| # Copyright (c) 2012 The Chromium OS Authors. All rights reserved. |
| # Use of this source code is governed by a BSD-style license that can be |
| # found in the LICENSE file. |
| """Servo Server.""" |
| import fnmatch |
| import imp |
| import logging |
| import os |
| import shutil |
| import SimpleXMLRPCServer |
| import subprocess |
| import tempfile |
| import time |
| import urllib |
| |
| # TODO(tbroch) deprecate use of relative imports |
| from drv.hw_driver import HwDriverError |
| import bbi2c |
| import ftdigpio |
| import ftdii2c |
| import ftdi_common |
| import ftdiuart |
| import servo_interfaces |
| |
| MAX_I2C_CLOCK_HZ = 100000 |
| |
| |
| class ServodError(Exception): |
| """Exception class for servod.""" |
| |
| class Servod(object): |
| """Main class for Servo debug/controller Daemon.""" |
| _USB_DETECTION_DELAY = 10 |
| _HTTP_PREFIX = "http://" |
| |
| def __init__(self, config, vendor, product, serialname=None, |
| interfaces=None, board=""): |
| """Servod constructor. |
| |
| Args: |
| config: instance of SystemConfig containing all controls for |
| particular Servod invocation |
| vendor: usb vendor id of FTDI device |
| product: usb product id of FTDI device |
| serialname: string of device serialname/number as defined in FTDI eeprom. |
| interfaces: list of strings of interface types the server will instantiate |
| |
| Raises: |
| ServodError: if unable to locate init method for particular interface |
| """ |
| self._logger = logging.getLogger("Servod") |
| self._logger.debug("") |
| self._vendor = vendor |
| self._product = product |
| self._serialname = serialname |
| self._syscfg = config |
| # list of objects (Fi2c, Fgpio) to physical interfaces (gpio, i2c) that ftdi |
| # interfaces are mapped to |
| self._interface_list = [] |
| # Dict of Dict to map control name, function name to to tuple (params, drv) |
| # Ex) _drv_dict[name]['get'] = (params, drv) |
| self._drv_dict = {} |
| self._board = board |
| |
| # Note, interface i is (i - 1) in list |
| if not interfaces: |
| interfaces = servo_interfaces.INTERFACE_DEFAULTS[vendor][product] |
| |
| for i, interface in enumerate(interfaces): |
| is_ftdi_interface = False |
| if type(interface) is dict: |
| name = interface['name'] |
| elif type(interface) is str: |
| # Its FTDI related interface |
| name = interface |
| interface = (i % ftdi_common.MAX_FTDI_INTERFACES_PER_DEVICE) + 1 |
| is_ftdi_interface = True |
| else: |
| raise ServodError("Illegal interface type %s" % type(interface)) |
| |
| # servos with multiple FTDI are guaranteed to have contiguous USB PIDs |
| if is_ftdi_interface and i and \ |
| ((i % ftdi_common.MAX_FTDI_INTERFACES_PER_DEVICE) == 0): |
| self._product += 1 |
| self._logger.info("Changing to next FTDI part @ pid = 0x%04x", |
| self._product) |
| |
| self._logger.info("Initializing interface %d to %s", i + 1, name) |
| try: |
| func = getattr(self, '_init_%s' % name) |
| except AttributeError: |
| raise ServodError("Unable to locate init for interface %s" % name) |
| result = func(interface) |
| if isinstance(result, tuple): |
| self._interface_list.extend(result) |
| else: |
| self._interface_list.append(result) |
| |
| def __del__(self): |
| """Servod deconstructor.""" |
| for interface in self._interface_list: |
| del(interface) |
| |
| def _init_dummy(self, interface): |
| """Initialize dummy interface. |
| |
| Dummy interface is just a mechanism to reserve that interface for non servod |
| interaction. Typically the interface will be managed by external |
| third-party tools like openOCD or urjtag for JTAG or flashrom for SPI |
| interfaces. |
| |
| TODO(tbroch): Investigate merits of incorporating these third-party |
| interfaces into servod or creating a communication channel between them |
| |
| Returns: None |
| """ |
| return None |
| |
| def _init_ftdi_gpio(self, interface): |
| """Initialize gpio driver interface and open for use. |
| |
| Args: |
| interface: interface number of FTDI device to use. |
| |
| Returns: |
| Instance object of interface. |
| |
| Raises: |
| ServodError: If init fails |
| """ |
| fobj = ftdigpio.Fgpio(self._vendor, self._product, interface, |
| self._serialname) |
| try: |
| fobj.open() |
| except ftdigpio.FgpioError as e: |
| raise ServodError('Opening gpio interface. %s ( %d )' % (e.msg, e.value)) |
| |
| return fobj |
| |
| # TODO (sbasi) crbug.com/187488 - Implement BBgpio. |
| def _init_bb_gpio(self, interface): |
| """Initalize beaglebone gpio interface.""" |
| pass |
| |
| def _init_ftdi_i2c(self, interface): |
| """Initialize i2c interface and open for use. |
| |
| Args: |
| interface: interface number of FTDI device to use |
| |
| Returns: |
| Instance object of interface |
| |
| Raises: |
| ServodError: If init fails |
| """ |
| fobj = ftdii2c.Fi2c(self._vendor, self._product, interface, |
| self._serialname) |
| try: |
| fobj.open() |
| except ftdii2c.Fi2cError as e: |
| raise ServodError('Opening i2c interface. %s ( %d )' % (e.msg, e.value)) |
| |
| # Set the frequency of operation of the i2c bus. |
| # TODO(tbroch) make configureable |
| fobj.setclock(MAX_I2C_CLOCK_HZ) |
| |
| return fobj |
| |
| # TODO (sbasi) crbug.com/187489 - Implement bb_i2c. |
| def _init_bb_i2c(self, interface): |
| """Initalize beaglebone i2c interface.""" |
| return bbi2c.BBi2c(interface) |
| |
| def _init_ftdi_uart(self, interface): |
| """Initialize ftdi uart inteface and open for use |
| |
| Note, the uart runs in a separate thread (pthreads). Users wishing to |
| interact with it will query control for the pty's pathname and connect |
| with there favorite console program. For example: |
| cu -l /dev/pts/22 |
| |
| Args: |
| interface: interface number of FTDI device to use |
| |
| Returns: |
| Instance object of interface |
| |
| Raises: |
| ServodError: If init fails |
| """ |
| fobj = ftdiuart.Fuart(self._vendor, self._product, interface, |
| self._serialname) |
| try: |
| fobj.run() |
| except ftdiuart.FuartError as e: |
| raise ServodError('Running uart interface. %s ( %d )' % (e.msg, e.value)) |
| |
| self._logger.info("%s" % fobj.get_pty()) |
| return fobj |
| |
| # TODO (sbasi) crbug.com/187492 - Implement bbuart. |
| def _init_bb_uart(self, interface): |
| """Initalize beaglebone uart interface.""" |
| pass |
| |
| def _init_ftdi_gpiouart(self, interface): |
| """Initialize special gpio + uart interface and open for use |
| |
| Note, the uart runs in a separate thread (pthreads). Users wishing to |
| interact with it will query control for the pty's pathname and connect |
| with there favorite console program. For example: |
| cu -l /dev/pts/22 |
| |
| Args: |
| interface: interface number of FTDI device to use |
| |
| Returns: |
| Instance objects of interface |
| |
| Raises: |
| ServodError: If init fails |
| """ |
| fgpio = self._init_ftdi_gpio(interface) |
| fuart = ftdiuart.Fuart(self._vendor, self._product, interface, |
| self._serialname, fgpio._fc) |
| try: |
| fuart.run() |
| except ftdiuart.FuartError as e: |
| raise ServodError('Running uart interface. %s ( %d )' % (e.msg, e.value)) |
| |
| self._logger.info("uart pty: %s" % fuart.get_pty()) |
| return fgpio, fuart |
| |
| def _camel_case(self, string): |
| output = '' |
| for s in string.split('_'): |
| if output: |
| output += s.capitalize() |
| else: |
| output = s |
| return output |
| |
| def _get_param_drv(self, control_name, is_get=True): |
| """Get access to driver for a given control. |
| |
| Note, some controls have different parameter dictionaries for 'getting' the |
| control's value versus 'setting' it. Boolean is_get distinguishes which is |
| being requested. |
| |
| Args: |
| control_name: string name of control |
| is_get: boolean to determine |
| |
| Returns: |
| tuple (param, drv) where: |
| param: param dictionary for control |
| drv: instance object of driver for particular control |
| |
| Raises: |
| ServodError: Error occurred while examining params dict |
| """ |
| self._logger.debug("") |
| # if already setup just return tuple from driver dict |
| if control_name in self._drv_dict: |
| if is_get and ('get' in self._drv_dict[control_name]): |
| return self._drv_dict[control_name]['get'] |
| if not is_get and ('set' in self._drv_dict[control_name]): |
| return self._drv_dict[control_name]['set'] |
| |
| params = self._syscfg.lookup_control_params(control_name, is_get) |
| if 'drv' not in params: |
| self._logger.error("Unable to determine driver for %s" % control_name) |
| raise ServodError("'drv' key not found in params dict") |
| if 'interface' not in params: |
| self._logger.error("Unable to determine interface for %s" % |
| control_name) |
| |
| raise ServodError("'interface' key not found in params dict") |
| index = int(params['interface']) - 1 |
| interface = self._interface_list[index] |
| servo_pkg = imp.load_module('servo', *imp.find_module('servo')) |
| drv_pkg = imp.load_module('drv', |
| *imp.find_module('drv', servo_pkg.__path__)) |
| drv_name = params['drv'] |
| drv_module = getattr(drv_pkg, drv_name) |
| drv_class = getattr(drv_module, self._camel_case(drv_name)) |
| drv = drv_class(interface, params) |
| if control_name not in self._drv_dict: |
| self._drv_dict[control_name] = {} |
| if is_get: |
| self._drv_dict[control_name]['get'] = (params, drv) |
| else: |
| self._drv_dict[control_name]['set'] = (params, drv) |
| return (params, drv) |
| |
| def doc_all(self): |
| """Return all documenation for controls. |
| |
| Returns: |
| string of <doc> text in config file (xml) and the params dictionary for |
| all controls. |
| |
| For example: |
| warm_reset :: Reset the device warmly |
| ------------------------> {'interface': '1', 'map': 'onoff_i', ... } |
| """ |
| return self._syscfg.display_config() |
| |
| def doc(self, name): |
| """Retreive doc string in system config file for given control name. |
| |
| Args: |
| name: name string of control to get doc string |
| |
| Returns: |
| doc string of name |
| |
| Raises: |
| NameError: if fails to locate control |
| """ |
| self._logger.debug("name(%s)" % (name)) |
| if self._syscfg.is_control(name): |
| return self._syscfg.get_control_docstring(name) |
| else: |
| raise NameError("No control %s" %name) |
| |
| def _get_usb_port_set(self): |
| """Gets a set of USB disks currently connected to the system |
| |
| Returns: |
| A set of USB disk paths. |
| """ |
| usb_set = fnmatch.filter(os.listdir("/dev/"), "sd[a-z]") |
| return set(["/dev/" + dev for dev in usb_set]) |
| |
| def _probe_host_usb_dev(self): |
| """Probe the USB disk device plugged in the servo from the host side. |
| |
| Method can fail by: |
| 1) Having multiple servos connected and returning incorrect /dev/sdX of |
| another servo. |
| 2) Finding multiple /dev/sdX and returning None. |
| |
| Returns: |
| USB disk path if one and only one USB disk path is found, otherwise None. |
| """ |
| original_value = self.get("usb_mux_sel1") |
| # Make the host unable to see the USB disk. |
| if original_value != "dut_sees_usbkey": |
| self.set("usb_mux_sel1", "dut_sees_usbkey") |
| time.sleep(self._USB_DETECTION_DELAY) |
| |
| no_usb_set = self._get_usb_port_set() |
| # Make the host able to see the USB disk. |
| self.set("usb_mux_sel1", "servo_sees_usbkey") |
| time.sleep(self._USB_DETECTION_DELAY) |
| |
| has_usb_set = self._get_usb_port_set() |
| # Back to its original value. |
| if original_value != "servo_sees_usbkey": |
| self.set("usb_mux_sel1", original_value) |
| time.sleep(self._USB_DETECTION_DELAY) |
| # Subtract the two sets to find the usb device. |
| diff_set = has_usb_set - no_usb_set |
| if len(diff_set) == 1: |
| return diff_set.pop() |
| else: |
| return None |
| |
| def download_image_to_usb(self, image_path): |
| """Download image and save to the USB device found by probe_host_usb_dev. |
| If the image_path is a URL, it will download this url to the USB path; |
| otherwise it will simply copy the image_path's contents to the USB path. |
| |
| Args: |
| image_path: path or url to the recovery image. |
| |
| Returns: |
| True|False: True if process completed successfully, False if error |
| occurred. |
| Can't return None because XMLRPC doesn't allow it. PTAL at tbroch's |
| comment at the end of set(). |
| """ |
| self._logger.debug("image_path(%s)" % image_path) |
| self._logger.debug("Detecting USB stick device...") |
| usb_dev = self._probe_host_usb_dev() |
| if not usb_dev: |
| self._logger.error("No usb device connected to servo") |
| return False |
| |
| try: |
| if image_path.startswith(self._HTTP_PREFIX): |
| self._logger.debug("Image path is a URL, downloading image") |
| urllib.urlretrieve(image_path, usb_dev) |
| else: |
| shutil.copyfile(image_path, usb_dev) |
| except IOError as e: |
| self._logger.error("Failed to transfer image to USB device: %s ( %d ) ", |
| e.strerror, e.errno) |
| return False |
| except urllib.ContentTooShortError: |
| self._logger.error("Failed to download URL: %s to USB device: %s", |
| image_path, usb_dev) |
| return False |
| except BaseException as e: |
| self._logger.error("Unexpected exception downloading %s to %s: %s", |
| image_path, usb_dev, str(e)) |
| return False |
| finally: |
| # We just plastered the partition table for a block device. |
| # Pass or fail, we mustn't go without telling the kernel about |
| # the change, or it will punish us with sporadic, hard-to-debug |
| # failures. |
| subprocess.call(["sync"]) |
| subprocess.call(["blockdev", "--rereadpt", usb_dev]) |
| return True |
| |
| def make_image_noninteractive(self): |
| """Makes the recovery image noninteractive. |
| |
| A noninteractive image will reboot automatically after installation |
| instead of waiting for the USB device to be removed to initiate a system |
| reboot. |
| |
| Mounts partition 1 of the image stored on usb_dev and creates a file |
| called "non_interactive" so that the image will become noninteractive. |
| |
| Returns: |
| True|False: True if process completed successfully, False if error |
| occurred. |
| """ |
| result = True |
| usb_dev = self._probe_host_usb_dev() |
| if not usb_dev: |
| self._logger.error("No usb device connected to servo") |
| return False |
| # Create TempDirectory |
| tmpdir = tempfile.mkdtemp() |
| if tmpdir: |
| # Mount drive to tmpdir. |
| partition_1 = "%s1" % usb_dev |
| rc = subprocess.call(["mount", partition_1, tmpdir]) |
| if rc == 0: |
| # Create file 'non_interactive' |
| non_interactive_file = os.path.join(tmpdir, "non_interactive") |
| try: |
| open(non_interactive_file, "w").close() |
| except IOError as e: |
| self._logger.error("Failed to create file %s : %s ( %d )", |
| non_interactive_file, e.strerror, e.errno) |
| result = False |
| except BaseException as e: |
| self._logger.error("Unexpected Exception creating file %s : %s", |
| non_interactive_file, str(e)) |
| result = False |
| # Unmount drive regardless if file creation worked or not. |
| rc = subprocess.call(["umount", partition_1]) |
| if rc != 0: |
| self._logger.error("Failed to unmount USB Device") |
| result = False |
| else: |
| self._logger.error("Failed to mount USB Device") |
| result = False |
| |
| # Delete tmpdir. May throw exception if 'umount' failed. |
| try: |
| os.rmdir(tmpdir) |
| except OSError as e: |
| self._logger.error("Failed to remove temp directory %s : %s", |
| tmpdir, str(e)) |
| return False |
| except BaseException as e: |
| self._logger.error("Unexpected Exception removing tempdir %s : %s", |
| tmpdir, str(e)) |
| return False |
| else: |
| self._logger.error("Failed to create temp directory.") |
| return False |
| return result |
| |
| def set_get_all(self, cmds): |
| """Set &| get one or more control values. |
| |
| Args: |
| cmds: list of control[:value] to get or set. |
| |
| Returns: |
| rv: list of responses from calling get or set methods. |
| """ |
| rv = [] |
| for cmd in cmds: |
| if ':' in cmd: |
| (control, value) = cmd.split(':') |
| rv.append(self.set(control, value)) |
| else: |
| rv.append(self.get(cmd)) |
| return rv |
| |
| def get(self, name): |
| """Get control value. |
| |
| Args: |
| name: name string of control |
| |
| Returns: |
| Response from calling drv get method. Value is reformatted based on |
| control's dictionary parameters |
| |
| Raises: |
| HwDriverError: Error occurred while using drv |
| """ |
| self._logger.debug("name(%s)" % (name)) |
| (param, drv) = self._get_param_drv(name) |
| try: |
| val = drv.get() |
| rd_val = self._syscfg.reformat_val(param, val) |
| self._logger.debug("%s = %s" % (name, rd_val)) |
| return rd_val |
| except AttributeError, error: |
| self._logger.error("Getting %s: %s" % (name, error)) |
| raise |
| except HwDriverError: |
| self._logger.error("Getting %s" % (name)) |
| raise |
| |
| def get_all(self, verbose): |
| """Get all controls values. |
| |
| Args: |
| verbose: Boolean on whether to return doc info as well |
| |
| Returns: |
| string creating from trying to get all values of all controls. In case of |
| error attempting access to control, response is 'ERR'. |
| """ |
| rsp = [] |
| for name in self._syscfg.syscfg_dict['control']: |
| self._logger.debug("name = %s" %name) |
| try: |
| value = self.get(name) |
| except Exception: |
| value = "ERR" |
| pass |
| if verbose: |
| rsp.append("GET %s = %s :: %s" % (name, value, self.doc(name))) |
| else: |
| rsp.append("%s:%s" % (name, value)) |
| return '\n'.join(sorted(rsp)) |
| |
| def set(self, name, wr_val_str): |
| """Set control. |
| |
| Args: |
| name: name string of control |
| wr_val_str: value string to write. Can be integer, float or a |
| alpha-numerical that is mapped to a integer or float. |
| |
| Raises: |
| HwDriverError: Error occurred while using driver |
| """ |
| if name == 'sleep': |
| time.sleep(float(wr_val_str)) |
| return True |
| |
| self._logger.debug("name(%s) wr_val(%s)" % (name, wr_val_str)) |
| (params, drv) = self._get_param_drv(name, False) |
| wr_val = self._syscfg.resolve_val(params, wr_val_str) |
| try: |
| drv.set(wr_val) |
| except HwDriverError: |
| self._logger.error("Setting %s -> %s" % (name, wr_val_str)) |
| raise |
| # TODO(tbroch) Figure out why despite allow_none=True for both xmlrpc server |
| # & client I still have to return something to appease the |
| # marshall/unmarshall |
| return True |
| |
| def hwinit(self, verbose=False): |
| """Initialize all controls. |
| |
| These values are part of the system config XML files of the form |
| init=<value>. This command should be used by clients wishing to return the |
| servo and DUT its connected to a known good/safe state. |
| |
| Note that initialization errors are ignored (as in some cases they could |
| be caused by DUT firmware deficiencies). This might need to be fine tuned |
| later. |
| |
| Args: |
| verbose: boolean, if True prints info about control initialized. |
| Otherwise prints nothing. |
| |
| Returns: |
| This function is called across RPC and as such is expected to return |
| something unless transferring 'none' across is allowed. Hence adding a |
| dummy return value to make things simpler. |
| """ |
| for control_name, value in self._syscfg.hwinit: |
| try: |
| self.set(control_name, value) |
| except Exception as e: |
| self._logger.error("Problem initializing %s -> %s :: %s", |
| control_name, value, str(e)) |
| if verbose: |
| self._logger.info('Initialized %s to %s', control_name, value) |
| return True |
| |
| def echo(self, echo): |
| """Dummy echo function for testing/examples. |
| |
| Args: |
| echo: string to echo back to client |
| """ |
| self._logger.debug("echo(%s)" % (echo)) |
| return "ECH0ING: %s" % (echo) |
| |
| def get_board(self): |
| """Return the board specified at startup, if any.""" |
| return self._board |
| |
| |
| def test(): |
| """Integration testing. |
| |
| TODO(tbroch) Enhance integration test and add unittest (see mox) |
| """ |
| logging.basicConfig(level=logging.DEBUG, |
| format="%(asctime)s - %(name)s - " + |
| "%(levelname)s - %(message)s") |
| # configure server & listen |
| servod_obj = Servod(1) |
| # 4 == number of interfaces on a FT4232H device |
| for i in xrange(4): |
| if i == 1: |
| # its an i2c interface ... see __init__ for details and TODO to make |
| # this configureable |
| servod_obj._interface_list[i].wr_rd(0x21, [0], 1) |
| else: |
| # its a gpio interface |
| servod_obj._interface_list[i].wr_rd(0) |
| |
| server = SimpleXMLRPCServer.SimpleXMLRPCServer(("localhost", 9999), |
| allow_none=True) |
| server.register_introspection_functions() |
| server.register_multicall_functions() |
| server.register_instance(servod_obj) |
| logging.info("Listening on localhost port 9999") |
| server.serve_forever() |
| |
| if __name__ == "__main__": |
| test() |
| |
| # simple client transaction would look like |
| """ |
| remote_uri = 'http://localhost:9999' |
| client = xmlrpclib.ServerProxy(remote_uri, verbose=False) |
| send_str = "Hello_there" |
| print "Sent " + send_str + ", Recv " + client.echo(send_str) |
| """ |
