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Vibed advanced python test script

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2026-09-24 16:59:53 +03:00
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servo_controller/scripts/send_cmd.py
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#!/usr/bin/env python3
"""Send binary commands to a device over a serial port, optionally receiving and/or requiring an ACK."""
import argparse
import struct
import sys
import threading
import time
import serial
DEFAULT_PORT = "/dev/ttyACM0"
DEFAULT_BAUD = 115200
DEFAULT_DEVICE_ID = 0
COMMAND_PREFIX = 0x69
COMMAND_ACK = 0
COMMAND_NACK = 1
# name -> command id
COMMANDS = {
"ACK": 0,
"NACK": 1,
"LED_TOGGLE": 2,
"LED_SET": 3,
"SERVO_SET": 4,
"SERVO_SET_ALL": 5,
"ADC_READ_RAW": 6,
"ADC_READ_RAW_ALL": 7,
"ADC_READ": 8,
"ADC_READ_ALL": 9,
"ADC_SET_READ": 10,
}
COMMAND_NAMES = {v: k for k, v in COMMANDS.items()}
# Commands for which the data argument is OPTIONAL.
# Every command not listed here REQUIRES data.
# >>> Edit this list to match your firmware. <<<
COMMANDS_DATA_OPTIONAL = {
"ACK",
"NACK",
"LED_TOGGLE",
"ADC_READ_RAW_ALL",
"ADC_READ_ALL",
}
# struct formats for typed data tokens (all little-endian)
TYPE_FORMATS = {
"u8": "<B", "i8": "<b",
"u16": "<H", "i16": "<h",
"u32": "<I", "i32": "<i",
"f32": "<f",
}
# Exit codes
EXIT_OK = 0
EXIT_ERROR = 1
EXIT_NO_ACK = 2
EXIT_NACK = 3
# --------------------------------------------------------------------------
# Packet helpers
# --------------------------------------------------------------------------
def calculate_crc(msg: bytes) -> int:
s = sum(msg) & 0xFF
return (-s) & 0xFF
def make_packet(command: int, data: bytes = b"", device_id: int = DEFAULT_DEVICE_ID) -> bytes:
pkt = bytearray()
pkt.append(COMMAND_PREFIX)
pkt.append(len(data))
pkt.append(device_id)
pkt.append(command)
pkt.append(0) # CRC placeholder
pkt.extend(data)
pkt[4] = calculate_crc(pkt[:4] + pkt[5:])
return bytes(pkt)
def verify_crc(packet: bytes) -> bool:
return packet[4] == calculate_crc(packet[:4] + packet[5:])
def packet_size(buf: bytes):
if len(buf) < 2:
return None
return 5 + buf[1]
# --------------------------------------------------------------------------
# Receiver thread
# --------------------------------------------------------------------------
class Receiver(threading.Thread):
"""Parses incoming packets / ASCII logs. Prints them only if verbose."""
def __init__(self, ser, verbose):
super().__init__(daemon=True)
self.ser = ser
self.verbose = verbose
self.stop_event = threading.Event()
self.ack_event = threading.Event()
self.result = None # "ACK" or "NACK" once received
def _print(self, *args):
if self.verbose:
print(*args)
def run(self):
rx = bytearray()
while not self.stop_event.is_set():
data = self.ser.read(64)
if not data:
continue
rx.extend(data)
while rx:
if rx[0] == COMMAND_PREFIX:
size = packet_size(rx)
if size is None or len(rx) < size:
break
pkt = bytes(rx[:size])
del rx[:size]
if not verify_crc(pkt):
self._print("RX: Bad CRC:", pkt.hex(" "))
continue
length = pkt[1]
dev_id = pkt[2]
cmd = pkt[3]
if cmd == COMMAND_ACK:
self._print(f"<-- ACK (device={dev_id})")
self.result = "ACK"
self.ack_event.set()
elif cmd == COMMAND_NACK:
self._print(f"<-- NACK (device={dev_id})")
self.result = "NACK"
self.ack_event.set()
else:
name = COMMAND_NAMES.get(cmd, str(cmd))
self._print(f"<-- Command {name} len={length}")
self._print(f"<-- RX: {pkt.hex(' ')}")
else:
idx = rx.find(b"\n")
if idx == -1:
break
line = rx[:idx + 1]
del rx[:idx + 1]
try:
self._print("[LOG]", line.decode().rstrip())
except UnicodeDecodeError:
self._print("[RAW]", line.hex())
# --------------------------------------------------------------------------
# Argument parsing
# --------------------------------------------------------------------------
def parse_command(text: str):
"""Accept a command name (case-insensitive) or a number. Returns (id, name)."""
key = text.upper()
if key in COMMANDS:
return COMMANDS[key], key
try:
val = int(text, 0)
except ValueError:
raise argparse.ArgumentTypeError(
f"unknown command '{text}' (use --list-commands to see them)"
)
if not 0 <= val <= 255:
raise argparse.ArgumentTypeError("command number must be 0-255")
return val, COMMAND_NAMES.get(val, f"#{val}")
def parse_data_token(tok: str) -> bytes:
"""
Formats:
5 -> u8
u16:500 -> unsigned 16-bit little-endian
i32:-3 -> signed 32-bit little-endian
f32:1.5 -> float32 little-endian
hex:0a0b0c -> raw bytes
"""
if ":" in tok:
kind, value = tok.split(":", 1)
kind = kind.lower()
else:
kind, value = "u8", tok
if kind == "hex":
return bytes.fromhex(value)
fmt = TYPE_FORMATS.get(kind)
if fmt is None:
raise ValueError(f"unknown type '{kind}' (use u8/i8/u16/i16/u32/i32/f32/hex)")
num = float(value) if kind == "f32" else int(value, 0)
return struct.pack(fmt, num)
def build_parser():
commands_help = ", ".join(f"{name}={cid}" for name, cid in COMMANDS.items())
optional_help = ", ".join(sorted(COMMANDS_DATA_OPTIONAL)) or "(none)"
p = argparse.ArgumentParser(
description="Send a binary command to a serial device.",
formatter_class=argparse.RawDescriptionHelpFormatter,
epilog=f"""\
commands:
{commands_help}
commands where data is optional:
{optional_help}
data tokens (all multi-byte values are little-endian):
5 u8 (default type)
u16:500 also: u8 i8 u16 i16 u32 i32 f32
hex:0a0b raw bytes
examples:
%(prog)s LED_TOGGLE
%(prog)s ADC_SET_READ u32:1 --require-ack
%(prog)s SERVO_SET 0 u16:1500 --rx --rx-time 5
%(prog)s -p /dev/ttyUSB0 -b 9600 ADC_READ_ALL --rx
""",
)
p.add_argument("command", nargs="?", type=parse_command,
help="command name or number")
p.add_argument("data", nargs="*", help="command data tokens (see below)")
p.add_argument("-p", "--port", default=DEFAULT_PORT,
help="serial port (default: %(default)s)")
p.add_argument("-b", "--baud", type=int, default=DEFAULT_BAUD,
help="baud rate (default: %(default)s)")
p.add_argument("-d", "--device-id", type=lambda s: int(s, 0), default=DEFAULT_DEVICE_ID,
help="device id in the packet header (default: %(default)s)")
p.add_argument("--rx", action="store_true",
help="receive and print incoming packets/logs (default: off)")
p.add_argument("--rx-time", type=float, default=10.0,
help="seconds to keep listening after sending, with --rx (default: %(default)s)")
p.add_argument("--require-ack", action="store_true",
help="wait for an ACK; exit 2 on timeout, 3 on NACK (default: off)")
p.add_argument("--ack-timeout", type=float, default=1.0,
help="seconds to wait for ACK (default: %(default)s)")
p.add_argument("--list-commands", action="store_true",
help="list known commands and exit")
return p
# --------------------------------------------------------------------------
# Main
# --------------------------------------------------------------------------
def main():
parser = build_parser()
args = parser.parse_args()
if args.list_commands:
for name, cid in COMMANDS.items():
opt = "data optional" if name in COMMANDS_DATA_OPTIONAL else "data required"
print(f"{cid:3d} {name:<18} {opt}")
return EXIT_OK
if args.command is None:
parser.error("the following arguments are required: command")
cmd_id, cmd_name = args.command
if not args.data and cmd_name not in COMMANDS_DATA_OPTIONAL:
parser.error(f"command {cmd_name} requires data")
data = bytearray()
try:
for tok in args.data:
data.extend(parse_data_token(tok))
except (ValueError, struct.error) as e:
parser.error(f"bad data: {e}")
if len(data) > 255:
parser.error(f"data too long ({len(data)} bytes, max 255)")
packet = make_packet(cmd_id, bytes(data), args.device_id)
try:
ser = serial.Serial(args.port, args.baud, timeout=0.05)
except serial.SerialException as e:
print(f"ERROR: could not open {args.port}: {e}", file=sys.stderr)
return EXIT_ERROR
receiver = None
exit_code = EXIT_OK
try:
# Start the receiver BEFORE sending so a fast ACK isn't missed.
if args.rx or args.require_ack:
receiver = Receiver(ser, verbose=args.rx)
receiver.start()
print(f"--> TX {cmd_name}: {packet.hex(' ')}")
ser.write(packet)
ser.flush()
if args.require_ack:
if not receiver.ack_event.wait(args.ack_timeout):
print(f"ERROR: no ACK within {args.ack_timeout}s", file=sys.stderr)
exit_code = EXIT_NO_ACK
elif receiver.result == "NACK":
print("ERROR: device replied NACK", file=sys.stderr)
exit_code = EXIT_NACK
else:
print("ACK received.")
if args.rx:
time.sleep(args.rx_time)
except KeyboardInterrupt:
pass
finally:
if receiver:
receiver.stop_event.set()
receiver.join(timeout=1)
ser.close()
print("Done.")
return exit_code
if __name__ == "__main__":
sys.exit(main())