Пример #1
0
def load_and_start_firmware(bootloader_interface, firmware_image):
    while True:
        try:
            info('Flashing the firmware [%d bytes]...', len(firmware_image))
            bootloader_interface.unlock()
            bootloader_interface.load_firmware(firmware_image)
        except Exception as ex:
            error('Flashing failed: %r', ex)
            if not input('Try harder?', yes_no=True):
                abort('Flashing failed')
        else:
            input('Set PIO0_1 high (J4 open), then press ENTER')
            info('Starting the firmware...')
            bootloader_interface.reset()
            break
Пример #2
0
def load_and_start_firmware(bootloader_interface, firmware_image):
    while True:
        try:
            info('Flashing the firmware [%d bytes]...', len(firmware_image))
            bootloader_interface.unlock()
            bootloader_interface.load_firmware(firmware_image)
        except Exception as ex:
            error('Flashing failed: %r', ex)
            if not input('Try harder?', yes_no=True):
                abort('Flashing failed')
        else:
            input('Set PIO0_1 high (J4 open), then press ENTER')
            info('Starting the firmware...')
            bootloader_interface.reset()
            break
Пример #3
0
def process_one_device(set_device_info):
    execute_shell_command('ifconfig %s down && ifconfig %s up', args.iface,
                          args.iface)

    if not args.only_sign:
        # Flashing firmware without signature
        with closing(bootloader.BootloaderInterface(args.iface)) as bli:
            input('\n'.join([
                '1. Set PIO0_3 low, PIO0_1 low (J4 closed, J3 open)',
                '2. Power on the device and connect it to CAN bus',
                '3. Press ENTER'
            ]))

            with CLIWaitCursor():
                load_and_start_firmware(bli, firmware_base)

        # Testing the device
        input('\n'.join([
            '1. Make sure that LED indicators are blinking',
            '2. Test button operation', '3. Press ENTER'
        ]))

    # Installing signature
    with closing(bootloader.BootloaderInterface(args.iface)) as bli:
        info("Now we're going to sign the device")
        input('\n'.join([
            '1. Set PIO0_3 low, PIO0_1 low (J4 closed, J3 open)',
            '2. Reset the device (e.g. cycle power)', '3. Press ENTER'
        ]))

        with CLIWaitCursor():
            info('Reading unique ID...')
            unique_id = bli.read_unique_id()
            set_device_info(PRODUCT_NAME, unique_id)

            info('Requesting signature for unique ID %s',
                 ' '.join(['%02x' % x for x in unique_id]))
            gensign_response = api.generate_signature(unique_id, PRODUCT_NAME)

            info(
                'Signature has been generated successfully [%s], patching the firmware...',
                ['existing', 'NEW'][gensign_response.new])
            firmware_with_signature = firmware_base.ljust(
                SIGNATURE_OFFSET, b'\xFF') + gensign_response.signature

            load_and_start_firmware(bli, firmware_with_signature)
Пример #4
0
def process_one_device(set_device_info):
    execute_shell_command('ifconfig %s down && ifconfig %s up', args.iface, args.iface)

    if not args.only_sign:
        # Flashing firmware without signature
        with closing(bootloader.BootloaderInterface(args.iface)) as bli:
            input('\n'.join(['1. Set PIO0_3 low, PIO0_1 low (J4 closed, J3 open)',
                             '2. Power on the device and connect it to CAN bus',
                             '3. Press ENTER']))

            with CLIWaitCursor():
                load_and_start_firmware(bli, firmware_base)

        # Testing the device
        input('\n'.join(['1. Make sure that LED indicators are blinking',
                         '2. Test button operation',
                         '3. Press ENTER']))

    # Installing signature
    with closing(bootloader.BootloaderInterface(args.iface)) as bli:
        info("Now we're going to sign the device")
        input('\n'.join(['1. Set PIO0_3 low, PIO0_1 low (J4 closed, J3 open)',
                         '2. Reset the device (e.g. cycle power)',
                         '3. Press ENTER']))

        with CLIWaitCursor():
            info('Reading unique ID...')
            unique_id = bli.read_unique_id()
            set_device_info(PRODUCT_NAME, unique_id)

            info('Requesting signature for unique ID %s', ' '.join(['%02x' % x for x in unique_id]))
            gensign_response = api.generate_signature(unique_id, PRODUCT_NAME)

            info('Signature has been generated successfully [%s], patching the firmware...',
                 ['existing', 'NEW'][gensign_response.new])
            firmware_with_signature = firmware_base.ljust(SIGNATURE_OFFSET, b'\xFF') + gensign_response.signature

            load_and_start_firmware(bli, firmware_with_signature)
Пример #5
0
def process_one_device(set_device_info):
    out = input('1. Connect DroneCode Probe to the debug connector.\n'
                '2. Connect CAN to the first CAN1 connector on the device; terminate the other CAN1 connector.\n'
                '4. Connect an appropriate power supply (see the hardware specs for requirements).\n'
                '   Make sure the motor leads are NOT CONNECTED to anything.\n'
                '5. If you want to skip firmware upload, type F.\n'
                '6. Press ENTER.')

    skip_fw_upload = 'f' in out.lower()
    if not skip_fw_upload:
        info('Loading the firmware')
        with CLIWaitCursor():
            load_firmware_via_gdb(firmware_data,
                                  toolchain_prefix=TOOLCHAIN_PREFIX,
                                  load_offset=FLASH_OFFSET,
                                  gdb_port=glob_one(DEBUGGER_PORT_GDB_GLOB),
                                  gdb_monitor_scan_command='swdp_scan')
    else:
        info('Firmware upload skipped, rebooting the device')
        with open_serial_port(DEBUGGER_PORT_CLI_GLOB) as io:
            SerialCLI(io, 0.1).write_line_and_read_output_lines_until_timeout('reboot')

    info('Waiting for the device to boot...')
    wait_for_boot()

    with open_serial_port(DEBUGGER_PORT_CLI_GLOB) as io:
        info('Identifying the connected device...')
        cli = SerialCLI(io, 0.1)
        cli.flush_input(0.5)

        zubax_id = read_zubax_id(cli)
        unique_id = b64decode(zubax_id['hw_unique_id'])
        product_id = zubax_id['product_id']
        set_device_info(product_id, unique_id)

        with BackgroundCLIListener(io, lambda line: cli_logger.info(repr(line))):
            input('Connect a motor WITHOUT ANY LOAD ATTACHED to the ESC, then press ENTER.\n'
                  'CAUTION: THE MOTOR WILL SPIN')
            test_uavcan()

        try:
            # Using first command to get rid of any garbage lingering in the buffers
            cli.write_line_and_read_output_lines_until_timeout('systime')
        except Exception:
            pass

        # Getting the signature
        info('Requesting signature for unique ID %s', binascii.hexlify(unique_id).decode())
        gensign_response = licensing_api.generate_signature(unique_id, PRODUCT_NAME)
        if gensign_response.new:
            info('New signature has been generated')
        else:
            info('This particular device has been signed earlier, reusing existing signature')
        base64_signature = b64encode(gensign_response.signature).decode()
        logger.info('Generated signature in Base64: %s', base64_signature)

        # Installing the signature; this may fail if the device has been signed earlier - the failure will be ignored
        out = cli.write_line_and_read_output_lines_until_timeout('zubax_id %s', base64_signature)
        logger.debug('Signature installation response (may fail, which is OK): %r', out)

        # Reading the signature back and verifying it
        installed_signature = read_zubax_id(cli)['hw_signature']
        logger.info('Installed signature in Base64: %s', installed_signature)
        enforce(b64decode(installed_signature) == gensign_response.signature,
                'Written signature does not match the generated signature')

        info('Signature has been installed and verified')
Пример #6
0
def test_uavcan():
    node_info = uavcan.protocol.GetNodeInfo.Response()
    node_info.name = 'com.zubax.drwatson.sapog'

    iface = init_can_iface()

    with closing(uavcan.make_node(iface,
                                  bitrate=CAN_BITRATE,
                                  node_id=127,
                                  mode=uavcan.protocol.NodeStatus().MODE_OPERATIONAL,
                                  node_info=node_info)) as n:
        def safe_spin(timeout):
            try:
                n.spin(timeout)
            except uavcan.UAVCANException:
                logger.error('Node spin failure', exc_info=True)

        @contextmanager
        def time_limit(timeout, error_fmt, *args):
            aborter = n.defer(timeout, partial(abort, error_fmt, *args))
            yield
            aborter.remove()

        try:
            # Dynamic node ID allocation
            nsmon = uavcan.app.node_monitor.NodeMonitor(n)
            alloc = uavcan.app.dynamic_node_id.CentralizedServer(n, nsmon)

            info('Waiting for the node to show up on the CAN bus...')
            with time_limit(10, 'The node did not show up in time. Check CAN interface and crystal oscillator.'):
                while True:
                    safe_spin(1)
                    target_nodes = list(nsmon.find_all(lambda e: e.info and e.info.name.decode() == PRODUCT_NAME))
                    if len(target_nodes) == 1:
                        break
                    if len(target_nodes) > 1:
                        abort('Expected to find exactly one target node, found more: %r', target_nodes)

            node_id = target_nodes[0].node_id
            info('Node %r initialized', node_id)
            for nd in target_nodes:
                logger.info('Discovered node %r', nd)

            def request(what):
                response_event = None

                def cb(e):
                    nonlocal response_event
                    if not e:
                        abort('Request has timed out: %r', what)
                    response_event = e

                n.request(what, node_id, cb)
                while response_event is None:
                    safe_spin(0.1)
                return response_event.response

            # Starting the node and checking its self-reported diag outputs
            def wait_for_init():
                with time_limit(10, 'The node did not complete initialization in time'):
                    while True:
                        safe_spin(1)
                        if nsmon.exists(node_id) and nsmon.get(node_id).status.mode == \
                                uavcan.protocol.NodeStatus().MODE_OPERATIONAL:
                            break

            def check_status():
                status = nsmon.get(node_id).status
                enforce(status.mode == uavcan.protocol.NodeStatus().MODE_OPERATIONAL,
                        'Unexpected operating mode')
                enforce(status.health == uavcan.protocol.NodeStatus().HEALTH_OK,
                        'Bad node health')

            info('Waiting for the node to complete initialization...')
            wait_for_init()
            check_status()

            info('Resetting the configuration to factory defaults...')
            enforce(request(uavcan.protocol.param.ExecuteOpcode.Request(
                                opcode=uavcan.protocol.param.ExecuteOpcode.Request().OPCODE_ERASE)).ok,
                    'The node refused to reset configuration to factory defaults')

            col_esc_status = uavcan.app.message_collector.MessageCollector(n, uavcan.equipment.esc.Status, timeout=10)

            def check_everything(check_rotation=False):
                check_status()

                try:
                    m = col_esc_status[node_id].message
                except KeyError:
                    abort('Rock is dead.')
                else:
                    if check_rotation:
                        enforce(m.rpm > 100 and m.power_rating_pct > 0, 'Could not start the motor')
                        enforce(m.current > 0, 'Current is not positive')

                    enforce(m.error_count < ESC_ERROR_LIMIT, 'High error count: %r', m.error_count)

                    temp_degc = convert_units_from_to(m.temperature, 'Kelvin', 'Celsius')
                    enforce(TEMPERATURE_RANGE_DEGC[0] <= temp_degc <= TEMPERATURE_RANGE_DEGC[1],
                            'Invalid temperature: %r degC', temp_degc)

            # Testing before the motor is started
            imperative('CAUTION: THE MOTOR WILL START IN 2 SECONDS, KEEP CLEAR')
            safe_spin(2)
            check_everything()

            # Starting the motor
            esc_raw_command_bitlen = \
                uavcan.get_uavcan_data_type(uavcan.get_fields(uavcan.equipment.esc.RawCommand())['cmd'])\
                    .value_type.bitlen  # SO EASY TO USE

            def do_publish(duty_cycle, check_rotation):
                command_value = int(duty_cycle * (2 ** (esc_raw_command_bitlen - 1)))
                n.broadcast(uavcan.equipment.esc.RawCommand(cmd=[command_value]))
                check_everything(check_rotation)

            info('Starting the motor')
            publisher = n.periodic(0.01, partial(do_publish, STARTUP_DUTY_CYCLE, False))
            safe_spin(5)
            publisher.remove()

            info('Checking stability...')
            for dc in STABILITY_TEST_DUTY_CYCLES:
                info('Setting duty cycle %d%%...', int(dc * 100))
                publisher = n.periodic(0.01, partial(do_publish, dc, True))
                safe_spin(5)
                publisher.remove()

            info('Stopping...')
            latest_status = col_esc_status[node_id].message
            safe_spin(1)
            check_everything()

            # Final results
            info('Validate the latest ESC status variables (units are SI):\n%s', uavcan.to_yaml(latest_status))

            # Testing CAN2
            with BackgroundSpinner(safe_spin, 0.1):
                input('1. Disconnect CAN1 and connect to CAN2\n'
                      '2. Terminate CAN2\n'
                      '3. Press ENTER')

            safe_spin(1)
            try:
                check_status()
            except Exception as ex:
                logger.info('CAN2 test failed', exc_info=True)
                abort('CAN2 test failed [%r]', ex)

            # Testing LED
            info('Testing LED')

            def set_led():
                rgb = uavcan.equipment.indication.RGB565(red=0b11111, green=0b111111, blue=0b11111)
                slc = uavcan.equipment.indication.SingleLightCommand(light_id=0, color=rgb)
                n.broadcast(uavcan.equipment.indication.LightsCommand(commands=[slc]))
                check_everything()

            publisher = n.periodic(0.1, set_led)
            with BackgroundSpinner(safe_spin, 0.1):
                if not input('Is the LED glowing bright white?', yes_no=True, default_answer=True):
                    abort('LED is not working properly')
            publisher.remove()

        except Exception:
            for nid in nsmon.get_all_node_id():
                logger.info('UAVCAN test failed; last known state of the device node: %r' % nsmon.get(nid))
            raise
Пример #7
0
def test_uavcan():
    node_info = uavcan.protocol.GetNodeInfo.Response()
    node_info.name = 'com.zubax.drwatson.zubax_gnss'

    iface = init_can_iface()

    with closing(
            uavcan.make_node(
                iface,
                bitrate=CAN_BITRATE,
                node_id=127,
                mode=uavcan.protocol.NodeStatus().MODE_OPERATIONAL,
                node_info=node_info)) as n:

        def safe_spin(timeout):
            try:
                n.spin(timeout)
            except uavcan.transport.TransferError:
                logger.debug(
                    'Transfer error while spinning the node. '
                    'Reporting at the DEBUG level because of https://github.com/UAVCAN/pyuavcan/issues/14',
                    exc_info=True)
            except uavcan.UAVCANException:
                logger.error('Node spin failure', exc_info=True)

        @contextmanager
        def time_limit(timeout, error_fmt, *args):
            aborter = n.defer(timeout, partial(abort, error_fmt, *args))
            yield
            aborter.remove()

        # Dynamic node ID allocation
        try:
            nsmon = uavcan.app.node_monitor.NodeMonitor(n)
            alloc = uavcan.app.dynamic_node_id.CentralizedServer(n, nsmon)

            with time_limit(
                    10,
                    'The node did not show up in time. Check CAN interface and crystal oscillator.'
            ):
                while True:
                    safe_spin(1)
                    target_nodes = list(
                        nsmon.find_all(lambda e: e.info and e.info.name.decode(
                        ) == PRODUCT_NAME))
                    if len(target_nodes) == 1:
                        break
                    if len(target_nodes) > 1:
                        abort(
                            'Expected to find exactly one target node, found more: %r',
                            target_nodes)

            node_id = target_nodes[0].node_id
            info('Node %r initialized', node_id)
            for nd in target_nodes:
                logger.info('Discovered node %r', nd)

            def request(what, fire_and_forget=False, timeout=2):
                response_event = None

                def cb(e):
                    nonlocal response_event
                    if not e:
                        abort('Request has timed out: %r', what)
                    response_event = e

                if fire_and_forget:
                    n.request(what, node_id, lambda _: None, timeout=timeout)
                    safe_spin(0.1)
                else:
                    n.request(what, node_id, cb, timeout=timeout)
                    while response_event is None:
                        safe_spin(0.1)
                    return response_event.response

            # Starting the node and checking its self-reported diag outputs
            def wait_for_init():
                with time_limit(
                        12,
                        'The node did not complete initialization in time'):
                    while True:
                        safe_spin(1)
                        if nsmon.exists(node_id) and nsmon.get(node_id).status.mode == \
                                uavcan.protocol.NodeStatus().MODE_OPERATIONAL:
                            break

            def check_status():
                status = nsmon.get(node_id).status
                enforce(
                    status.mode ==
                    uavcan.protocol.NodeStatus().MODE_OPERATIONAL,
                    'Unexpected operating mode')
                enforce(
                    status.health == uavcan.protocol.NodeStatus().HEALTH_OK,
                    'Bad node health')

            info('Waiting for the node to complete initialization...')
            wait_for_init()
            check_status()

            info('Reconfiguring the node...')

            def log_all_params():
                for index in range(10000):
                    r = request(
                        uavcan.protocol.param.GetSet.Request(index=index))
                    if not r.name:
                        break
                    logger.info(
                        'Param %-30r %r' %
                        (r.name.decode(),
                         getattr(r.value, uavcan.get_active_union_field(
                             r.value))))

            def set_param(name, value, union_field=None):
                union_field = union_field or {
                    int: 'integer_value',
                    float: 'real_value',
                    bool: 'boolean_value',
                    str: 'string_value'
                }[type(value)]
                logger.info('Setting parameter %r field %r value %r', name,
                            union_field, value)
                req = uavcan.protocol.param.GetSet.Request()
                req.name.encode(name)
                setattr(req.value, union_field, value)
                r = request(req)
                enforce(
                    uavcan.get_active_union_field(r.value) == union_field,
                    'Union field mismatch in param set response for %r', name)
                enforce(
                    getattr(r.value, union_field) == value,
                    'The node refused to set parameter %r', name)

            set_param('uavcan.pubp-time', 10000)
            set_param('uavcan.pubp-stat', 2000)
            set_param('uavcan.pubp-pres', 10000)
            set_param('uavcan.pubp-mag', 20000)
            set_param('uavcan.pubp-fix', 66666)
            set_param('uavcan.pubp-aux', 100000)

            enforce(
                request(
                    uavcan.protocol.param.ExecuteOpcode.Request(
                        opcode=uavcan.protocol.param.ExecuteOpcode.Request(
                        ).OPCODE_SAVE)).ok, 'Could not save configuration')

            request(uavcan.protocol.RestartNode.Request(
                magic_number=uavcan.protocol.RestartNode.Request(
                ).MAGIC_NUMBER),
                    fire_and_forget=True)

            # Don't tell anybody I wrote this. I'm ashamed of this shit and too tired to redesign it. :(
            with BackgroundSpinner(safe_spin, 0.1):
                wait_for_boot()

            wait_for_init()
            check_status()
            log_all_params()

            def make_collector(data_type, timeout=0.5):
                return uavcan.app.message_collector.MessageCollector(
                    n, data_type, timeout=timeout)

            col_fix = make_collector(uavcan.equipment.gnss.Fix2)
            col_aux = make_collector(uavcan.equipment.gnss.Auxiliary)
            col_mag = make_collector(
                uavcan.equipment.ahrs.MagneticFieldStrength)
            col_pressure = make_collector(
                uavcan.equipment.air_data.StaticPressure)
            col_temp = make_collector(
                uavcan.equipment.air_data.StaticTemperature)

            def check_everything():
                check_status()

                try:
                    m = col_pressure[node_id].message
                except KeyError:
                    abort(
                        'Pressure measurements are not available. Check the sensor.'
                    )
                else:
                    if not 50000 < m.static_pressure < 150000:
                        abort(
                            'Invalid pressure reading: %d Pascal. Check the sensor.',
                            m.static_pressure)

                try:
                    m = col_temp[node_id].message
                except KeyError:
                    abort(
                        'Temperature measurements are not available. Check the sensor.'
                    )
                else:
                    if not 10 < (m.static_temperature - 273.15) < 50:
                        abort(
                            'Invalid temperature reading: %d Kelvin. Check the sensor.',
                            m.static_temperature)

                try:
                    m = col_mag[node_id].message
                except KeyError:
                    abort(
                        'Magnetic field measurements are not available. Check the sensor.'
                    )
                else:
                    magnetic_field_scalar = numpy.linalg.norm(
                        m.magnetic_field_ga)
                    if not 0.01 < magnetic_field_scalar < 2:
                        abort(
                            'Invalid magnetic field strength reading: %d Gauss. Check the sensor.',
                            magnetic_field_scalar)

            imperative(
                'Testing GNSS performance. Place the device close to a window to ensure decent GNSS reception. '
                'Please note that this test is very crude, it can only detect whether GNSS circuit is working '
                'at all or not. If GNSS performance is degraded due to improper manufacturing process, '
                'this test may fail to detect it, so please double check that your manufacturing process '
                'adheres to the documentation.')
            info('Waiting for GNSS fix...')
            with time_limit(
                    GNSS_FIX_TIMEOUT,
                    'GNSS fix timeout. Check the RF circuit, AFE, antenna, and receiver'
            ):
                while True:
                    safe_spin(1)
                    check_everything()
                    sats_visible = col_aux[node_id].message.sats_visible
                    sats_used = col_aux[node_id].message.sats_used
                    sys.stdout.write('\rsat stats: visible %d, used %d   \r' %
                                     (sats_visible, sats_used))
                    sys.stdout.flush()
                    if col_fix[node_id].message.status >= 3:
                        break

            info('Waiting for %d satellites...', GNSS_MIN_SAT_NUM)
            with time_limit(
                    GNSS_MIN_SAT_TIMEOUT,
                    'GNSS performance is degraded. Could be caused by incorrectly assembled RF circuit.'
            ):
                while True:
                    safe_spin(0.5)
                    check_everything()
                    num = col_fix[node_id].message.sats_used
                    cov = list(col_fix[node_id].message.covariance)
                    sys.stdout.write('\r%d sats, covariance: %r      \r' %
                                     (num, cov))
                    sys.stdout.flush()
                    if num >= GNSS_MIN_SAT_NUM:
                        break

            check_everything()

            info(
                'Last sampled sensor measurements are provided below. They appear to be correct.'
            )
            info('GNSS fix: %r', col_fix[node_id].message)
            info('GNSS aux: %r', col_aux[node_id].message)
            info('Magnetic field [Ga]: %r', col_mag[node_id].message)
            info('Pressure [Pa]: %r', col_pressure[node_id].message)
            info('Temperature [K]: %r', col_temp[node_id].message)

            # Finalizing the test
            info('Resetting the configuration to factory default...')
            enforce(
                request(
                    uavcan.protocol.param.ExecuteOpcode.Request(
                        opcode=uavcan.protocol.param.ExecuteOpcode.Request(
                        ).OPCODE_ERASE)).ok, 'Could not erase configuration')

            request(uavcan.protocol.RestartNode.Request(
                magic_number=uavcan.protocol.RestartNode.Request(
                ).MAGIC_NUMBER),
                    fire_and_forget=True)

            with BackgroundSpinner(safe_spin, 0.1):
                wait_for_boot()

            wait_for_init()
            check_status()
            log_all_params()
        except Exception:
            for nid in nsmon.get_all_node_id():
                print('Node state: %r' % nsmon.get(nid))
            raise

    # Blocking questions are moved out of the node scope because blocking breaks CAN communications
    # Note that we must instantiate the driver in order to ensure proper traffic LED behavior
    # Periodic calls to receive() are needed to avoid RX queue overflow
    with closing(uavcan.make_driver(iface, bitrate=CAN_BITRATE)) as d:
        with BackgroundSpinner(lambda: d.receive(0.01)):
            if not input('Is the PPS LED blinking once per second?',
                         yes_no=True,
                         default_answer=True):
                abort('PPS LED is not working')

            if not input('Is the CAN1 LED blinking or glowing solid?',
                         yes_no=True,
                         default_answer=True):
                abort(
                    'CAN1 LED is not working (however the interface is fine)')

            if not input('Is the STATUS LED blinking once per second?',
                         yes_no=True,
                         default_answer=True):
                abort('STATUS LED is not working')

            # Testing CAN2
            input('1. Disconnect CAN1 and connect to CAN2\n'
                  '2. Terminate CAN2\n'
                  '3. Press ENTER')

            if not input('Is the CAN2 LED blinking or glowing solid?',
                         yes_no=True,
                         default_answer=True):
                abort('Either CAN2 or its LED are not working')
Пример #8
0
def process_one_device(set_device_info):
    out = input(
        '1. Connect DroneCode Probe to the debug connector\n'
        '2. Connect CAN to the first CAN1 connector on the device; terminate the other CAN1 connector\n'
        '3. Connect USB to the device, and make sure that no other Zubax GNSS is connected\n'
        '4. If you want to skip firmware upload, type F\n'
        '5. Press ENTER')

    skip_fw_upload = 'f' in out.lower()
    if not skip_fw_upload:
        info('Loading the firmware')
        with CLIWaitCursor():
            load_firmware(firmware_data)
        info('Waiting for the device to boot...')
        wait_for_boot()
    else:
        info('Firmware upload skipped')

    info('Identifying the connected device...')
    with open_serial_port(USB_CDC_ACM_GLOB, wait_for_port=5) as io:
        logger.info('USB CLI is on %r', io.port)
        zubax_id = SerialCLI(io, 0.1).read_zubax_id()
        product_id = zubax_id['product_id']
        unique_id = b64decode(zubax_id['hw_unique_id'])
        set_device_info(product_id, unique_id)

    info('Testing UAVCAN interface...')
    test_uavcan()

    info('Connecting via USB...')
    with open_serial_port(USB_CDC_ACM_GLOB, wait_for_port=5) as io:
        logger.info('USB CLI is on %r', io.port)
        cli = SerialCLI(io, 0.1)

        enforce(unique_id == b64decode(cli.read_zubax_id()['hw_unique_id']),
                'UID changed!')

        try:
            # Using first command to get rid of any garbage lingering in the buffers
            cli.write_line_and_read_output_lines_until_timeout('systime')
        except Exception:
            pass

        # Getting the signature
        info('Requesting signature for unique ID %s',
             binascii.hexlify(unique_id).decode())
        gensign_response = licensing_api.generate_signature(
            unique_id, PRODUCT_NAME)
        if gensign_response.new:
            info('New signature has been generated')
        else:
            info(
                'This particular device has been signed earlier, reusing existing signature'
            )
        base64_signature = b64encode(gensign_response.signature).decode()
        logger.info('Generated signature in Base64: %s', base64_signature)

        # Installing the signature; this may fail if the device has been signed earlier - the failure will be ignored
        out = cli.write_line_and_read_output_lines_until_timeout(
            'signature %s', base64_signature)
        logger.debug(
            'Signature installation response (may fail, which is OK): %r', out)

        # Reading the signature back and verifying it
        out = cli.write_line_and_read_output_lines_until_timeout('signature')
        enforce(
            len(out) == 1,
            'Could not read the signature back. Returned lines: %r', out)
        logger.info('Installed signature in Base64: %s', out[0])
        enforce(
            b64decode(out[0]) == gensign_response.signature,
            'Written signature does not match the generated signature')

        info('Signature has been installed and verified')
Пример #9
0
def process_one_device(set_device_info):
    out = input('1. Connect DroneCode Probe to the debug connector.\n'
                '2. Connect CAN to the first CAN1 connector on the device; terminate the other CAN1 connector.\n'
                '3. Connect USB to the device, and make sure that no other Zubax GNSS is connected.\n'
                '4. If you want to skip firmware upload, type F.\n'
                '5. Press ENTER.')

    skip_fw_upload = 'f' in out.lower()
    if not skip_fw_upload:
        info('Loading the firmware')
        with CLIWaitCursor():
            load_firmware(firmware_data)
        info('Waiting for the device to boot...')
        wait_for_boot()
    else:
        info('Firmware upload skipped')

    info('Identifying the connected device...')
    with open_serial_port(USB_CDC_ACM_GLOB, wait_for_port=5) as io:
        logger.info('USB CLI is on %r', io.port)
        zubax_id = SerialCLI(io, 0.1).read_zubax_id()
        product_id = zubax_id['product_id']
        unique_id = b64decode(zubax_id['hw_unique_id'])
        set_device_info(product_id, unique_id)

    info('Testing the UAVCAN interface...')
    test_uavcan()

    info('Connecting via USB...')
    with open_serial_port(USB_CDC_ACM_GLOB, wait_for_port=5) as io:
        logger.info('USB CLI is on %r', io.port)
        cli = SerialCLI(io, 0.1)

        enforce(unique_id == b64decode(cli.read_zubax_id()['hw_unique_id']), 'UID changed!')

        try:
            # Using first command to get rid of any garbage lingering in the buffers
            cli.write_line_and_read_output_lines_until_timeout('systime')
        except Exception:
            pass

        # Getting the signature
        info('Requesting signature for unique ID %s', binascii.hexlify(unique_id).decode())
        gensign_response = licensing_api.generate_signature(unique_id, PRODUCT_NAME)
        if gensign_response.new:
            info('New signature has been generated')
        else:
            info('This particular device was signed earlier, reusing the existing signature')
        base64_signature = b64encode(gensign_response.signature).decode()
        logger.info('Generated signature in Base64: %s', base64_signature)

        # Installing the signature; this may fail if the device has been signed earlier - the failure will be ignored
        out = cli.write_line_and_read_output_lines_until_timeout('signature %s', base64_signature)
        logger.debug('Signature installation response (may fail, which is OK): %r', out)

        # Reading the signature back and verifying it
        out = cli.write_line_and_read_output_lines_until_timeout('signature')
        enforce(len(out) == 1, 'Could not read the signature back. Returned lines: %r', out)
        logger.info('Installed signature in Base64: %s', out[0])
        enforce(b64decode(out[0]) == gensign_response.signature,
                'Written signature does not match the generated signature')

        info('Signature has been installed and verified')
Пример #10
0
def test_uavcan():
    node_info = uavcan.protocol.GetNodeInfo.Response()
    node_info.name = 'com.zubax.drwatson.zubax_gnss'

    iface = init_can_iface()

    with closing(uavcan.make_node(iface,
                                  bitrate=CAN_BITRATE,
                                  node_id=127,
                                  mode=uavcan.protocol.NodeStatus().MODE_OPERATIONAL,
                                  node_info=node_info)) as n:
        def safe_spin(timeout):
            try:
                n.spin(timeout)
            except uavcan.transport.TransferError:
                logger.debug('Transfer error while spinning the node. '
                             'Reporting at the DEBUG level because of https://github.com/UAVCAN/pyuavcan/issues/14',
                             exc_info=True)
            except uavcan.UAVCANException:
                logger.error('Node spin failure', exc_info=True)

        @contextmanager
        def time_limit(timeout, error_fmt, *args):
            aborter = n.defer(timeout, partial(abort, error_fmt, *args))
            yield
            aborter.remove()

        # Dynamic node ID allocation
        try:
            nsmon = uavcan.app.node_monitor.NodeMonitor(n)
            alloc = uavcan.app.dynamic_node_id.CentralizedServer(n, nsmon)

            with time_limit(10,
                            'The node did not show up in time. Check the CAN interface and the crystal oscillator.'):
                while True:
                    safe_spin(1)
                    target_nodes = list(nsmon.find_all(lambda e: e.info and e.info.name.decode() == PRODUCT_NAME))
                    if len(target_nodes) == 1:
                        break
                    if len(target_nodes) > 1:
                        abort('Expected to find exactly one target node, found more: %r', target_nodes)

            node_id = target_nodes[0].node_id
            info('Node %r initialized', node_id)
            for nd in target_nodes:
                logger.info('Discovered node %r', nd)

            def request(what, fire_and_forget=False, timeout=2):
                response_event = None

                def cb(e):
                    nonlocal response_event
                    if not e:
                        abort('Request has timed out: %r', what)
                    response_event = e

                if fire_and_forget:
                    n.request(what, node_id, lambda _: None, timeout=timeout)
                    safe_spin(0.1)
                else:
                    n.request(what, node_id, cb, timeout=timeout)
                    while response_event is None:
                        safe_spin(0.1)
                    return response_event.response

            # Starting the node and checking its self-reported diag outputs
            def wait_for_init():
                with time_limit(12, 'The node did not complete initialization in time'):
                    while True:
                        safe_spin(1)
                        if nsmon.exists(node_id) and nsmon.get(node_id).status.mode == \
                                uavcan.protocol.NodeStatus().MODE_OPERATIONAL:
                            break

            def check_status():
                status = nsmon.get(node_id).status
                enforce(status.mode == uavcan.protocol.NodeStatus().MODE_OPERATIONAL,
                        'Unexpected operating mode')
                enforce(status.health == uavcan.protocol.NodeStatus().HEALTH_OK,
                        'Bad node health')

            info('Waiting for the node to complete initialization...')
            wait_for_init()
            check_status()

            info('Reconfiguring the node...')

            def log_all_params():
                for index in range(10000):
                    r = request(uavcan.protocol.param.GetSet.Request(index=index))
                    if not r.name:
                        break
                    logger.info('Param %-30r %r' % (r.name.decode(),
                                                    getattr(r.value, uavcan.get_active_union_field(r.value))))

            def set_param(name, value, union_field=None):
                union_field = union_field or {
                    int: 'integer_value',
                    float: 'real_value',
                    bool: 'boolean_value',
                    str: 'string_value'
                }[type(value)]
                logger.info('Setting parameter %r field %r value %r', name, union_field, value)
                req = uavcan.protocol.param.GetSet.Request()
                req.name.encode(name)
                setattr(req.value, union_field, value)
                r = request(req)
                enforce(uavcan.get_active_union_field(r.value) == union_field,
                        'Union field mismatch in param set response for %r', name)
                enforce(getattr(r.value, union_field) == value,
                        'The node refused to set parameter %r', name)

            set_param('uavcan.pubp-time', 10000)
            set_param('uavcan.pubp-stat', 2000)
            set_param('uavcan.pubp-pres', 10000)
            set_param('uavcan.pubp-mag', 20000)
            set_param('uavcan.pubp-fix', 66666)
            set_param('uavcan.pubp-aux', 100000)

            enforce(request(uavcan.protocol.param.ExecuteOpcode.Request(
                opcode=uavcan.protocol.param.ExecuteOpcode.Request().OPCODE_SAVE)).ok,
                'Could not save configuration')

            request(uavcan.protocol.RestartNode.Request(
                magic_number=uavcan.protocol.RestartNode.Request().MAGIC_NUMBER),
                fire_and_forget=True)

            # Don't tell anybody I wrote this. I'm ashamed of this shit and too tired to redesign it. :(
            with BackgroundSpinner(safe_spin, 0.1):
                wait_for_boot()

            wait_for_init()
            check_status()
            log_all_params()

            def make_collector(data_type, timeout=0.5):
                return uavcan.app.message_collector.MessageCollector(n, data_type, timeout=timeout)

            col_fix = make_collector(uavcan.equipment.gnss.Fix2)
            col_aux = make_collector(uavcan.equipment.gnss.Auxiliary)
            col_mag = make_collector(uavcan.equipment.ahrs.MagneticFieldStrength)
            col_pressure = make_collector(uavcan.equipment.air_data.StaticPressure)
            col_temp = make_collector(uavcan.equipment.air_data.StaticTemperature)

            def check_everything():
                check_status()

                try:
                    m = col_pressure[node_id].message
                except KeyError:
                    abort('Pressure measurements are not available. Check the sensor.')
                else:
                    if not 50000 < m.static_pressure < 150000:
                        abort('Invalid pressure reading: %d Pascal. Check the sensor.', m.static_pressure)

                try:
                    m = col_temp[node_id].message
                except KeyError:
                    abort('Temperature measurements are not available. Check the sensor.')
                else:
                    if not 10 < (m.static_temperature - 273.15) < 50:
                        abort('Invalid temperature reading: %d Kelvin. Check the sensor.', m.static_temperature)

                try:
                    m = col_mag[node_id].message
                except KeyError:
                    abort('Magnetic field measurements are not available. Check the sensor.')
                else:
                    magnetic_field_scalar = numpy.linalg.norm(m.magnetic_field_ga)
                    if not 0.01 < magnetic_field_scalar < 2:
                        abort('Invalid magnetic field strength reading: %d Gauss. Check the sensor.',
                              magnetic_field_scalar)

            imperative('Testing GNSS performance.')
            info('Waiting for GNSS fix...')
            with time_limit(GNSS_FIX_TIMEOUT, 'GNSS fix timeout. Check the RF circuit, AFE, antenna, and receiver'):
                while True:
                    safe_spin(1)
                    check_everything()
                    sats_visible = col_aux[node_id].message.sats_visible
                    sats_used = col_aux[node_id].message.sats_used
                    sys.stdout.write('\rsat stats: visible %d, used %d   \r' % (sats_visible, sats_used))
                    sys.stdout.flush()
                    if col_fix[node_id].message.status >= 3:
                        break

            info('Waiting for %d satellites...', GNSS_MIN_SAT_NUM)
            with time_limit(GNSS_MIN_SAT_TIMEOUT,
                            'GNSS performance is degraded. Could be caused by incorrectly assembled RF circuit.'):
                while True:
                    safe_spin(0.5)
                    check_everything()
                    num = col_fix[node_id].message.sats_used
                    cov = list(col_fix[node_id].message.covariance)
                    sys.stdout.write('\r%d sats, covariance: %r      \r' % (num, cov))
                    sys.stdout.flush()
                    if num >= GNSS_MIN_SAT_NUM:
                        break

            check_everything()

            info('The last sampled sensor measurements are provided below. They appear to be correct.')
            info('GNSS fix: %r', col_fix[node_id].message)
            info('GNSS aux: %r', col_aux[node_id].message)
            info('Magnetic field [Ga]: %r', col_mag[node_id].message)
            info('Pressure [Pa]: %r', col_pressure[node_id].message)
            info('Temperature [K]: %r', col_temp[node_id].message)

            # Finalizing the test
            info('Resetting the configuration to the factory defaults...')
            enforce(request(uavcan.protocol.param.ExecuteOpcode.Request(
                opcode=uavcan.protocol.param.ExecuteOpcode.Request().OPCODE_ERASE)).ok,
                'Could not erase configuration')

            request(uavcan.protocol.RestartNode.Request(
                magic_number=uavcan.protocol.RestartNode.Request().MAGIC_NUMBER),
                fire_and_forget=True)

            with BackgroundSpinner(safe_spin, 0.1):
                wait_for_boot()

            wait_for_init()
            check_status()
            log_all_params()
        except Exception:
            for nid in nsmon.get_all_node_id():
                print('Node state: %r' % nsmon.get(nid))
            raise

    # Blocking questions are moved out of the node scope because blocking breaks CAN communications
    # Note that we must instantiate the driver in order to ensure proper traffic LED behavior
    # Periodic calls to receive() are needed to avoid RX queue overflow
    with closing(uavcan.make_driver(iface, bitrate=CAN_BITRATE)) as d:
        with BackgroundSpinner(lambda: d.receive(0.01)):
            if not input('Is the PPS LED blinking once per second?', yes_no=True, default_answer=True):
                abort('PPS LED is not working')

            if not input('Is the CAN1 LED blinking or glowing solid?', yes_no=True, default_answer=True):
                abort('CAN1 LED is not working (however the interface is fine)')

            if not input('Is the STATUS LED blinking once per second?', yes_no=True, default_answer=True):
                abort('STATUS LED is not working')

            # Testing CAN2
            input('1. Disconnect the cable from CAN1 and connect it to CAN2\n'
                  '2. Terminate CAN2\n'
                  '3. Press ENTER')

            if not input('Is the CAN2 LED blinking or glowing solid?', yes_no=True, default_answer=True):
                abort('Either CAN2 or its LED are not working')
Пример #11
0
def process_one_device(set_device_info):
    out = input(
        '1. Connect DroneCode Probe to the debug connector.\n'
        '2. Connect CAN to the first CAN connector on the Babel; leave the other CAN connector empty.\n'
        '3. Connect USB to the Micro USB port on the Babel.\n'
        '4. If you want to skip firmware upload, type F now.\n'
        '5. Press ENTER.')

    skip_fw_upload = 'f' in out.lower()
    if not skip_fw_upload:
        info('Loading the firmware')
        with CLIWaitCursor():
            try:
                load_firmware_via_gdb(
                    firmware_data,
                    toolchain_prefix=TOOLCHAIN_PREFIX,
                    load_offset=FLASH_OFFSET,
                    gdb_port=glob_one(DEBUGGER_PORT_GDB_GLOB),
                    gdb_monitor_scan_command='swdp_scan')
            except Exception as ex:
                logging.info('Firmware load error', exc_info=True)
                fatal(
                    'Could not load firmware; check the debug connector; error: %r',
                    ex)
    else:
        info('Firmware upload skipped')

    info('Waiting for the device to boot...')
    wait_for_boot()

    with closing(
            drwatson.can.SLCAN(get_target_serial_port_symlink(),
                               bitrate=CAN_BITRATE,
                               default_timeout=1)) as drv_target:
        info('Reading Zubax ID...')
        zubax_id = read_zubax_id(drv_target)
        unique_id = b64decode(zubax_id['hw_unique_id'])
        product_id = zubax_id['product_id']
        assert PRODUCT_NAME == product_id
        set_device_info(product_id, unique_id)

        info('Configuring the adapter...')

        drv_target.execute_cli_command(
            'cfg set can.terminator_on 1')  # Terminator ON

        logger.info('Adapter state:\n%s',
                    drv_target.execute_cli_command('stat'))

        with closing(uavcan.driver.make_driver(
                args.iface, bitrate=CAN_BITRATE)) as drv_test:
            random_frames = [
                make_random_can_frame() for _ in range(NUM_TEST_FRAMES)
            ]

            # If we're using another Zubax Babel as a CAN adapter, this command will disable its CAN power output.
            # Otherwise the command will silently fail. The CAN power output must be disabled because it interferes
            # with the power supply delivery testing.
            try:
                drv_test.execute_cli_command('cfg set can.power_on 0',
                                             lambda _: None)
            except Exception as ex:
                logger.debug('CAN adapter CLI command failed: %s', ex)

            info('Testing CAN bus exchange: target --> test')
            for idx, rf in enumerate(random_frames):
                drv_target.send(rf.id, rf.data, rf.extended)
                received = drv_test.receive(1)
                enforce(received is not None,
                        'Timeout when trying to receive frame %d', idx + 1)
                enforce(
                    received.extended == rf.extended
                    and received.data == rf.data and received.id == rf.id,
                    'Received frame %d [%r] does not match the reference [%r]',
                    idx + 1, received, rf)

            info('Testing CAN bus exchange: test --> target')
            for idx, rf in enumerate(random_frames):
                drv_test.send(rf.id, rf.data, rf.extended)
                try:
                    received = drv_target.receive(1)
                except TimeoutError:
                    fatal('Timeout when trying to receive frame %d', idx + 1)
                enforce(
                    received['ext'] == rf.extended
                    and received['data'] == rf.data
                    and received['id'] == rf.id,
                    'Received frame %d [%r] does not match the reference [%r]',
                    idx + 1, received, rf)

            info('Test exchange OK (2x%d frames)', len(random_frames))

            info('Testing power supply...')

            drv_target.execute_cli_command(
                'cfg set can.power_on 0')  # Bus power OFF
            time.sleep(2)
            stat = yaml.load(drv_target.execute_cli_command('stat'))
            enforce(
                BUS_VOLTAGE_RANGE_OFF[0] <= stat['bus_voltage'] <=
                BUS_VOLTAGE_RANGE_OFF[1],
                'Invalid voltage on the bus (power is turned OFF): %r volts; '
                'there may be a short circuit on the board',
                stat['bus_voltage'])
            info('Bus voltage: %r', stat['bus_voltage'])

            drv_target.execute_cli_command(
                'cfg set can.power_on 1')  # Bus power ON
            time.sleep(2)
            stat = yaml.load(drv_target.execute_cli_command('stat'))
            enforce(
                BUS_VOLTAGE_RANGE_ON[0] <= stat['bus_voltage'] <=
                BUS_VOLTAGE_RANGE_ON[1],
                'Invalid voltage on the bus (power is turned ON): %r volts; '
                'the power supply circuit is malfunctioning',
                stat['bus_voltage'])
            info('Bus voltage: %r', stat['bus_voltage'])

            info('Power supply is OK')

            info('Testing LED indicators...')
            # LED1 - CAN Power      - Red
            # LED2 - Terminator ON  - Orange
            # LED3 - Status         - Blue
            # LED4 - CAN Activity   - Green
            enforce(input('Is LED1 (CAN power, RED) turned on?', yes_no=True),
                    'CAN Power LED is not working')

            enforce(
                input('Is LED2 (terminator, ORANGE) turned on?', yes_no=True),
                'Terminator and/or its LED are not working')

            enforce(
                input('Is LED3 (status, BLUE) blinking about once a second?',
                      yes_no=True), 'Status LED is not working')

            def generate_traffic():
                drv_target.send(0, b'', False)
                time.sleep(0.2)

            with BackgroundSpinner(generate_traffic):
                enforce(
                    input('Is LED4 (activity, GREEN) blinking quickly?',
                          yes_no=True),
                    'Activity LED is not working, or the bus has been disconnected'
                )

        info('Resetting configuration to factory defaults...')
        drv_target.execute_cli_command('cfg erase')

        info('Installing signature...')

        # Getting the signature
        info('Requesting signature for unique ID %s',
             binascii.hexlify(unique_id).decode())
        gen_sign_response = licensing_api.generate_signature(
            unique_id, PRODUCT_NAME)
        if gen_sign_response.new:
            info('New signature has been generated')
        else:
            info(
                'This particular device was signed earlier, reusing the existing signature'
            )
        base64_signature = b64encode(gen_sign_response.signature).decode()
        logger.info('Generated signature in Base64: %s', base64_signature)

        # Installing the signature; this may fail if the device has been signed earlier - the failure will be ignored
        out = drv_target.execute_cli_command('zubax_id %s' % base64_signature)
        logger.debug(
            'Signature installation response (may fail, which is OK): %r', out)

        # Reading the signature back and verifying it
        installed_signature = read_zubax_id(drv_target)['hw_signature']
        logger.info('Installed signature in Base64: %s', installed_signature)
        enforce(
            b64decode(installed_signature) == gen_sign_response.signature,
            'Written signature does not match the generated signature')

        info('Signature has been installed and verified')
def process_one_device():
    out = input(
        "1. Connect DroneCode Probe to the debug connector\n"
        "2. Connect CAN to the first CAN1 connector on the device; terminate the other CAN1 connector\n"
        "3. Connect USB to the device, and make sure that no other Zubax GNSS is connected\n"
        "4. If you want to skip firmware upload, type F\n"
        "5. Press ENTER"
    )

    skip_fw_upload = "f" in out.lower()
    if not skip_fw_upload:
        info("Loading the firmware")
        with CLIWaitCursor():
            load_firmware(firmware_data)
        info("Waiting for the board to boot...")
        wait_for_boot()
    else:
        info("Firmware upload skipped")

    info("Testing UAVCAN interface...")
    test_uavcan()

    input(
        "Now we're going to test USB. If this application is running on a virtual "
        "machine, make sure that the corresponsing USB device is made available for "
        "the VM, then press ENTER."
    )
    info("Connecting via USB...")
    with open_serial_port(USB_CDC_ACM_GLOB) as io:
        logger.info("USB CLI is on %r", io.port)
        cli = SerialCLI(io, 0.1)
        cli.flush_input(0.5)

        try:
            # Using first command to get rid of any garbage lingering in the buffers
            cli.write_line_and_read_output_lines_until_timeout("systime")
        except Exception:
            pass

        zubax_id = cli.write_line_and_read_output_lines_until_timeout("zubax_id")
        zubax_id = yaml.load("\n".join(zubax_id))
        logger.info("Zubax ID: %r", zubax_id)

        unique_id = b64decode(zubax_id["hw_unique_id"])

        # Getting the signature
        info("Requesting signature for unique ID %s", binascii.hexlify(unique_id).decode())
        gensign_response = licensing_api.generate_signature(unique_id, PRODUCT_NAME)
        if gensign_response.new:
            info("New signature has been generated")
        else:
            info("This particular device has been signed earlier, reusing existing signature")
        base64_signature = b64encode(gensign_response.signature).decode()
        logger.info("Generated signature in Base64: %s", base64_signature)

        # Installing the signature; this may fail if the device has been signed earlier - the failure will be ignored
        out = cli.write_line_and_read_output_lines_until_timeout("signature %s", base64_signature)
        logger.debug("Signature installation response (may fail, which is OK): %r", out)

        # Reading the signature back and verifying it
        out = cli.write_line_and_read_output_lines_until_timeout("signature")
        enforce(len(out) == 1, "Could not read the signature back. Returned lines: %r", out)
        logger.info("Installed signature in Base64: %s", out[0])
        enforce(
            b64decode(out[0]) == gensign_response.signature, "Written signature does not match the generated signature"
        )

        info("Signature has been installed and verified")
def test_uavcan():
    node_info = uavcan.protocol.GetNodeInfo.Response()  # @UndefinedVariable
    node_info.name.encode("com.zubax.drwatson.zubax_gnss")

    iface = init_can_iface()

    with closing(
        uavcan.make_node(iface, bitrate=CAN_BITRATE, node_id=127, mode=uavcan.protocol.NodeStatus().MODE_OPERATIONAL)
    ) as n:  # @UndefinedVariable

        def safe_spin(timeout):
            try:
                n.spin(timeout)
            except uavcan.transport.TransferError:
                logger.debug(
                    "Transfer error while spinning the node. "
                    "Reporting at the DEBUG level because of https://github.com/UAVCAN/pyuavcan/issues/14",
                    exc_info=True,
                )
            except uavcan.UAVCANException:
                logger.error("Node spin failure", exc_info=True)

        @contextmanager
        def time_limit(timeout, error_fmt, *args):
            aborter = n.defer(timeout, partial(abort, error_fmt, *args))
            yield
            aborter.remove()

        # Dynamic node ID allocation
        try:
            nsmon = uavcan.monitors.NodeStatusMonitor(n)
            alloc = uavcan.monitors.DynamicNodeIDServer(n, nsmon)  # @UnusedVariable

            with time_limit(10, "The node did not show up in time. Check CAN interface and crystal oscillator."):
                while True:
                    safe_spin(1)
                    target_nodes = list(nsmon.find_all(lambda e: e.info and e.info.name.decode() == PRODUCT_NAME))
                    if len(target_nodes) == 1:
                        break
                    if len(target_nodes) > 1:
                        abort("Expected to find exactly one target node, found more: %r", target_nodes)

            node_id = target_nodes[0].node_id
            info("Node %r initialized", node_id)
            for nd in target_nodes:
                logger.info("Discovered node %r", nd)

            def request(what, fire_and_forget=False):
                response_event = None

                def cb(e):
                    nonlocal response_event
                    if not e:
                        abort("Request has timed out: %r", what)
                    response_event = e  # @UnusedVariable

                if fire_and_forget:
                    n.request(what, node_id, lambda _: None)
                    safe_spin(0.1)
                else:
                    n.request(what, node_id, cb)
                    while response_event is None:
                        safe_spin(0.1)
                    return response_event.response

            # Starting the node and checking its self-reported diag outputs
            def wait_for_init():
                with time_limit(10, "The node did not complete initialization in time"):
                    while True:
                        safe_spin(1)
                        if (
                            nsmon.exists(node_id)
                            and nsmon.get(node_id).status.mode == uavcan.protocol.NodeStatus().MODE_OPERATIONAL
                        ):  # @UndefinedVariable
                            break

            def check_status():
                status = nsmon.get(node_id).status
                enforce(
                    status.mode == uavcan.protocol.NodeStatus().MODE_OPERATIONAL,  # @UndefinedVariable
                    "Unexpected operating mode",
                )
                enforce(
                    status.health == uavcan.protocol.NodeStatus().HEALTH_OK, "Bad node health"  # @UndefinedVariable
                )

            info("Waiting for the node to complete initialization...")
            wait_for_init()
            check_status()

            info("Reconfiguring the node...")

            def log_all_params():
                for index in range(10000):
                    r = request(uavcan.protocol.param.GetSet.Request(index=index))  # @UndefinedVariable
                    if not r.name:
                        break
                    logger.info("Param %-30r %r" % (r.name.decode(), getattr(r.value, r.value.union_field)))

            def set_param(name, value, union_field=None):
                union_field = (
                    union_field
                    or {int: "integer_value", float: "real_value", bool: "boolean_value", str: "string_value"}[
                        type(value)
                    ]
                )
                logger.info("Setting parameter %r field %r value %r", name, union_field, value)
                req = uavcan.protocol.param.GetSet.Request()  # @UndefinedVariable
                req.name.encode(name)
                setattr(req.value, union_field, value)
                r = request(req)
                enforce(r.value.union_field == union_field, "Union field mismatch in param set response for %r", name)
                enforce(getattr(r.value, union_field) == value, "The node refused to set parameter %r", name)

            set_param("uavcan.pubp-time", 10000)
            set_param("uavcan.pubp-stat", 2000)
            set_param("uavcan.pubp-pres", 10000)
            set_param("uavcan.pubp-mag", 20000)
            set_param("uavcan.pubp-fix", 66666)
            set_param("uavcan.pubp-aux", 100000)

            enforce(
                request(
                    uavcan.protocol.param.ExecuteOpcode.Request(  # @UndefinedVariable
                        opcode=uavcan.protocol.param.ExecuteOpcode.Request().OPCODE_SAVE
                    )
                ).ok,  # @UndefinedVariable
                "Could not save configuration",
            )

            request(
                uavcan.protocol.RestartNode.Request(  # @UndefinedVariable
                    magic_number=uavcan.protocol.RestartNode.Request().MAGIC_NUMBER
                ),  # @UndefinedVariable
                fire_and_forget=True,
            )

            # Don't tell anybody I wrote this. I'm ashamed of this shit and too tired to redesign it. :(
            with BackgroundSpinner(safe_spin, 0.1):
                wait_for_boot()

            wait_for_init()
            check_status()
            log_all_params()

            def make_collector(data_type, timeout=0.1):
                return uavcan.monitors.MessageCollector(n, data_type, timeout=timeout)

            col_fix = make_collector(uavcan.equipment.gnss.Fix, 0.2)  # @UndefinedVariable
            col_aux = make_collector(uavcan.equipment.gnss.Auxiliary, 0.2)  # @UndefinedVariable
            col_mag = make_collector(uavcan.equipment.ahrs.MagneticFieldStrength)  # @UndefinedVariable
            col_pressure = make_collector(uavcan.equipment.air_data.StaticPressure)  # @UndefinedVariable
            col_temp = make_collector(uavcan.equipment.air_data.StaticTemperature)  # @UndefinedVariable

            def check_everything():
                check_status()

                try:
                    m = col_pressure[node_id].message
                except KeyError:
                    abort("Pressure measurements are not available. Check the sensor.")
                else:
                    if not 50000 < m.static_pressure < 150000:
                        abort("Invalid pressure reading: %d Pascal. Check the sensor.", m.static_pressure)

                try:
                    m = col_temp[node_id].message
                except KeyError:
                    abort("Temperature measurements are not available. Check the sensor.")
                else:
                    if not 10 < (m.static_temperature - 273.15) < 50:
                        abort("Invalid temperature reading: %d Kelvin. Check the sensor.", m.static_temperature)

                try:
                    m = col_mag[node_id].message
                except KeyError:
                    abort("Magnetic field measurements are not available. Check the sensor.")
                else:
                    magnetic_field_scalar = numpy.linalg.norm(m.magnetic_field_ga)  # @UndefinedVariable
                    if not 0.01 < magnetic_field_scalar < 2:
                        abort(
                            "Invalid magnetic field strength reading: %d Gauss. Check the sensor.",
                            magnetic_field_scalar,
                        )

            imperative(
                "Testing GNSS performance. Place the device close to a window to ensure decent GNSS reception. "
                "Please note that this test is very crude, it can only detect whether GNSS circuit is working "
                "at all or not. If GNSS performance is degraded due to improper manufacturing process, "
                "this test may fail to detect it, so please double check that your manufacturing process "
                "adheres to the documentation."
            )
            info("Waiting for GNSS fix...")
            with time_limit(GNSS_FIX_TIMEOUT, "GNSS fix timeout. Check the RF circuit, AFE, antenna, and receiver"):
                while True:
                    safe_spin(1)
                    check_everything()
                    sats_visible = col_aux[node_id].message.sats_visible
                    sats_used = col_aux[node_id].message.sats_used
                    sys.stdout.write("\rsat stats: visible %d, used %d   \r" % (sats_visible, sats_used))
                    sys.stdout.flush()
                    if col_fix[node_id].message.status >= 3:
                        break

            info("Waiting for %d satellites...", GNSS_MIN_SAT_NUM)
            with time_limit(
                GNSS_MIN_SAT_TIMEOUT,
                "GNSS performance is degraded. Could be caused by incorrectly assembled RF circuit.",
            ):
                while True:
                    safe_spin(0.5)
                    check_everything()
                    num = col_fix[node_id].message.sats_used
                    pos_cov = list(col_fix[node_id].message.position_covariance)
                    sys.stdout.write("\r%d sats, pos covariance: %r      \r" % (num, pos_cov))
                    sys.stdout.flush()
                    if num >= GNSS_MIN_SAT_NUM:
                        break

            check_everything()

            info("Last sampled sensor measurements are provided below. They appear to be correct.")
            info("GNSS fix: %r", col_fix[node_id].message)
            info("GNSS aux: %r", col_aux[node_id].message)
            info("Magnetic field [Ga]: %r", col_mag[node_id].message)
            info("Pressure [Pa]: %r", col_pressure[node_id].message)
            info("Temperature [K]: %r", col_temp[node_id].message)

            # Finalizing the test
            info("Resetting the configuration to factory default...")
            enforce(
                request(
                    uavcan.protocol.param.ExecuteOpcode.Request(  # @UndefinedVariable
                        opcode=uavcan.protocol.param.ExecuteOpcode.Request().OPCODE_ERASE
                    )
                ).ok,  # @UndefinedVariable
                "Could not erase configuration",
            )

            request(
                uavcan.protocol.RestartNode.Request(  # @UndefinedVariable
                    magic_number=uavcan.protocol.RestartNode.Request().MAGIC_NUMBER
                ),  # @UndefinedVariable
                fire_and_forget=True,
            )

            with BackgroundSpinner(safe_spin, 0.1):
                wait_for_boot()

            wait_for_init()
            check_status()
            log_all_params()
        except Exception:
            for nid in nsmon.get_all_node_id():
                print("Node state: %r" % nsmon.get(nid))
            raise

    # Blocking questions are moved out of the node scope because blocking breaks CAN communications
    if not input("Is the PPS LED blinking once per second?", yes_no=True, default_answer=True):
        abort("PPS LED is not working")

    if not input("Is the CAN1 LED blinking or glowing solid?", yes_no=True, default_answer=True):
        abort("CAN1 LED is not working (however the interface is fine)")

    if not input("Is the STATUS LED blinking once per second?", yes_no=True, default_answer=True):
        abort("STATUS LED is not working")

    # Testing CAN2
    input("1. Disconnect CAN1 and connect to CAN2\n" "2. Terminate CAN2\n" "3. Press ENTER")
    if not input("Is the CAN2 LED blinking or glowing solid?", yes_no=True, default_answer=True):
        abort("Either CAN2 or its LED are not working")