device == "STM" or update_nap:
self.link(MsgBootloaderJumpToApp(jump=0))
self._write("Firmware update finished.")
self._write("")
self.updating = False
def create_flash(self, flash_type):
"""
Create flash.Flash instance and set Piksi into bootloader mode, prompting
user to reset if necessary.
Parameter
---------
flash_type : string
Either "STM" or "M25".
"""
# Reset device if the application is running to put into bootloader mode.
self.link(MsgReset())
self.pk_boot = bootload.Bootloader(self.link)
self._write("Waiting for bootloader handshake message from Piksi ...")
reset_prompt = None
handshake_received = self.pk_boot.handshake(1)
# Prompt user to reset Piksi if we don't receive the handshake message
# within a reasonable amount of tiime (firmware might be corrupted).
while not handshake_received:
reset_prompt = \
prompt.CallbackPrompt(
title="Please Reset Piksi",
actions=[prompt.close_button],
)
reset_prompt.text = \
"You must press the reset button on your Piksi in order\n" + \
"to update your firmware.\n\n" + \
"Please press it now.\n\n"
reset_prompt.run(block=False)
while not reset_prompt.closed and not handshake_received:
handshake_received = self.pk_boot.handshake(1)
reset_prompt.kill()
reset_prompt.wait()
self._write("received bootloader handshake message.")
self._write("Piksi Onboard Bootloader Version: " + self.pk_boot.version)
self.pk_flash = flash.Flash(self.link, flash_type, self.pk_boot.sbp_version)
def stop_flash(self):
"""
Stop Flash and Bootloader instances (removes callback from SerialLink).
"""
self.pk_flash.stop()
self.pk_boot.stop()
class UpdateView(HasTraits):
piksi_stm_vers = String('Waiting for Piksi to send settings...',
width=COLUMN_WIDTH)
newest_stm_vers = String('Downloading Newest Firmware info...')
piksi_nap_vers = String('Waiting for Piksi to send settings...')
newest_nap_vers = String('Downloading Newest Firmware info...')
local_console_vers = String(CONSOLE_VERSION)
newest_console_vers = String('Downloading Newest Console info...')
erase_stm = Bool(True)
erase_en = Bool(True)
update_stm_firmware = Button(label='Update STM')
update_nap_firmware = Button(label='Update NAP')
update_full_firmware = Button(label='Update Piksi STM and NAP Firmware')
updating = Bool(False)
update_stm_en = Bool(False)
update_nap_en = Bool(False)
update_en = Bool(False)
download_firmware = Button(label='Download Newest Firmware Files')
download_stm = Button(label='Download', height=HT)
download_nap = Button(label='Download', height=HT)
downloading = Bool(False)
download_fw_en = Bool(True)
stm_fw = Instance(IntelHexFileDialog)
nap_fw = Instance(IntelHexFileDialog)
stream = Instance(OutputStream)
view = View(
VGroup(
HGroup(
VGroup(
Item('piksi_stm_vers', label='Current', resizable=True),
Item('newest_stm_vers', label='Latest', resizable=True),
Item('stm_fw', style='custom', show_label=True, \
label="Local File", enabled_when='download_fw_en'),
HGroup(Item('update_stm_firmware', show_label=False, \
enabled_when='update_stm_en'),
Item('erase_stm', label='Erase STM flash\n(recommended)', \
enabled_when='erase_en', show_label=True)),
show_border=True, label="STM Firmware Version"
),
VGroup(
Item('piksi_nap_vers', label='Current', resizable=True),
Item('newest_nap_vers', label='Latest', resizable=True),
Item('nap_fw', style='custom', show_label=True, \
label="Local File", enabled_when='download_fw_en'),
HGroup(Item('update_nap_firmware', show_label=False, \
enabled_when='update_nap_en'),
Item(width=50, label=" ")),
show_border=True, label="NAP Firmware Version"
),
VGroup(
Item('local_console_vers', label='Current', resizable=True),
Item('newest_console_vers', label='Latest'),
label="Piksi Console Version", show_border=True),
),
UItem('download_firmware', enabled_when='download_fw_en'),
UItem('update_full_firmware', enabled_when='update_en'),
Item(
'stream',
style='custom',
editor=InstanceEditor(),
show_label=False,
),
)
)
def __init__(self, link, prompt=True):
"""
Traits tab with UI for updating Piksi firmware.
Parameters
----------
link : sbp.client.handler.Handler
Link for SBP transfer to/from Piksi.
prompt : bool
Prompt user to update console/firmware if out of date.
"""
self.link = link
self.settings = {}
self.prompt = prompt
self.python_console_cmds = {'update': self}
self.update_dl = None
self.stm_fw = IntelHexFileDialog('STM')
self.stm_fw.on_trait_change(self._manage_enables, 'status')
self.nap_fw = IntelHexFileDialog('M25')
self.nap_fw.on_trait_change(self._manage_enables, 'status')
self.stream = OutputStream()
self.get_latest_version_info()
def _manage_enables(self):
""" Manages whether traits widgets are enabled in the UI or not. """
if self.updating == True or self.downloading == True:
self.update_stm_en = False
self.update_nap_en = False
self.update_en = False
self.download_fw_en = False
else:
self.download_fw_en = True
if self.stm_fw.ihx is not None:
self.update_stm_en = True
else:
self.update_stm_en = False
self.update_en = False
if self.nap_fw.ihx is not None:
self.update_nap_en = True
else:
self.update_nap_en = False
self.update_en = False
if self.nap_fw.ihx is not None and self.stm_fw.ihx is not None:
self.update_en = True
if self.updating == True:
self.erase_en = False
else:
self.erase_en = True
def _updating_changed(self):
""" Handles self.updating trait being changed. """
self._manage_enables()
def _downloading_changed(self):
""" Handles self.downloading trait being changed. """
self._manage_enables()
def _write(self, text):
"""
Stream style write function. Allows flashing debugging messages to be
routed to embedded text console.
Parameters
----------
text : string
Text to be written to screen.
"""
self.stream.write(text)
self.stream.write('\n')
self.stream.flush()
def _update_stm_firmware_fired(self):
"""
Handle update_stm_firmware button. Starts thread so as not to block the GUI
thread.
"""
try:
if self._firmware_update_thread.is_alive():
return
except AttributeError:
pass
self._firmware_update_thread = Thread(
target=self.manage_firmware_updates, args=("STM", ))
self._firmware_update_thread.start()
def _update_nap_firmware_fired(self):
"""
Handle update_nap_firmware button. Starts thread so as not to block the GUI
thread.
"""
try:
if self._firmware_update_thread.is_alive():
return
except AttributeError:
pass
self._firmware_update_thread = Thread(
target=self.manage_firmware_updates, args=("M25", ))
self._firmware_update_thread.start()
def _update_full_firmware_fired(self):
"""
Handle update_full_firmware button. Starts thread so as not to block the GUI
thread.
"""
try:
if self._firmware_update_thread.is_alive():
return
except AttributeError:
pass
self._firmware_update_thread = Thread(
target=self.manage_firmware_updates, args=("ALL", ))
self._firmware_update_thread.start()
def _download_firmware(self):
""" Download latest firmware from swiftnav.com. """
self._write('')
# Check that we received the index file from the website.
if self.update_dl == None:
self._write("Error: Can't download firmware files")
return
self.downloading = True
status = 'Downloading Newest Firmware...'
self.nap_fw.clear(status)
self.stm_fw.clear(status)
self._write(status)
# Get firmware files from Swift Nav's website, save to disk, and load.
try:
self._write('Downloading Newest NAP firmware')
filepath = self.update_dl.download_nap_firmware()
self._write('Saved file to %s' % filepath)
self.nap_fw.load_ihx(filepath)
except AttributeError:
self.nap_fw.clear("Error downloading firmware")
self._write(
"Error downloading firmware: index file not downloaded yet")
except KeyError:
self.nap_fw.clear("Error downloading firmware")
self._write("Error downloading firmware: URL not present in index")
except URLError:
self.nap_fw.clear("Error downloading firmware")
self._write(
"Error: Failed to download latest NAP firmware from Swift Navigation's website"
)
try:
self._write('Downloading Newest STM firmware')
filepath = self.update_dl.download_stm_firmware()
self._write('Saved file to %s' % filepath)
self.stm_fw.load_ihx(filepath)
except AttributeError:
self.stm_fw.clear("Error downloading firmware")
self._write(
"Error downloading firmware: index file not downloaded yet")
except KeyError:
self.stm_fw.clear("Error downloading firmware")
self._write("Error downloading firmware: URL not present in index")
except URLError:
self.stm_fw.clear("Error downloading firmware")
self._write(
"Error: Failed to download latest STM firmware from Swift Navigation's website"
)
self.downloading = False
def _download_firmware_fired(self):
"""
Handle download_firmware button. Starts thread so as not to block the GUI
thread.
"""
try:
if self._download_firmware_thread.is_alive():
return
except AttributeError:
pass
self._download_firmware_thread = Thread(target=self._download_firmware)
self._download_firmware_thread.start()
def compare_versions(self):
"""
To be called after latest Piksi firmware info has been received from
device, to decide if current firmware on Piksi is out of date. Starts a
thread so as not to block GUI thread.
"""
try:
if self._compare_versions_thread.is_alive():
return
except AttributeError:
pass
self._compare_versions_thread = Thread(target=self._compare_versions)
self._compare_versions_thread.start()
def _compare_versions(self):
"""
Compares version info between received firmware version / current console
and firmware / console info from website to decide if current firmware or
console is out of date. Prompt user to update if so.
"""
# Check that settings received from Piksi contain FW versions.
try:
self.piksi_stm_vers = \
self.settings['system_info']['firmware_version'].value
self.piksi_nap_vers = \
self.settings['system_info']['nap_version'].value
except KeyError:
self._write(
"\nError: Settings received from Piksi don't contain firmware version keys. Please contact Swift Navigation.\n"
)
return
# Check that we received the index file from the website.
if self.update_dl == None:
self._write(
"Error: No website index to use to compare versions with local firmware"
)
return
# Check if console is out of date and notify user if so.
if self.prompt:
local_console_version = parse_version(CONSOLE_VERSION)
remote_console_version = parse_version(self.newest_console_vers)
self.console_outdated = remote_console_version > local_console_version
if self.console_outdated:
console_outdated_prompt = \
prompt.CallbackPrompt(
title="Piksi Console Outdated",
actions=[prompt.close_button],
)
console_outdated_prompt.text = \
"Your Piksi Console is out of date and may be incompatible\n" + \
"with current firmware. We highly recommend upgrading to\n" + \
"ensure proper behavior.\n\n" + \
"Please visit http://downloads.swiftnav.com to\n" + \
"download the newest version.\n\n" + \
"Local Console Version :\n\t" + \
CONSOLE_VERSION + \
"\nNewest Console Version :\n\t" + \
self.update_dl.index['piksi_v2.3.1']['console']['version'] + "\n"
console_outdated_prompt.run()
# For timing aesthetics between windows popping up.
sleep(0.5)
# Check if firmware is out of date and notify user if so.
if self.prompt:
local_stm_version = parse_version(
self.settings['system_info']['firmware_version'].value)
remote_stm_version = parse_version(self.newest_stm_vers)
local_nap_version = parse_version(
self.settings['system_info']['nap_version'].value)
remote_nap_version = parse_version(self.newest_nap_vers)
self.fw_outdated = remote_nap_version > local_nap_version or \
remote_stm_version > local_stm_version
if self.fw_outdated:
fw_update_prompt = \
prompt.CallbackPrompt(
title='Firmware Update',
actions=[prompt.close_button]
)
fw_update_prompt.text = \
"New Piksi firmware available.\n\n" + \
"Please use the Firmware Update tab to update.\n\n" + \
"Newest STM Version :\n\t%s\n\n" % \
self.update_dl.index['piksi_v2.3.1']['stm_fw']['version'] + \
"Newest SwiftNAP Version :\n\t%s\n\n" % \
self.update_dl.index['piksi_v2.3.1']['nap_fw']['version']
fw_update_prompt.run()
def get_latest_version_info(self):
"""
Get latest firmware / console version from website. Starts thread so as not
to block the GUI thread.
"""
try:
if self._get_latest_version_info_thread.is_alive():
return
except AttributeError:
pass
self._get_latest_version_info_thread = Thread(
target=self._get_latest_version_info)
self._get_latest_version_info_thread.start()
def _get_latest_version_info(self):
""" Get latest firmware / console version from website. """
try:
self.update_dl = UpdateDownloader()
except URLError:
self._write(
"\nError: Failed to download latest file index from Swift Navigation's website. Please visit our website to check that you're running the latest Piksi firmware and Piksi console.\n"
)
return
# Make sure index contains all keys we are interested in.
try:
self.newest_stm_vers = self.update_dl.index['piksi_v2.3.1'][
'stm_fw']['version']
self.newest_nap_vers = self.update_dl.index['piksi_v2.3.1'][
'nap_fw']['version']
self.newest_console_vers = self.update_dl.index['piksi_v2.3.1'][
'console']['version']
except KeyError:
self._write(
"\nError: Index downloaded from Swift Navigation's website (%s) doesn't contain all keys. Please contact Swift Navigation.\n"
% INDEX_URL)
return
def manage_stm_firmware_update(self):
# Erase all of STM's flash (other than bootloader) if box is checked.
if self.erase_stm:
text = "Erasing STM"
self._write(text)
self.create_flash("STM")
sectors_to_erase = set(range(self.pk_flash.n_sectors)).difference(
set(self.pk_flash.restricted_sectors))
progress_dialog = PulsableProgressDialog(len(sectors_to_erase),
False)
progress_dialog.title = text
GUI.invoke_later(progress_dialog.open)
erase_count = 0
for s in sorted(sectors_to_erase):
progress_dialog.progress(erase_count)
self._write('Erasing %s sector %d' %
(self.pk_flash.flash_type, s))
self.pk_flash.erase_sector(s)
erase_count += 1
self.stop_flash()
self._write("")
progress_dialog.close()
# Flash STM.
text = "Updating STM"
self._write(text)
self.create_flash("STM")
stm_n_ops = self.pk_flash.ihx_n_ops(self.stm_fw.ihx, \
erase = not self.erase_stm)
progress_dialog = PulsableProgressDialog(stm_n_ops, True)
progress_dialog.title = text
GUI.invoke_later(progress_dialog.open)
# Don't erase sectors if we've already done so above.
self.pk_flash.write_ihx(self.stm_fw.ihx, self.stream, mod_print=0x40, \
elapsed_ops_cb = progress_dialog.progress, \
erase = not self.erase_stm)
self.stop_flash()
self._write("")
progress_dialog.close()
def manage_nap_firmware_update(self):
# Flash NAP if out of date.
try:
local_nap_version = parse_version(
self.settings['system_info']['nap_version'].value)
remote_nap_version = parse_version(self.newest_nap_vers)
nap_out_of_date = local_nap_version != remote_nap_version
except KeyError:
nap_out_of_date = True
if nap_out_of_date:
text = "Updating NAP"
self._write(text)
self.create_flash("M25")
nap_n_ops = self.pk_flash.ihx_n_ops(self.nap_fw.ihx)
progress_dialog = PulsableProgressDialog(nap_n_ops, True)
progress_dialog.title = text
GUI.invoke_later(progress_dialog.open)
self.pk_flash.write_ihx(self.nap_fw.ihx, self.stream, mod_print=0x40, \
elapsed_ops_cb = progress_dialog.progress)
self.stop_flash()
self._write("")
progress_dialog.close()
return True
else:
text = "NAP is already to latest version, not updating!"
self._write(text)
self._write("")
return False
# Executed in GUI thread, called from Handler.
def manage_firmware_updates(self, device):
"""
Update Piksi firmware. Erase entire STM flash (other than bootloader)
if so directed. Flash NAP only if new firmware is available.
"""
self.updating = True
update_nap = False
self._write('')
if device == "STM":
self.manage_stm_firmware_update()
elif device == "M25":
update_nap = self.manage_nap_firmware_update()
else:
self.manage_stm_firmware_update()
update_nap = self.manage_nap_firmware_update()
# Must tell Piksi to jump to application after updating firmware.
if device == "STM" or update_nap:
self.link(MsgBootloaderJumpToApp(jump=0))
self._write("Firmware update finished.")
self._write("")
self.updating = False
def create_flash(self, flash_type):
"""
Create flash.Flash instance and set Piksi into bootloader mode, prompting
user to reset if necessary.
Parameter
---------
flash_type : string
Either "STM" or "M25".
"""
# Reset device if the application is running to put into bootloader mode.
self.link(MsgReset())
self.pk_boot = bootload.Bootloader(self.link)
self._write("Waiting for bootloader handshake message from Piksi ...")
reset_prompt = None
handshake_received = self.pk_boot.handshake(1)
# Prompt user to reset Piksi if we don't receive the handshake message
# within a reasonable amount of tiime (firmware might be corrupted).
while not handshake_received:
reset_prompt = \
prompt.CallbackPrompt(
title="Please Reset Piksi",
actions=[prompt.close_button],
)
reset_prompt.text = \
"You must press the reset button on your Piksi in order\n" + \
"to update your firmware.\n\n" + \
"Please press it now.\n\n"
reset_prompt.run(block=False)
while not reset_prompt.closed and not handshake_received:
handshake_received = self.pk_boot.handshake(1)
reset_prompt.kill()
reset_prompt.wait()
self._write("received bootloader handshake message.")
self._write("Piksi Onboard Bootloader Version: " +
self.pk_boot.version)
self.pk_flash = flash.Flash(self.link, flash_type,
self.pk_boot.sbp_version)
def stop_flash(self):
"""
Stop Flash and Bootloader instances (removes callback from SerialLink).
"""
self.pk_flash.stop()
self.pk_boot.stop()
class UpdateView(HasTraits):
piksi_hw_rev = String('piksi_multi')
is_v2 = Bool(False)
piksi_stm_vers = String('Waiting for Piksi to send settings...',
width=COLUMN_WIDTH)
newest_stm_vers = String('Downloading Latest Firmware info...')
piksi_nap_vers = String('Waiting for Piksi to send settings...')
newest_nap_vers = String('Downloading Latest Firmware info...')
local_console_vers = String('v' + CONSOLE_VERSION)
newest_console_vers = String('Downloading Latest Console info...')
erase_stm = Bool(True)
erase_en = Bool(True)
update_stm_firmware = Button(label='Update FW')
update_nap_firmware = Button(label='Update NAP')
update_full_firmware = Button(label='Update Piksi STM and NAP Firmware')
updating = Bool(False)
update_stm_en = Bool(False)
update_nap_en = Bool(False)
update_en = Bool(False)
serial_upgrade = Bool(False)
upgrade_steps = String("Firmware upgrade steps:")
download_firmware = Button(label='Download Latest Firmware')
download_directory = Directory(
" Please choose a directory for downloaded firmware files...")
download_stm = Button(label='Download', height=HT)
download_nap = Button(label='Download', height=HT)
downloading = Bool(False)
download_fw_en = Bool(True)
stm_fw = Instance(FirmwareFileDialog)
nap_fw = Instance(FirmwareFileDialog)
stream = Instance(OutputStream)
view = View(
VGroup(
Item('piksi_hw_rev', label='Hardware Revision',
editor_args={'enabled': False}, resizable=True),
HGroup(
VGroup(
Item('piksi_stm_vers', label='Current', resizable=True,
editor_args={'enabled': False}),
Item('newest_stm_vers', label='Latest', resizable=True,
editor_args={'enabled': False,
'readonly_allow_selection': True}),
Item('stm_fw', style='custom', show_label=True, \
label="Local File", enabled_when='download_fw_en',
visible_when='serial_upgrade',
editor_args={'enabled': False}),
HGroup(Item('update_stm_firmware', show_label=False, \
enabled_when='update_stm_en', visible_when='serial_upgrade'),
Item('erase_stm', label='Erase STM flash\n(recommended)', \
enabled_when='erase_en', show_label=True, visible_when='is_v2')),
show_border=True, label="Firmware Version"
),
VGroup(
Item('piksi_nap_vers', label='Current', resizable=True,
editor_args={'enabled': False}),
Item('newest_nap_vers', label='Latest', resizable=True,
editor_args={'enabled': False}),
Item('nap_fw', style='custom', show_label=True, \
label="Local File", enabled_when='download_fw_en',
editor_args={'enabled': False}),
HGroup(Item('update_nap_firmware', show_label=False, \
enabled_when='update_nap_en', visible_when='serial_upgrade'),
Item(width=50, label=" ")),
show_border=True, label="NAP Version",
visible_when='is_v2'
),
VGroup(
Item('local_console_vers', label='Current', resizable=True,
editor_args={'enabled': False}),
Item('newest_console_vers', label='Latest',
editor_args={'enabled': False}),
label="Swift Console Version", show_border=True),
),
UItem('download_directory', enabled_when='download_fw_en'),
UItem('download_firmware', enabled_when='download_fw_en'),
UItem('update_full_firmware', enabled_when='update_en', visible_when='is_v2'),
VGroup(
UItem('upgrade_steps',
visible_when='not serial_upgrade', style='readonly'),
Item(
'stream',
style='custom',
editor=InstanceEditor(),
show_label=False,
),
show_border=True,
)
)
)
def __init__(self,
link,
download_dir=None,
prompt=True,
serial_upgrade=False):
"""
Traits tab with UI for updating Piksi firmware.
Parameters
----------
link : sbp.client.handler.Handler
Link for SBP transfer to/from Piksi.
prompt : bool
Prompt user to update console/firmware if out of date.
"""
self.link = link
self.settings = {}
self.prompt = prompt
self.python_console_cmds = {'update': self}
try:
self.update_dl = UpdateDownloader()
if download_dir:
self.update_dl.set_root_path(download_dir)
except URLError:
self.update_dl = None
pass
self.erase_en = True
self.stm_fw = FirmwareFileDialog('bin')
self.stm_fw.on_trait_change(self._manage_enables, 'status')
self.nap_fw = FirmwareFileDialog('M25')
self.nap_fw.on_trait_change(self._manage_enables, 'status')
self.stream = OutputStream()
self.serial_upgrade = serial_upgrade
self.last_call_fw_version = None
if not self.serial_upgrade:
self._write(
"1. Insert the USB flash drive provided with your Piki Multi into "
"your computer. Select the flash drive root directory as the "
"firmware download destination using the \"Please "
"choose a directory for downloaded firmware files\" directory "
"chooser above. Press the \"Download Latest Firmware\" button. "
"This will download the latest Piksi Multi firmware file onto the "
"USB flashdrive.\n"
"2. Eject the drive from your computer and plug it "
"into the Piksi Multi evaluation board.\n"
"3. Reset your Piksi Multi and it will upgrade to the version "
"on the USB flash drive. This should take less than 5 minutes.\n"
"4. When the upgrade completes you will be prompted to remove the "
"USB flash drive and reset your Piksi Multi.\n"
"5. Verify that the firmware version has upgraded via inspection "
"of the Current Firmware Version box on the Firmware Update Tab "
"of the Swift Console.\n")
def _manage_enables(self):
""" Manages whether traits widgets are enabled in the UI or not. """
if self.updating == True or self.downloading == True:
self.update_stm_en = False
self.update_nap_en = False
self.update_en = False
self.download_fw_en = False
self.erase_en = False
else:
self.download_fw_en = True
self.erase_en = True
if self.stm_fw.ihx is not None or self.stm_fw.blob is not None:
self.update_stm_en = True
else:
self.update_stm_en = False
self.update_en = False
if self.nap_fw.ihx is not None:
self.update_nap_en = True
else:
self.update_nap_en = False
self.update_en = False
if self.nap_fw.ihx is not None and self.stm_fw.ihx is not None:
self.update_en = True
def _download_directory_changed(self):
if self.update_dl:
self.update_dl.set_root_path(self.download_directory)
def _updating_changed(self):
""" Handles self.updating trait being changed. """
self._manage_enables()
def _downloading_changed(self):
""" Handles self.downloading trait being changed. """
self._manage_enables()
def _write(self, text):
"""
Stream style write function. Allows flashing debugging messages to be
routed to embedded text console.
Parameters
----------
text : string
Text to be written to screen.
"""
self.stream.write(text)
self.stream.write('\n')
self.stream.flush()
def _update_stm_firmware_fired(self):
"""
Handle update_stm_firmware button. Starts thread so as not to block the GUI
thread.
"""
try:
if self._firmware_update_thread.is_alive():
return
except AttributeError:
pass
self._firmware_update_thread = Thread(
target=self.manage_firmware_updates, args=("STM", ))
self._firmware_update_thread.start()
def _update_nap_firmware_fired(self):
"""
Handle update_nap_firmware button. Starts thread so as not to block the GUI
thread.
"""
try:
if self._firmware_update_thread.is_alive():
return
except AttributeError:
pass
self._firmware_update_thread = Thread(
target=self.manage_firmware_updates, args=("M25", ))
self._firmware_update_thread.start()
def _update_full_firmware_fired(self):
"""
Handle update_full_firmware button. Starts thread so as not to block the GUI
thread.
"""
try:
if self._firmware_update_thread.is_alive():
return
except AttributeError:
pass
self._firmware_update_thread = Thread(
target=self.manage_firmware_updates, args=("ALL", ))
self._firmware_update_thread.start()
def _download_firmware(self):
""" Download latest firmware from swiftnav.com. """
self._write('')
# Check that we received the index file from the website.
if self.update_dl == None:
self._write("Error: Can't download firmware files")
return
self.downloading = True
status = 'Downloading Latest Firmware...'
self.nap_fw.clear(status)
self.stm_fw.clear(status)
self._write(status)
# Get firmware files from Swift Nav's website, save to disk, and load.
if self.update_dl.index[self.piksi_hw_rev].has_key('fw'):
try:
self._write('Downloading Latest Multi firmware')
filepath = self.update_dl.download_multi_firmware(
self.piksi_hw_rev)
self._write('Saved file to %s' % filepath)
self.stm_fw.load_bin(filepath)
except AttributeError:
self.nap_fw.clear("Error downloading firmware")
self._write(
"Error downloading firmware: index file not downloaded yet"
)
except KeyError:
self.nap_fw.clear("Error downloading firmware")
self._write(
"Error downloading firmware: URL not present in index")
except URLError:
self.nap_fw.clear("Error downloading firmware")
self._write(
"Error: Failed to download latest NAP firmware from Swift Navigation's website"
)
self.downloading = False
return
try:
self._write('Downloading Latest NAP firmware')
filepath = self.update_dl.download_nap_firmware(self.piksi_hw_rev)
self._write('Saved file to %s' % filepath)
self.nap_fw.load_ihx(filepath)
except AttributeError:
self.nap_fw.clear("Error downloading firmware")
self._write(
"Error downloading firmware: index file not downloaded yet")
except KeyError:
self.nap_fw.clear("Error downloading firmware")
self._write("Error downloading firmware: URL not present in index")
except URLError:
self.nap_fw.clear("Error downloading firmware")
self._write(
"Error: Failed to download latest NAP firmware from Swift Navigation's website"
)
try:
self._write('Downloading Latest STM firmware')
filepath = self.update_dl.download_stm_firmware(self.piksi_hw_rev)
self._write('Saved file to %s' % filepath)
self.stm_fw.load_ihx(filepath)
except AttributeError:
self.stm_fw.clear("Error downloading firmware")
self._write(
"Error downloading firmware: index file not downloaded yet")
except KeyError:
self.stm_fw.clear("Error downloading firmware")
self._write("Error downloading firmware: URL not present in index")
except URLError:
self.stm_fw.clear("Error downloading firmware")
self._write(
"Error: Failed to download latest STM firmware from Swift Navigation's website"
)
self.downloading = False
def _download_firmware_fired(self):
"""
Handle download_firmware button. Starts thread so as not to block the GUI
thread.
"""
try:
if self._download_firmware_thread.is_alive():
return
except AttributeError:
pass
self._download_firmware_thread = Thread(target=self._download_firmware)
self._download_firmware_thread.start()
def compare_versions(self):
"""
To be called after latest Piksi firmware info has been received from
device, to decide if current firmware on Piksi is out of date. Also informs
user if the firmware was successfully upgraded. Starts a thread so as not
to block GUI thread.
"""
try:
if self._compare_versions_thread.is_alive():
return
except AttributeError:
pass
self._compare_versions_thread = Thread(target=self._compare_versions)
self._compare_versions_thread.start()
def _compare_versions(self):
"""
Compares version info between received firmware version / current console
and firmware / console info from website to decide if current firmware or
console is out of date. Prompt user to update if so. Informs user if
firmware successfully upgraded.
"""
# Check that settings received from Piksi contain FW versions.
try:
self.piksi_hw_rev = \
HW_REV_LOOKUP[self.settings['system_info']['hw_revision'].value]
self.piksi_stm_vers = \
self.settings['system_info']['firmware_version'].value
except KeyError:
self._write(
"\nError: Settings received from Piksi don't contain firmware version keys. Please contact Swift Navigation.\n"
)
return
self.is_v2 = self.piksi_hw_rev.startswith('piksi_v2')
if self.is_v2:
self.stm_fw.set_flash_type('STM')
self.serial_upgrade = True
else:
self.stm_fw.set_flash_type('bin')
self._get_latest_version_info()
# Check that we received the index file from the website.
if self.update_dl == None:
self._write(
"Error: No website index to use to compare versions with local firmware"
)
return
# Get local stm version
local_stm_version = None
try:
local_stm_version = self.settings['system_info'][
'firmware_version'].value
except:
pass
# Check if console is out of date and notify user if so.
if self.prompt:
local_console_version = parse_version(CONSOLE_VERSION)
remote_console_version = parse_version(self.newest_console_vers)
self.console_outdated = remote_console_version > local_console_version
# we want to warn users using v2 regardless of version logic
if self.console_outdated or self.is_v2:
if not self.is_v2:
console_outdated_prompt = \
prompt.CallbackPrompt(
title="Swift Console Outdated",
actions=[prompt.close_button],
)
console_outdated_prompt.text = \
"Your console is out of date and may be incompatible\n" + \
"with current firmware. We highly recommend upgrading to\n" + \
"ensure proper behavior.\n\n" + \
"Please visit http://support.swiftnav.com to\n" + \
"download the latest version.\n\n" + \
"Local Console Version :\n\t" + \
"v" + CONSOLE_VERSION + \
"\nLatest Console Version :\n\t" + \
self.update_dl.index[self.piksi_hw_rev]['console']['version'] + "\n"
else:
console_outdated_prompt = \
prompt.CallbackPrompt(
title="Swift Console Incompatible",
actions=[prompt.close_button],
)
console_outdated_prompt.text = \
"Your console is incompatible with your hardware revision.\n" + \
"We highly recommend using a compatible console version\n" + \
"to ensure proper behavior.\n\n" + \
"Please visit http://support.swiftnav.com to\n" + \
"download the latest compatible version.\n\n" + \
"Current Hardware revision :\n\t" + \
self.piksi_hw_rev + \
"\nLast supported Console Version: \n\t" + \
self.update_dl.index[self.piksi_hw_rev]['console']['version'] + "\n"
console_outdated_prompt.run()
# For timing aesthetics between windows popping up.
sleep(0.5)
# Check if firmware is out of date and notify user if so.
remote_stm_version = self.newest_stm_vers
self.fw_outdated = remote_stm_version > local_stm_version
if self.fw_outdated:
fw_update_prompt = \
prompt.CallbackPrompt(
title='Firmware Update',
actions=[prompt.close_button]
)
if self.update_dl.index[self.piksi_hw_rev].has_key('fw'):
fw_update_prompt.text = \
"New Piksi firmware available.\n\n" + \
"Please use the Firmware Update tab to update.\n\n" + \
"Newest Firmware Version :\n\t%s\n\n" % \
self.update_dl.index[self.piksi_hw_rev]['fw']['version']
else:
fw_update_prompt.text = \
"New Piksi firmware available.\n\n" + \
"Please use the Firmware Update tab to update.\n\n" + \
"Newest STM Version :\n\t%s\n\n" % \
self.update_dl.index[self.piksi_hw_rev]['stm_fw']['version'] + \
"Newest SwiftNAP Version :\n\t%s\n\n" % \
self.update_dl.index[self.piksi_hw_rev]['nap_fw']['version']
fw_update_prompt.run()
# Check if firmware successfully upgraded and notify user if so.
if self.last_call_fw_version is not None and \
self.last_call_fw_version != local_stm_version:
fw_success_str = "Firmware successfully upgraded from %s to %s." % \
(self.last_call_fw_version, local_stm_version)
print fw_success_str
self._write(fw_success_str)
# Record firmware version reported each time this callback is called.
self.last_call_fw_version = local_stm_version
def _get_latest_version_info(self):
""" Get latest firmware / console version from website. """
try:
self.update_dl = UpdateDownloader()
except URLError:
self._write(
"\nError: Failed to download latest file index from Swift Navigation's website. Please visit our website to check that you're running the latest Piksi firmware and Piksi console.\n"
)
return
# Make sure index contains all keys we are interested in.
try:
if self.update_dl.index[self.piksi_hw_rev].has_key('fw'):
self.newest_stm_vers = self.update_dl.index[
self.piksi_hw_rev]['fw']['version']
else:
self.newest_stm_vers = self.update_dl.index[
self.piksi_hw_rev]['stm_fw']['version']
self.newest_nap_vers = self.update_dl.index[
self.piksi_hw_rev]['nap_fw']['version']
self.newest_console_vers = self.update_dl.index[
self.piksi_hw_rev]['console']['version']
except KeyError:
self._write(
"\nError: Index downloaded from Swift Navigation's website (%s) doesn't contain all keys. Please contact Swift Navigation.\n"
% INDEX_URL)
return
def manage_stm_firmware_update(self):
# Erase all of STM's flash (other than bootloader) if box is checked.
if self.erase_stm:
text = "Erasing STM"
self._write(text)
self.create_flash("STM")
sectors_to_erase = set(range(self.pk_flash.n_sectors)).difference(
set(self.pk_flash.restricted_sectors))
progress_dialog = PulsableProgressDialog(len(sectors_to_erase),
False)
progress_dialog.title = text
GUI.invoke_later(progress_dialog.open)
erase_count = 0
for s in sorted(sectors_to_erase):
progress_dialog.progress(erase_count)
self._write('Erasing %s sector %d' %
(self.pk_flash.flash_type, s))
self.pk_flash.erase_sector(s)
erase_count += 1
self.stop_flash()
self._write("")
try:
progress_dialog.close()
except AttributeError:
pass
# Flash STM.
text = "Updating STM"
self._write(text)
self.create_flash("STM")
stm_n_ops = self.pk_flash.ihx_n_ops(self.stm_fw.ihx, \
erase = not self.erase_stm)
progress_dialog = PulsableProgressDialog(stm_n_ops, True)
progress_dialog.title = text
GUI.invoke_later(progress_dialog.open)
# Don't erase sectors if we've already done so above.
self.pk_flash.write_ihx(self.stm_fw.ihx, self.stream, mod_print=0x40, \
elapsed_ops_cb = progress_dialog.progress, \
erase = not self.erase_stm)
self.stop_flash()
self._write("")
try:
progress_dialog.close()
except AttributeError:
pass
def manage_nap_firmware_update(self, check_version=False):
# Flash NAP if out of date.
try:
local_nap_version = parse_version(
self.settings['system_info']['nap_version'].value)
remote_nap_version = parse_version(self.newest_nap_vers)
nap_out_of_date = local_nap_version != remote_nap_version
except KeyError:
nap_out_of_date = True
if nap_out_of_date or check_version == False:
text = "Updating NAP"
self._write(text)
self.create_flash("M25")
nap_n_ops = self.pk_flash.ihx_n_ops(self.nap_fw.ihx)
progress_dialog = PulsableProgressDialog(nap_n_ops, True)
progress_dialog.title = text
GUI.invoke_later(progress_dialog.open)
self.pk_flash.write_ihx(self.nap_fw.ihx, self.stream, mod_print=0x40, \
elapsed_ops_cb = progress_dialog.progress)
self.stop_flash()
self._write("")
try:
progress_dialog.close()
except AttributeError:
pass
return True
else:
text = "NAP is already to latest version, not updating!"
self._write(text)
self._write("")
return False
def manage_multi_firmware_update(self):
# Set up progress dialog and transfer file to Piksi using SBP FileIO
progress_dialog = PulsableProgressDialog(len(self.stm_fw.blob))
progress_dialog.title = "Transferring image file"
GUI.invoke_later(progress_dialog.open)
self._write("Transferring image file...")
try:
FileIO(self.link).write("upgrade.image_set.bin",
self.stm_fw.blob,
progress_cb=progress_dialog.progress)
except Exception as e:
self._write("Failed to transfer image file to Piksi: %s\n" % e)
progress_dialog.close()
return
try:
progress_dialog.close()
except AttributeError:
pass
# Setup up pulsed progress dialog and commit to flash
progress_dialog = PulsableProgressDialog(100, True)
progress_dialog.title = "Committing to flash"
GUI.invoke_later(progress_dialog.open)
self._write("Committing file to flash...")
def log_cb(msg, **kwargs):
self._write(msg.text)
self.link.add_callback(log_cb, SBP_MSG_LOG)
code = shell_command(self.link,
"upgrade_tool upgrade.image_set.bin",
600,
progress_cb=progress_dialog.progress)
self.link.remove_callback(log_cb, SBP_MSG_LOG)
progress_dialog.close()
if code != 0:
self._write('Failed to perform upgrade (code = %d)' % code)
if code == -255:
self._write('Shell command timed out. Please try again.')
return
self._write('Resetting Piksi...')
self.link(MsgReset(flags=0))
# Executed in GUI thread, called from Handler.
def manage_firmware_updates(self, device):
"""
Update Piksi firmware. Erase entire STM flash (other than bootloader)
if so directed. Flash NAP only if new firmware is available.
"""
self.updating = True
update_nap = False
self._write('')
if not self.is_v2:
self.manage_multi_firmware_update()
self.updating = False
return
elif device == "STM":
self.manage_stm_firmware_update()
elif device == "M25":
update_nap = self.manage_nap_firmware_update()
else:
self.manage_stm_firmware_update()
update_nap = self.manage_nap_firmware_update(check_version=True)
# Must tell Piksi to jump to application after updating firmware.
if device == "STM" or update_nap:
self.link(MsgBootloaderJumpToApp(jump=0))
self._write("Firmware update finished.")
self._write("")
self.updating = False
def create_flash(self, flash_type):
"""
Create flash.Flash instance and set Piksi into bootloader mode, prompting
user to reset if necessary.
Parameter
---------
flash_type : string
Either "STM" or "M25".
"""
# Reset device if the application is running to put into bootloader mode.
self.link(MsgReset(flags=0))
self.pk_boot = bootload.Bootloader(self.link)
self._write("Waiting for bootloader handshake message from Piksi ...")
reset_prompt = None
handshake_received = self.pk_boot.handshake(1)
# Prompt user to reset Piksi if we don't receive the handshake message
# within a reasonable amount of tiime (firmware might be corrupted).
while not handshake_received:
reset_prompt = \
prompt.CallbackPrompt(
title="Please Reset Piksi",
actions=[prompt.close_button],
)
reset_prompt.text = \
"You must press the reset button on your Piksi in order\n" + \
"to update your firmware.\n\n" + \
"Please press it now.\n\n"
reset_prompt.run(block=False)
while not reset_prompt.closed and not handshake_received:
handshake_received = self.pk_boot.handshake(1)
reset_prompt.kill()
reset_prompt.wait()
self._write("received bootloader handshake message.")
self._write("Piksi Onboard Bootloader Version: " +
self.pk_boot.version)
self.pk_flash = flash.Flash(self.link, flash_type,
self.pk_boot.sbp_version)
def stop_flash(self):
"""
Stop Flash and Bootloader instances (removes callback from SerialLink).
"""
self.pk_flash.stop()
self.pk_boot.stop()
class UpdateView(HasTraits):
piksi_stm_vers = String('Waiting for Piksi to send settings...')
newest_stm_vers = String('Downloading Newest Firmware info...')
piksi_nap_vers = String('Waiting for Piksi to send settings...')
newest_nap_vers = String('Downloading Newest Firmware info...')
local_console_vers = String(CONSOLE_VERSION)
newest_console_vers = String('Downloading Newest Console info...')
erase_stm = Bool(True)
erase_en = Bool(True)
update_firmware = Button(label='Update Piksi Firmware')
updating = Bool(False)
update_en = Bool(False)
download_firmware = Button(label='Download Newest Firmware Files')
downloading = Bool(False)
download_fw_en = Bool(True)
stm_fw = Instance(IntelHexFileDialog)
nap_fw = Instance(IntelHexFileDialog)
stream = Instance(OutputStream)
view = View(
VGroup(
HGroup(
VGroup(
Item('piksi_stm_vers', label='Piksi STM Firmware Version'),
Item('newest_stm_vers', label='Newest STM Firmware Version'),
Item('piksi_nap_vers', label='Piksi NAP Firmware Version'),
Item('newest_nap_vers', label='Newest NAP Firmware Version'),
Item('local_console_vers', label='Local Piksi Console Version'),
Item('newest_console_vers', label='Newest Piksi Console Version'),
),
VGroup(
Item('stm_fw', style='custom', label='STM Firmware File', \
enabled_when='download_fw_en'),
Item('nap_fw', style='custom', label='NAP Firmware File', \
enabled_when='download_fw_en'),
Item('erase_stm', label='Erase Entire STM flash', \
enabled_when='erase_en'),
),
),
UItem('download_firmware', enabled_when='download_fw_en'),
UItem('update_firmware', enabled_when='update_en'),
Item(
'stream',
style='custom',
editor=InstanceEditor(),
label='Update Status',
),
)
)
def __init__(self, link, prompt=True):
self.link = link
self.settings = {}
self.prompt = prompt
self.python_console_cmds = {
'update': self
}
self.update_dl = None
self.stm_fw = IntelHexFileDialog('STM')
self.stm_fw.on_trait_change(self._manage_enables, 'status')
self.nap_fw = IntelHexFileDialog('M25')
self.nap_fw.on_trait_change(self._manage_enables, 'status')
self.stream = OutputStream()
self.get_latest_version_info()
def _manage_enables(self):
if self.updating == True or self.downloading == True:
self.update_en = False
self.download_fw_en = False
else:
self.download_fw_en = True
if self.stm_fw.ihx != None and self.nap_fw.ihx != None:
self.update_en = True
else:
self.update_en = False
if self.updating == True:
self.erase_en = False
else:
self.erase_en = True
def _updating_changed(self):
self._manage_enables()
def _downloading_changed(self):
self._manage_enables()
def _write(self, text):
self.stream.write(text)
self.stream.write('\n')
self.stream.flush()
def _update_firmware_fired(self):
try:
if self._firmware_update_thread.is_alive():
return
except AttributeError:
pass
self._firmware_update_thread = Thread(target=self.manage_firmware_updates)
self._firmware_update_thread.start()
def _download_firmware(self):
self._write('')
# Check that we received the index file from the website.
if self.update_dl == None:
self._write("Error: Can't download firmware files")
return
self.downloading = True
status = 'Downloading Newest Firmware...'
self.nap_fw.set_status(status)
self.stm_fw.set_status(status)
self._write(status)
# Get firmware files from Swift Nav's website, save to disk, and load.
try:
self._write('Downloading Newest NAP firmware')
filepath = self.update_dl.download_nap_firmware()
self._write('Saved file to %s' % filepath)
self.nap_fw.load_ihx(filepath)
except AttributeError:
self.nap_fw.set_status("Error downloading firmware")
self._write("Error downloading firmware: index file not downloaded yet")
except KeyError:
self.nap_fw.set_status("Error downloading firmware")
self._write("Error downloading firmware: URL not present in index")
except URLError:
self.nap_fw.set_status("Error downloading firmware")
self._write("Error: Failed to download latest NAP firmware from Swift Navigation's website")
try:
self._write('Downloading Newest STM firmware')
filepath = self.update_dl.download_stm_firmware()
self._write('Saved file to %s' % filepath)
self.stm_fw.load_ihx(filepath)
except AttributeError:
self.stm_fw.set_status("Error downloading firmware")
self._write("Error downloading firmware: index file not downloaded yet")
except KeyError:
self.stm_fw.set_status("Error downloading firmware")
self._write("Error downloading firmware: URL not present in index")
except URLError:
self.stm_fw.set_status("Error downloading firmware")
self._write("Error: Failed to download latest STM firmware from Swift Navigation's website")
self.downloading = False
def _download_firmware_fired(self):
try:
if self._download_firmware_thread.is_alive():
return
except AttributeError:
pass
self._download_firmware_thread = Thread(target=self._download_firmware)
self._download_firmware_thread.start()
def compare_versions(self):
try:
if self._compare_versions_thread.is_alive():
return
except AttributeError:
pass
self._compare_versions_thread = Thread(target=self._compare_versions)
self._compare_versions_thread.start()
def _compare_versions(self):
# Check that settings received from Piksi contain FW versions.
try:
self.piksi_stm_vers = \
self.settings['system_info']['firmware_version'].value
self.piksi_nap_vers = \
self.settings['system_info']['nap_version'].value
except KeyError:
self._write("\nError: Settings received from Piksi don't contain firmware version keys. Please contact Swift Navigation.\n")
return
# Check that we received the index file from the website.
if self.update_dl == None:
self._write("Error: No website index to use to compare versions with local firmware")
return
# Check if console is out of date and notify user if so.
if self.prompt:
local_console_version = parse_version(CONSOLE_VERSION)
remote_console_version = parse_version(self.newest_console_vers)
self.console_outdated = remote_console_version > local_console_version
if self.console_outdated:
console_outdated_prompt = \
prompt.CallbackPrompt(
title="Piksi Console Outdated",
actions=[prompt.close_button],
)
console_outdated_prompt.text = \
"Your Piksi Console is out of date and may be incompatible\n" + \
"with current firmware. We highly recommend upgrading to\n" + \
"ensure proper behavior.\n\n" + \
"Please visit http://downloads.swiftnav.com to\n" + \
"download the newest version.\n\n" + \
"Local Console Version :\n\t" + \
CONSOLE_VERSION + \
"\nNewest Console Version :\n\t" + \
self.update_dl.index['piksi_v2.3.1']['console']['version'] + "\n"
console_outdated_prompt.run()
# For timing aesthetics between windows popping up.
sleep(0.5)
# Check if firmware is out of date and notify user if so.
if self.prompt:
local_stm_version = parse_version(
self.settings['system_info']['firmware_version'].value)
remote_stm_version = parse_version(self.newest_stm_vers)
local_nap_version = parse_version(
self.settings['system_info']['nap_version'].value)
remote_nap_version = parse_version(self.newest_nap_vers)
self.fw_outdated = remote_nap_version > local_nap_version or \
remote_stm_version > local_stm_version
if self.fw_outdated:
fw_update_prompt = \
prompt.CallbackPrompt(
title='Firmware Update',
actions=[prompt.close_button]
)
fw_update_prompt.text = \
"New Piksi firmware available.\n\n" + \
"Please use the Firmware Update tab to update.\n\n" + \
"Newest STM Version :\n\t%s\n\n" % \
self.update_dl.index['piksi_v2.3.1']['stm_fw']['version'] + \
"Newest SwiftNAP Version :\n\t%s\n\n" % \
self.update_dl.index['piksi_v2.3.1']['nap_fw']['version']
fw_update_prompt.run()
def get_latest_version_info(self):
try:
if self._get_latest_version_info_thread.is_alive():
return
except AttributeError:
pass
self._get_latest_version_info_thread = Thread(target=self._get_latest_version_info)
self._get_latest_version_info_thread.start()
def _get_latest_version_info(self):
try:
self.update_dl = UpdateDownloader()
except URLError:
self._write("\nError: Failed to download latest file index from Swift Navigation's website. Please visit our website to check that you're running the latest Piksi firmware and Piksi console.\n")
return
# Make sure index contains all keys we are interested in.
try:
self.newest_stm_vers = self.update_dl.index['piksi_v2.3.1']['stm_fw']['version']
self.newest_nap_vers = self.update_dl.index['piksi_v2.3.1']['nap_fw']['version']
self.newest_console_vers = self.update_dl.index['piksi_v2.3.1']['console']['version']
except KeyError:
self._write("\nError: Index downloaded from Swift Navigation's website (%s) doesn't contain all keys. Please contact Swift Navigation.\n" % INDEX_URL)
return
# Executed in GUI thread, called from Handler.
def manage_firmware_updates(self):
self.updating = True
self._write('')
# Erase STM if so directed.
if self.erase_stm:
self._write("Erasing STM flash...")
self.erase_flash("STM")
self._write("")
# Flash STM.
self._write("Updating STM firmware...")
self.update_flash(self.stm_fw.ihx, "STM")
self._write("")
# Flash NAP.
self._write("Updating SwiftNAP firmware...")
self.update_flash(self.nap_fw.ihx, "M25")
self._write("")
# Must tell Piksi to jump to application after updating firmware.
self.link.send_message(ids.BOOTLOADER_JUMP_TO_APP, '\x00')
self._write("Firmware updates finished.")
self._write("")
self.updating = False
def erase_flash(self, flash_type):
self.create_flash(flash_type)
sectors_to_erase = \
set(range(self.pk_flash.n_sectors)).difference(set(self.pk_flash.restricted_sectors))
for s in sorted(sectors_to_erase):
self._write('Erasing %s sector %d' % (self.pk_flash.flash_type,s))
self.pk_flash.erase_sector(s)
self.stop_flash()
def update_flash(self, ihx, flash_type):
self.create_flash(flash_type)
self.pk_flash.write_ihx(ihx, self.stream, mod_print = 0x10)
self.stop_flash()
def create_flash(self, flash_type):
# Reset device if the application is running to put into bootloader mode.
self.link.send_message(ids.RESET, '')
self.pk_boot = bootload.Bootloader(self.link)
self._write("Waiting for bootloader handshake message from Piksi ...")
reset_prompt = None
handshake_received = self.pk_boot.wait_for_handshake(1)
# Prompt user to reset Piksi if we don't receive the handshake message
# within a reasonable amount of tiime (firmware might be corrupted).
while not handshake_received:
reset_prompt = \
prompt.CallbackPrompt(
title="Please Reset Piksi",
actions=[prompt.close_button],
)
reset_prompt.text = \
"You must press the reset button on your Piksi in order\n" + \
"to update your firmware.\n\n" + \
"Please press it now.\n\n"
reset_prompt.run(block=False)
while not reset_prompt.closed and not handshake_received:
handshake_received = self.pk_boot.wait_for_handshake(1)
reset_prompt.kill()
reset_prompt.wait()
self.pk_boot.reply_handshake()
self._write("received bootloader handshake message.")
self._write("Piksi Onboard Bootloader Version: " + self.pk_boot.version)
self.pk_flash = flash.Flash(self.link, flash_type)
def stop_flash(self):
self.pk_flash.stop()
self.pk_boot.stop()
def __init__(self, *args, **kwargs):
try:
update = kwargs.pop('update')
except KeyError:
update = True
self.console_output = OutputStream()
sys.stdout = self.console_output
sys.stderr = self.console_output
try:
self.link = serial_link.SerialLink(*args, **kwargs)
self.link.add_callback(ids.PRINT, self.print_message_callback)
self.link.add_callback(ids.DEBUG_VAR, self.debug_var_callback)
settings_read_finished_functions = []
self.tracking_view = TrackingView(self.link)
self.almanac_view = AlmanacView(self.link)
self.solution_view = SolutionView(self.link)
self.baseline_view = BaselineView(self.link)
self.observation_view = ObservationView(self.link,
name='Rover',
relay=False)
self.observation_view_base = ObservationView(self.link,
name='Base',
relay=True)
self.system_monitor_view = SystemMonitorView(self.link)
self.simulator_view = SimulatorView(self.link)
self.settings_view = SettingsView(self.link)
if update:
self.ocu = OneClickUpdate(self.link, self.console_output)
settings_read_finished_functions.append(self.ocu.start)
self.settings_view = \
SettingsView(self.link, settings_read_finished_functions)
if update:
self.ocu.point_to_settings(self.settings_view.settings)
self.python_console_env = {
'send_message': self.link.send_message,
'link': self.link,
}
self.python_console_env.update(
self.tracking_view.python_console_cmds)
self.python_console_env.update(
self.almanac_view.python_console_cmds)
self.python_console_env.update(
self.solution_view.python_console_cmds)
self.python_console_env.update(
self.baseline_view.python_console_cmds)
self.python_console_env.update(
self.observation_view.python_console_cmds)
self.python_console_env.update(
self.system_monitor_view.python_console_cmds)
except:
import traceback
traceback.print_exc()
class UpdateView(HasTraits):
piksi_hw_rev = String('piksi_multi')
is_v2 = Bool(False)
piksi_stm_vers = String('Waiting for Piksi to send settings...', width=COLUMN_WIDTH)
newest_stm_vers = String('Downloading Latest Firmware info...')
piksi_nap_vers = String('Waiting for Piksi to send settings...')
newest_nap_vers = String('Downloading Latest Firmware info...')
local_console_vers = String('v' + CONSOLE_VERSION)
newest_console_vers = String('Downloading Latest Console info...')
erase_stm = Bool(True)
erase_en = Bool(True)
update_stm_firmware = Button(label='Update FW')
update_nap_firmware = Button(label='Update NAP')
update_full_firmware = Button(label='Update Piksi STM and NAP Firmware')
updating = Bool(False)
update_stm_en = Bool(False)
update_nap_en = Bool(False)
update_en = Bool(False)
serial_upgrade = Bool(False)
upgrade_steps = String("Firmware upgrade steps:")
download_firmware = Button(label='Download Latest Firmware')
download_directory = Directory(" Please choose a directory for downloaded firmware files...")
download_stm = Button(label='Download', height=HT)
download_nap = Button(label='Download', height=HT)
downloading = Bool(False)
download_fw_en = Bool(True)
stm_fw = Instance(FirmwareFileDialog)
nap_fw = Instance(FirmwareFileDialog)
stream = Instance(OutputStream)
view = View(
VGroup(
Item('piksi_hw_rev', label='Hardware Revision',
editor_args={'enabled': False}, resizable=True),
HGroup(
VGroup(
Item('piksi_stm_vers', label='Current', resizable=True,
editor_args={'enabled': False}),
Item('newest_stm_vers', label='Latest', resizable=True,
editor_args={'enabled': False,
'readonly_allow_selection': True}),
Item('stm_fw', style='custom', show_label=True, \
label="Local File", enabled_when='download_fw_en',
visible_when='serial_upgrade',
editor_args={'enabled': False}),
HGroup(Item('update_stm_firmware', show_label=False, \
enabled_when='update_stm_en', visible_when='serial_upgrade'),
Item('erase_stm', label='Erase STM flash\n(recommended)', \
enabled_when='erase_en', show_label=True, visible_when='is_v2')),
show_border=True, label="Firmware Version"
),
VGroup(
Item('piksi_nap_vers', label='Current', resizable=True,
editor_args={'enabled': False}),
Item('newest_nap_vers', label='Latest', resizable=True,
editor_args={'enabled': False}),
Item('nap_fw', style='custom', show_label=True, \
label="Local File", enabled_when='download_fw_en',
editor_args={'enabled': False}),
HGroup(Item('update_nap_firmware', show_label=False, \
enabled_when='update_nap_en', visible_when='serial_upgrade'),
Item(width=50, label=" ")),
show_border=True, label="NAP Version",
visible_when='is_v2'
),
VGroup(
Item('local_console_vers', label='Current', resizable=True,
editor_args={'enabled': False}),
Item('newest_console_vers', label='Latest',
editor_args={'enabled': False}),
label="Swift Console Version", show_border=True),
),
UItem('download_directory', enabled_when='download_fw_en'),
UItem('download_firmware', enabled_when='download_fw_en'),
UItem('update_full_firmware', enabled_when='update_en', visible_when='is_v2'),
VGroup(
UItem('upgrade_steps',
visible_when='not serial_upgrade', style='readonly'),
Item(
'stream',
style='custom',
editor=InstanceEditor(),
show_label=False,
),
show_border=True,
)
)
)
def __init__(self, link, prompt=True, serial_upgrade=False):
"""
Traits tab with UI for updating Piksi firmware.
Parameters
----------
link : sbp.client.handler.Handler
Link for SBP transfer to/from Piksi.
prompt : bool
Prompt user to update console/firmware if out of date.
"""
self.link = link
self.settings = {}
self.prompt = prompt
self.python_console_cmds = {
'update': self
}
try:
self.update_dl = UpdateDownloader()
except URLError:
self.update_dl = None
pass
self.erase_en = True
self.stm_fw = FirmwareFileDialog('bin')
self.stm_fw.on_trait_change(self._manage_enables, 'status')
self.nap_fw = FirmwareFileDialog('M25')
self.nap_fw.on_trait_change(self._manage_enables, 'status')
self.stream = OutputStream()
self.serial_upgrade = serial_upgrade
self.last_call_fw_version = None
if not self.serial_upgrade:
self._write(
"1. Insert the USB flash drive provided with your Piki Multi into "
"your computer. Select the flash drive root directory as the "
"firmware download destination using the \"Please "
"choose a directory for downloaded firmware files\" directory "
"chooser above. Press the \"Download Latest Firmware\" button. "
"This will download the latest Piksi Multi firmware file onto the "
"USB flashdrive.\n"
"2. Eject the drive from your computer and plug it "
"into the Piksi Multi evaluation board.\n"
"3. Reset your Piksi Multi and it will upgrade to the version "
"on the USB flash drive. This should take less than 5 minutes.\n"
"4. When the upgrade completes you will be prompted to remove the "
"USB flash drive and reset your Piksi Multi.\n"
"5. Verify that the firmware version has upgraded via inspection "
"of the Current Firmware Version box on the Firmware Update Tab "
"of the Swift Console.\n")
def _manage_enables(self):
""" Manages whether traits widgets are enabled in the UI or not. """
if self.updating == True or self.downloading == True:
self.update_stm_en = False
self.update_nap_en = False
self.update_en = False
self.download_fw_en = False
self.erase_en = False
else:
self.download_fw_en = True
self.erase_en = True
if self.stm_fw.ihx is not None or self.stm_fw.blob is not None:
self.update_stm_en = True
else:
self.update_stm_en = False
self.update_en = False
if self.nap_fw.ihx is not None:
self.update_nap_en = True
else:
self.update_nap_en = False
self.update_en = False
if self.nap_fw.ihx is not None and self.stm_fw.ihx is not None:
self.update_en = True
def _download_directory_changed(self):
if self.update_dl:
self.update_dl.set_root_path(self.download_directory)
def _updating_changed(self):
""" Handles self.updating trait being changed. """
self._manage_enables()
def _downloading_changed(self):
""" Handles self.downloading trait being changed. """
self._manage_enables()
def _write(self, text):
"""
Stream style write function. Allows flashing debugging messages to be
routed to embedded text console.
Parameters
----------
text : string
Text to be written to screen.
"""
self.stream.write(text)
self.stream.write('\n')
self.stream.flush()
def _update_stm_firmware_fired(self):
"""
Handle update_stm_firmware button. Starts thread so as not to block the GUI
thread.
"""
try:
if self._firmware_update_thread.is_alive():
return
except AttributeError:
pass
self._firmware_update_thread = Thread(target=self.manage_firmware_updates,
args=("STM",))
self._firmware_update_thread.start()
def _update_nap_firmware_fired(self):
"""
Handle update_nap_firmware button. Starts thread so as not to block the GUI
thread.
"""
try:
if self._firmware_update_thread.is_alive():
return
except AttributeError:
pass
self._firmware_update_thread = Thread(target=self.manage_firmware_updates,
args=("M25",))
self._firmware_update_thread.start()
def _update_full_firmware_fired(self):
"""
Handle update_full_firmware button. Starts thread so as not to block the GUI
thread.
"""
try:
if self._firmware_update_thread.is_alive():
return
except AttributeError:
pass
self._firmware_update_thread = Thread(target=self.manage_firmware_updates,
args=("ALL",))
self._firmware_update_thread.start()
def _download_firmware(self):
""" Download latest firmware from swiftnav.com. """
self._write('')
# Check that we received the index file from the website.
if self.update_dl == None:
self._write("Error: Can't download firmware files")
return
self.downloading = True
status = 'Downloading Latest Firmware...'
self.nap_fw.clear(status)
self.stm_fw.clear(status)
self._write(status)
# Get firmware files from Swift Nav's website, save to disk, and load.
if self.update_dl.index[self.piksi_hw_rev].has_key('fw'):
try:
self._write('Downloading Latest Multi firmware')
filepath = self.update_dl.download_multi_firmware(self.piksi_hw_rev)
self._write('Saved file to %s' % filepath)
self.stm_fw.load_bin(filepath)
except AttributeError:
self.nap_fw.clear("Error downloading firmware")
self._write("Error downloading firmware: index file not downloaded yet")
except KeyError:
self.nap_fw.clear("Error downloading firmware")
self._write("Error downloading firmware: URL not present in index")
except URLError:
self.nap_fw.clear("Error downloading firmware")
self._write("Error: Failed to download latest NAP firmware from Swift Navigation's website")
self.downloading = False
return
try:
self._write('Downloading Latest NAP firmware')
filepath = self.update_dl.download_nap_firmware(self.piksi_hw_rev)
self._write('Saved file to %s' % filepath)
self.nap_fw.load_ihx(filepath)
except AttributeError:
self.nap_fw.clear("Error downloading firmware")
self._write("Error downloading firmware: index file not downloaded yet")
except KeyError:
self.nap_fw.clear("Error downloading firmware")
self._write("Error downloading firmware: URL not present in index")
except URLError:
self.nap_fw.clear("Error downloading firmware")
self._write("Error: Failed to download latest NAP firmware from Swift Navigation's website")
try:
self._write('Downloading Latest STM firmware')
filepath = self.update_dl.download_stm_firmware(self.piksi_hw_rev)
self._write('Saved file to %s' % filepath)
self.stm_fw.load_ihx(filepath)
except AttributeError:
self.stm_fw.clear("Error downloading firmware")
self._write("Error downloading firmware: index file not downloaded yet")
except KeyError:
self.stm_fw.clear("Error downloading firmware")
self._write("Error downloading firmware: URL not present in index")
except URLError:
self.stm_fw.clear("Error downloading firmware")
self._write("Error: Failed to download latest STM firmware from Swift Navigation's website")
self.downloading = False
def _download_firmware_fired(self):
"""
Handle download_firmware button. Starts thread so as not to block the GUI
thread.
"""
try:
if self._download_firmware_thread.is_alive():
return
except AttributeError:
pass
self._download_firmware_thread = Thread(target=self._download_firmware)
self._download_firmware_thread.start()
def compare_versions(self):
"""
To be called after latest Piksi firmware info has been received from
device, to decide if current firmware on Piksi is out of date. Also informs
user if the firmware was successfully upgraded. Starts a thread so as not
to block GUI thread.
"""
try:
if self._compare_versions_thread.is_alive():
return
except AttributeError:
pass
self._compare_versions_thread = Thread(target=self._compare_versions)
self._compare_versions_thread.start()
def _compare_versions(self):
"""
Compares version info between received firmware version / current console
and firmware / console info from website to decide if current firmware or
console is out of date. Prompt user to update if so. Informs user if
firmware successfully upgraded.
"""
# Check that settings received from Piksi contain FW versions.
try:
self.piksi_hw_rev = \
HW_REV_LOOKUP[self.settings['system_info']['hw_revision'].value]
self.piksi_stm_vers = \
self.settings['system_info']['firmware_version'].value
except KeyError:
self._write("\nError: Settings received from Piksi don't contain firmware version keys. Please contact Swift Navigation.\n")
return
self.is_v2 = self.piksi_hw_rev.startswith('piksi_v2')
if self.is_v2:
self.stm_fw.set_flash_type('STM')
self.serial_upgrade = True
else:
self.stm_fw.set_flash_type('bin')
self._get_latest_version_info()
# Check that we received the index file from the website.
if self.update_dl == None:
self._write("Error: No website index to use to compare versions with local firmware")
return
# Check if console is out of date and notify user if so.
if self.prompt:
local_console_version = parse_version(CONSOLE_VERSION)
remote_console_version = parse_version(self.newest_console_vers)
self.console_outdated = remote_console_version > local_console_version
# we want to warn users using v2 regardless of version logic
if self.console_outdated or self.is_v2:
if not self.is_v2:
console_outdated_prompt = \
prompt.CallbackPrompt(
title="Swift Console Outdated",
actions=[prompt.close_button],
)
console_outdated_prompt.text = \
"Your console is out of date and may be incompatible\n" + \
"with current firmware. We highly recommend upgrading to\n" + \
"ensure proper behavior.\n\n" + \
"Please visit http://support.swiftnav.com to\n" + \
"download the latest version.\n\n" + \
"Local Console Version :\n\t" + \
"v" + CONSOLE_VERSION + \
"\nLatest Console Version :\n\t" + \
self.update_dl.index[self.piksi_hw_rev]['console']['version'] + "\n"
else:
console_outdated_prompt = \
prompt.CallbackPrompt(
title="Swift Console Incompatible",
actions=[prompt.close_button],
)
console_outdated_prompt.text = \
"Your console is incompatible with your hardware revision.\n" + \
"We highly recommend using a compatible console version\n" + \
"to ensure proper behavior.\n\n" + \
"Please visit http://support.swiftnav.com to\n" + \
"download the latest compatible version.\n\n" + \
"Current Hardware revision :\n\t" + \
self.piksi_hw_rev + \
"\nLast supported Console Version: \n\t" + \
self.update_dl.index[self.piksi_hw_rev]['console']['version'] + "\n"
console_outdated_prompt.run()
# For timing aesthetics between windows popping up.
sleep(0.5)
# Check if firmware is out of date and notify user if so.
local_stm_version = self.settings['system_info']['firmware_version'].value
remote_stm_version = self.newest_stm_vers
self.fw_outdated = remote_stm_version > local_stm_version
if self.fw_outdated:
fw_update_prompt = \
prompt.CallbackPrompt(
title='Firmware Update',
actions=[prompt.close_button]
)
if self.update_dl.index[self.piksi_hw_rev].has_key('fw'):
fw_update_prompt.text = \
"New Piksi firmware available.\n\n" + \
"Please use the Firmware Update tab to update.\n\n" + \
"Newest Firmware Version :\n\t%s\n\n" % \
self.update_dl.index[self.piksi_hw_rev]['fw']['version']
else:
fw_update_prompt.text = \
"New Piksi firmware available.\n\n" + \
"Please use the Firmware Update tab to update.\n\n" + \
"Newest STM Version :\n\t%s\n\n" % \
self.update_dl.index[self.piksi_hw_rev]['stm_fw']['version'] + \
"Newest SwiftNAP Version :\n\t%s\n\n" % \
self.update_dl.index[self.piksi_hw_rev]['nap_fw']['version']
fw_update_prompt.run()
# Check if firmware successfully upgraded and notify user if so.
if self.last_call_fw_version is not None and \
self.last_call_fw_version != local_stm_version:
fw_success_str = "Firmware successfully upgraded from %s to %s." % \
(self.last_call_fw_version, local_stm_version)
print fw_success_str
self._write(fw_success_str)
# Record firmware version reported each time this callback is called.
self.last_call_fw_version = local_stm_version
def _get_latest_version_info(self):
""" Get latest firmware / console version from website. """
try:
self.update_dl = UpdateDownloader()
except URLError:
self._write("\nError: Failed to download latest file index from Swift Navigation's website. Please visit our website to check that you're running the latest Piksi firmware and Piksi console.\n")
return
# Make sure index contains all keys we are interested in.
try:
if self.update_dl.index[self.piksi_hw_rev].has_key('fw'):
self.newest_stm_vers = self.update_dl.index[self.piksi_hw_rev]['fw']['version']
else:
self.newest_stm_vers = self.update_dl.index[self.piksi_hw_rev]['stm_fw']['version']
self.newest_nap_vers = self.update_dl.index[self.piksi_hw_rev]['nap_fw']['version']
self.newest_console_vers = self.update_dl.index[self.piksi_hw_rev]['console']['version']
except KeyError:
self._write("\nError: Index downloaded from Swift Navigation's website (%s) doesn't contain all keys. Please contact Swift Navigation.\n" % INDEX_URL)
return
def manage_stm_firmware_update(self):
# Erase all of STM's flash (other than bootloader) if box is checked.
if self.erase_stm:
text = "Erasing STM"
self._write(text)
self.create_flash("STM")
sectors_to_erase = set(range(self.pk_flash.n_sectors)).difference(set(self.pk_flash.restricted_sectors))
progress_dialog = PulsableProgressDialog(len(sectors_to_erase), False)
progress_dialog.title = text
GUI.invoke_later(progress_dialog.open)
erase_count = 0
for s in sorted(sectors_to_erase):
progress_dialog.progress(erase_count)
self._write('Erasing %s sector %d' % (self.pk_flash.flash_type,s))
self.pk_flash.erase_sector(s)
erase_count += 1
self.stop_flash()
self._write("")
try:
progress_dialog.close()
except AttributeError:
pass
# Flash STM.
text = "Updating STM"
self._write(text)
self.create_flash("STM")
stm_n_ops = self.pk_flash.ihx_n_ops(self.stm_fw.ihx, \
erase = not self.erase_stm)
progress_dialog = PulsableProgressDialog(stm_n_ops, True)
progress_dialog.title = text
GUI.invoke_later(progress_dialog.open)
# Don't erase sectors if we've already done so above.
self.pk_flash.write_ihx(self.stm_fw.ihx, self.stream, mod_print=0x40, \
elapsed_ops_cb = progress_dialog.progress, \
erase = not self.erase_stm)
self.stop_flash()
self._write("")
try:
progress_dialog.close()
except AttributeError:
pass
def manage_nap_firmware_update(self, check_version=False):
# Flash NAP if out of date.
try:
local_nap_version = parse_version(
self.settings['system_info']['nap_version'].value)
remote_nap_version = parse_version(self.newest_nap_vers)
nap_out_of_date = local_nap_version != remote_nap_version
except KeyError:
nap_out_of_date = True
if nap_out_of_date or check_version==False:
text = "Updating NAP"
self._write(text)
self.create_flash("M25")
nap_n_ops = self.pk_flash.ihx_n_ops(self.nap_fw.ihx)
progress_dialog = PulsableProgressDialog(nap_n_ops, True)
progress_dialog.title = text
GUI.invoke_later(progress_dialog.open)
self.pk_flash.write_ihx(self.nap_fw.ihx, self.stream, mod_print=0x40, \
elapsed_ops_cb = progress_dialog.progress)
self.stop_flash()
self._write("")
try:
progress_dialog.close()
except AttributeError:
pass
return True
else:
text = "NAP is already to latest version, not updating!"
self._write(text)
self._write("")
return False
def manage_multi_firmware_update(self):
# Set up progress dialog and transfer file to Piksi using SBP FileIO
progress_dialog = PulsableProgressDialog(len(self.stm_fw.blob))
progress_dialog.title = "Transferring image file"
GUI.invoke_later(progress_dialog.open)
self._write("Transferring image file...")
try:
FileIO(self.link).write("upgrade.image_set.bin", self.stm_fw.blob,
progress_cb=progress_dialog.progress)
except Exception as e:
self._write("Failed to transfer image file to Piksi: %s\n" % e)
progress_dialog.close()
return
try:
progress_dialog.close()
except AttributeError:
pass
# Setup up pulsed progress dialog and commit to flash
progress_dialog = PulsableProgressDialog(100, True)
progress_dialog.title = "Committing to flash"
GUI.invoke_later(progress_dialog.open)
self._write("Committing file to flash...")
def log_cb(msg, **kwargs): self._write(msg.text)
self.link.add_callback(log_cb, SBP_MSG_LOG)
code = shell_command(self.link, "upgrade_tool upgrade.image_set.bin", 600,
progress_cb=progress_dialog.progress)
self.link.remove_callback(log_cb, SBP_MSG_LOG)
progress_dialog.close()
if code != 0:
self._write('Failed to perform upgrade (code = %d)' % code)
if code == -255:
self._write('Shell command timed out. Please try again.')
return
self._write('Resetting Piksi...')
self.link(MsgReset(flags=0))
# Executed in GUI thread, called from Handler.
def manage_firmware_updates(self, device):
"""
Update Piksi firmware. Erase entire STM flash (other than bootloader)
if so directed. Flash NAP only if new firmware is available.
"""
self.updating = True
update_nap = False
self._write('')
if not self.is_v2:
self.manage_multi_firmware_update()
self.updating = False
return
elif device == "STM":
self.manage_stm_firmware_update()
elif device == "M25":
update_nap = self.manage_nap_firmware_update()
else:
self.manage_stm_firmware_update()
update_nap = self.manage_nap_firmware_update(check_version=True)
# Must tell Piksi to jump to application after updating firmware.
if device == "STM" or update_nap:
self.link(MsgBootloaderJumpToApp(jump=0))
self._write("Firmware update finished.")
self._write("")
self.updating = False
def create_flash(self, flash_type):
"""
Create flash.Flash instance and set Piksi into bootloader mode, prompting
user to reset if necessary.
Parameter
---------
flash_type : string
Either "STM" or "M25".
"""
# Reset device if the application is running to put into bootloader mode.
self.link(MsgReset(flags=0))
self.pk_boot = bootload.Bootloader(self.link)
self._write("Waiting for bootloader handshake message from Piksi ...")
reset_prompt = None
handshake_received = self.pk_boot.handshake(1)
# Prompt user to reset Piksi if we don't receive the handshake message
# within a reasonable amount of tiime (firmware might be corrupted).
while not handshake_received:
reset_prompt = \
prompt.CallbackPrompt(
title="Please Reset Piksi",
actions=[prompt.close_button],
)
reset_prompt.text = \
"You must press the reset button on your Piksi in order\n" + \
"to update your firmware.\n\n" + \
"Please press it now.\n\n"
reset_prompt.run(block=False)
while not reset_prompt.closed and not handshake_received:
handshake_received = self.pk_boot.handshake(1)
reset_prompt.kill()
reset_prompt.wait()
self._write("received bootloader handshake message.")
self._write("Piksi Onboard Bootloader Version: " + self.pk_boot.version)
self.pk_flash = flash.Flash(self.link, flash_type, self.pk_boot.sbp_version)
def stop_flash(self):
"""
Stop Flash and Bootloader instances (removes callback from SerialLink).
"""
self.pk_flash.stop()
self.pk_boot.stop()