241 lines
9.5 KiB
Python
Executable File
241 lines
9.5 KiB
Python
Executable File
#!/usr/bin/env python2
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# Script to implement a test console with firmware over serial port
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#
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# Copyright (C) 2016-2021 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import sys, optparse, os, re, logging
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import util, reactor, serialhdl, pins, msgproto, clocksync
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help_txt = """
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This is a debugging console for the Klipper micro-controller.
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In addition to mcu commands, the following artificial commands are
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available:
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PINS : Load pin name aliases (eg, "PINS arduino")
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DELAY : Send a command at a clock time (eg, "DELAY 9999 get_uptime")
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FLOOD : Send a command many times (eg, "FLOOD 22 .01 get_uptime")
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SUPPRESS : Suppress a response message (eg, "SUPPRESS analog_in_state 4")
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SET : Create a local variable (eg, "SET myvar 123.4")
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STATS : Report serial statistics
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LIST : List available mcu commands, local commands, and local variables
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HELP : Show this text
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All commands also support evaluation by enclosing an expression in { }.
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For example, "reset_step_clock oid=4 clock={clock + freq}". In addition
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to user defined variables (via the SET command) the following builtin
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variables may be used in expressions:
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clock : The current mcu clock time (as estimated by the host)
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freq : The mcu clock frequency
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"""
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re_eval = re.compile(r'\{(?P<eval>[^}]*)\}')
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class KeyboardReader:
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def __init__(self, reactor, serialport, baud, canbus_iface, canbus_nodeid):
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self.serialport = serialport
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self.baud = baud
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self.canbus_iface = canbus_iface
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self.canbus_nodeid = canbus_nodeid
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self.ser = serialhdl.SerialReader(reactor)
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self.reactor = reactor
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self.start_time = reactor.monotonic()
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self.clocksync = clocksync.ClockSync(self.reactor)
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self.fd = sys.stdin.fileno()
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util.set_nonblock(self.fd)
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self.mcu_freq = 0
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self.pins = pins.PinResolver(validate_aliases=False)
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self.data = ""
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reactor.register_fd(self.fd, self.process_kbd)
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reactor.register_callback(self.connect)
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self.local_commands = {
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"SET": self.command_SET,
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"DELAY": self.command_DELAY, "FLOOD": self.command_FLOOD,
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"SUPPRESS": self.command_SUPPRESS, "STATS": self.command_STATS,
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"LIST": self.command_LIST, "HELP": self.command_HELP,
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}
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self.eval_globals = {}
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def connect(self, eventtime):
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self.output(help_txt)
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self.output("="*20 + " attempting to connect " + "="*20)
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if self.canbus_iface is not None:
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self.ser.connect_canbus(self.serialport, self.canbus_nodeid,
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self.canbus_iface)
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elif self.baud:
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self.ser.connect_uart(self.serialport, self.baud)
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else:
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self.ser.connect_pipe(self.serialport)
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msgparser = self.ser.get_msgparser()
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message_count = len(msgparser.get_messages())
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version, build_versions = msgparser.get_version_info()
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self.output("Loaded %d commands (%s / %s)"
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% (message_count, version, build_versions))
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self.output("MCU config: %s" % (" ".join(
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["%s=%s" % (k, v) for k, v in msgparser.get_constants().items()])))
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self.clocksync.connect(self.ser)
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self.ser.handle_default = self.handle_default
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self.ser.register_response(self.handle_output, '#output')
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self.mcu_freq = msgparser.get_constant_float('CLOCK_FREQ')
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self.output("="*20 + " connected " + "="*20)
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return self.reactor.NEVER
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def output(self, msg):
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sys.stdout.write("%s\n" % (msg,))
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sys.stdout.flush()
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def handle_default(self, params):
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tdiff = params['#receive_time'] - self.start_time
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msg = self.ser.get_msgparser().format_params(params)
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self.output("%07.3f: %s" % (tdiff, msg))
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def handle_output(self, params):
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tdiff = params['#receive_time'] - self.start_time
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self.output("%07.3f: %s: %s" % (tdiff, params['#name'], params['#msg']))
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def handle_suppress(self, params):
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pass
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def update_evals(self, eventtime):
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self.eval_globals['freq'] = self.mcu_freq
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self.eval_globals['clock'] = self.clocksync.get_clock(eventtime)
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def command_SET(self, parts):
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val = parts[2]
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try:
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val = float(val)
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except ValueError:
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pass
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self.eval_globals[parts[1]] = val
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def command_DELAY(self, parts):
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try:
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val = int(parts[1])
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except ValueError as e:
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self.output("Error: %s" % (str(e),))
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return
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try:
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self.ser.send(' '.join(parts[2:]), minclock=val)
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except msgproto.error as e:
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self.output("Error: %s" % (str(e),))
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return
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def command_FLOOD(self, parts):
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try:
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count = int(parts[1])
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delay = float(parts[2])
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except ValueError as e:
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self.output("Error: %s" % (str(e),))
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return
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msg = ' '.join(parts[3:])
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delay_clock = int(delay * self.mcu_freq)
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msg_clock = int(self.clocksync.get_clock(self.reactor.monotonic())
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+ self.mcu_freq * .200)
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try:
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for i in range(count):
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next_clock = msg_clock + delay_clock
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self.ser.send(msg, minclock=msg_clock, reqclock=next_clock)
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msg_clock = next_clock
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except msgproto.error as e:
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self.output("Error: %s" % (str(e),))
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return
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def command_SUPPRESS(self, parts):
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oid = None
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try:
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name = parts[1]
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if len(parts) > 2:
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oid = int(parts[2])
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except ValueError as e:
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self.output("Error: %s" % (str(e),))
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return
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self.ser.register_response(self.handle_suppress, name, oid)
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def command_STATS(self, parts):
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curtime = self.reactor.monotonic()
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self.output(' '.join([self.ser.stats(curtime),
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self.clocksync.stats(curtime)]))
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def command_LIST(self, parts):
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self.update_evals(self.reactor.monotonic())
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mp = self.ser.get_msgparser()
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cmds = [msgformat for msgtag, msgtype, msgformat in mp.get_messages()
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if msgtype == 'command']
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out = "Available mcu commands:"
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out += "\n ".join([""] + sorted(cmds))
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out += "\nAvailable artificial commands:"
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out += "\n ".join([""] + [n for n in sorted(self.local_commands)])
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out += "\nAvailable local variables:"
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lvars = sorted(self.eval_globals.items())
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out += "\n ".join([""] + ["%s: %s" % (k, v) for k, v in lvars])
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self.output(out)
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def command_HELP(self, parts):
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self.output(help_txt)
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def translate(self, line, eventtime):
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evalparts = re_eval.split(line)
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if len(evalparts) > 1:
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self.update_evals(eventtime)
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try:
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for i in range(1, len(evalparts), 2):
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e = eval(evalparts[i], dict(self.eval_globals))
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if type(e) == type(0.):
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e = int(e)
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evalparts[i] = str(e)
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except:
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self.output("Unable to evaluate: %s" % (line,))
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return None
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line = ''.join(evalparts)
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self.output("Eval: %s" % (line,))
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try:
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line = self.pins.update_command(line).strip()
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except:
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self.output("Unable to map pin: %s" % (line,))
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return None
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if line:
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parts = line.split()
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if parts[0] in self.local_commands:
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self.local_commands[parts[0]](parts)
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return None
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return line
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def process_kbd(self, eventtime):
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self.data += str(os.read(self.fd, 4096).decode())
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kbdlines = self.data.split('\n')
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for line in kbdlines[:-1]:
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line = line.strip()
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cpos = line.find('#')
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if cpos >= 0:
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line = line[:cpos]
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if not line:
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continue
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msg = self.translate(line.strip(), eventtime)
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if msg is None:
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continue
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try:
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self.ser.send(msg)
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except msgproto.error as e:
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self.output("Error: %s" % (str(e),))
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self.data = kbdlines[-1]
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def main():
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usage = "%prog [options] <serialdevice>"
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opts = optparse.OptionParser(usage)
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opts.add_option("-v", action="store_true", dest="verbose",
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help="enable debug messages")
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opts.add_option("-b", "--baud", type="int", dest="baud", help="baud rate")
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opts.add_option("-c", "--canbus_iface", dest="canbus_iface",
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help="Use CAN bus interface; serialdevice is the chip UUID")
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opts.add_option("-i", "--canbus_nodeid", type="int", dest="canbus_nodeid",
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default=64, help="The CAN nodeid to use (default 64)")
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options, args = opts.parse_args()
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if len(args) != 1:
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opts.error("Incorrect number of arguments")
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serialport = args[0]
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baud = options.baud
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if baud is None and not (serialport.startswith("/dev/rpmsg_")
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or serialport.startswith("/tmp/")):
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baud = 250000
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debuglevel = logging.INFO
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if options.verbose:
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debuglevel = logging.DEBUG
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logging.basicConfig(level=debuglevel)
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r = reactor.Reactor()
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kbd = KeyboardReader(r, serialport, baud, options.canbus_iface,
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options.canbus_nodeid)
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try:
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r.run()
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except KeyboardInterrupt:
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sys.stdout.write("\n")
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if __name__ == '__main__':
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main()
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