static int Main(string[] args)
{
/* install global Exception handler
* Won't do much more than pretify'ing the error messages but better
* fail gracefully that terribly
*/
System.AppDomain.CurrentDomain.UnhandledException += UnhandledExceptionTrapper;
bool errors_encountered = false;
CommandLineParser cmd_parser = new CommandLineParser();
if (cmd_parser.parse_command_line(args) == false)
{
return(RETURN_INVALID_CMDLINE);
}
/********************************
* SEED EROS Bdrige mode enable/disable requests
*/
/* SEED EROS Bridge Enable */
if (cmd_parser.bootloader_operations.Contains(CommandLineParser.en_bootloader_operations.SEEDEROS_BRIDGEENABLE))
{
System.IO.Ports.SerialPort serial_port = new System.IO.Ports.SerialPort();
serial_port.BaudRate = cmd_parser.baudrate_bps;
serial_port.PortName = cmd_parser.port_name;
serial_port.Encoding = Encoding.ASCII;
try
{
Console.WriteLine();
Console.WriteLine("> Seed Robotics Eros: Enabling bridge mode...");
serial_port.Open();
System.Threading.Thread.Sleep(cmd_parser.prewait_ms);
/* clear out any wrong/previous commands that might exist on the board buffer
* This ensures we're at a clean state of the command parser when we send the bridge enable command */
serial_port.Write("\r\n");
wait_for_reply(serial_port, cmd_parser.replytimeout_ms);
System.Threading.Thread.Sleep(500); /* wait another 500ms to fully receive all comms */
serial_port.ReadExisting(); /* read and discard */
/* now send the actual command */
/* 20 = 4 + 16 (Int bus to USB with DTR reset) */
serial_port.Write("commbridge 20\r\n"); /* this command is specific to the EROS firmware CONSOLE; if you
* don't have a console on the port you are trying to open, this is
* not necessary;
* It bridges the USB interface to the Internal bus, using the
* a special bridge mode built for flashing the servos
* (it will auto reset the bus on Serial connect, uses a softserial library to
* cope with the device side of TSB weird timing, etc.) */
wait_for_reply(serial_port, cmd_parser.replytimeout_ms);
if (serial_port.BytesToRead < 1)
{
Console.WriteLine("ERROR");
Console.WriteLine("No reply from the Seed Eros device.");
Console.WriteLine("(Is this Serial Port connected to a Seed Eros device? Is the device already in bridge mode?)");
return(RETURN_SEEDEROS_COMMAND_FAILED);
}
else
{
Console.Write(" < Reply: ");
while (serial_port.BytesToRead > 0)
{
Console.WriteLine(serial_port.ReadLine().ToString());
}
}
serial_port.Close();
return(0);
}
catch (Exception ex)
{
Console.WriteLine("ERROR");
Console.WriteLine(ex.Message);
Console.WriteLine();
Console.WriteLine("> Pre requisite command (SeedEros) failed. Ending session.");
return(RETURN_SEEDEROS_COMMAND_FAILED);
}
}
/* SEED EROS Bridge Disable */
if (cmd_parser.bootloader_operations.Contains(CommandLineParser.en_bootloader_operations.SEEDEROS_BRIDGEDISABLE))
{
System.IO.Ports.SerialPort serial_port = new System.IO.Ports.SerialPort();
/* to exit bridge mode, we open and close the port at 1200 bps */
serial_port.BaudRate = 1200;
serial_port.PortName = cmd_parser.port_name;
serial_port.Encoding = Encoding.ASCII;
try
{
Console.WriteLine();
Console.Write("> Seed Robotics Eros: Sending Host request to disable bridge mode...");
serial_port.Open();
serial_port.DtrEnable = true; /* on Mono / .Net we apparently need to explicitly set DTR */
System.Threading.Thread.Sleep(800); /* wait a couple of seconds */
serial_port.Close();
System.Threading.Thread.Sleep(1000); /* wait a couple of seconds */
Console.WriteLine(" Done.\n");
Console.WriteLine(" ( If your firmware supports host request to exit bridge mode, the unit's LEDs should be back to white/three colours.");
Console.WriteLine(" If the LED colour hasn't changed, you need to manually power cycle your unit (including disconnecting the USB cable) to resume regular operation.)");
return(0);
}
catch (Exception ex)
{
Console.WriteLine("ERROR");
Console.WriteLine(ex.Message);
Console.WriteLine();
Console.WriteLine("> Post process command (SeedEros) failed.");
return(RETURN_SEEDEROS_COMMAND_FAILED);
}
}
/* Emergency Erase Request
* Emergency Erase restoresbootloader acces sin case of lost password, by wiping
* the full FLASH and EEPROM memory areas
*/
if (cmd_parser.bootloader_operations.Contains(CommandLineParser.en_bootloader_operations.EMERGENCY_ERASE))
{
Console.WriteLine();
Console.WriteLine("WARNING: Emergency Erase deletes all Application Flash");
Console.WriteLine("and EEPROM data, as well as Timeout and Password.");
Console.WriteLine("No Firmware or EEPROM data will be left on the device after");
Console.WriteLine("this operation.");
Console.WriteLine("This provides for a clean TSB with default values.");
Console.WriteLine();
Console.WriteLine("IMPORTANT! An Emergency Erase DOES NOT target an individual");
Console.WriteLine("device; if the device is connected on a BUS (Daisy chain),");
Console.WriteLine("ALL the devices will perform the Emergency Erase.");
Console.WriteLine();
Console.WriteLine("This function should ONLY be used by experienced users.");
Console.WriteLine();
Console.Write("Do you fully understand the information above? (Y/n) ");
if (!get_YesNo_reply())
{
Console.WriteLine();
Console.WriteLine("Operation cancelled. Nothing was done.");
return(0);
}
Console.Write("Do you wish to continue? (Y/n) ");
if (!get_YesNo_reply())
{
Console.WriteLine();
Console.WriteLine("Operation cancelled. Nothing was done.");
return(0);
}
Console.WriteLine();
TSBInterfacing tsb = new TSBInterfacing();
if (!tsb.EmergencyErase(cmd_parser.port_name, cmd_parser.baudrate_bps, cmd_parser.prewait_ms, cmd_parser.replytimeout_ms))
{
Console.WriteLine();
Console.WriteLine("> Error while performing Emergency Erase operation.");
return(RETURN_ERRORS_ENCOUNTERED);
}
else
{
return(0);
}
}
/********** Main cycle for multi-device bootloader operations **************
* /* Cycle through the passwords specified for the bootloader */
if (cmd_parser.bootloader_passwords.Count() == 0)
{
/* add a bogus entry with an empty password. Assuming user intends to start the session
* with no password. */
cmd_parser.bootloader_passwords.Add("");
}
/* only advance to TSB if we have more commands lined up and requested at the command line */
if (cmd_parser.bootloader_operations.Count == 0 ||
(cmd_parser.bootloader_operations.Count == 1 && cmd_parser.bootloader_operations.Contains(CommandLineParser.en_bootloader_operations.SEEDEROS_BRIDGEDISABLE)))
{
Console.WriteLine();
Console.WriteLine("> No bootloader actions specified. Ending session");
return(0);
}
foreach (string pwd in cmd_parser.bootloader_passwords)
{
if (pwd.Length > 0)
{
Console.WriteLine();
Console.WriteLine("> Activating bootloader for device with password: {0}", pwd);
Console.WriteLine();
}
else
{
Console.WriteLine();
Console.WriteLine("> Activating bootloader (no device password specified)");
Console.WriteLine();
}
/* build a new instance for every new device; this ensures variables and
* control structures come from a clean slate, which makes sense, since we're
* starting a whole new session
*/
TSBInterfacing tsb = new TSBInterfacing();
if (tsb.ActivateBootloader(cmd_parser.port_name, cmd_parser.baudrate_bps, cmd_parser.prewait_ms, cmd_parser.replytimeout_ms, pwd))
{
/* Bootloader is active. Print all bootloader information */
PrintDeviceInfo(tsb);
if (cmd_parser.patch_daisychain_bug)
{
if (tsb.session_data_.daisychain_patch_in_lastpage == false)
{
/* forcing a LastPageWrite will write the data with the necessary
* patches in place to cope with this bug */
Console.WriteLine();
Console.WriteLine("> Patching for daisy chain operation", pwd);
Console.WriteLine();
tsb.LastPage_Write();
}
else
{
Console.WriteLine();
Console.WriteLine("> Daisy chain patch is already applied", pwd);
Console.WriteLine();
}
}
/* check if the user asked to tag the file names.
* This MUST be done here for the cases where we use multiple
* passwords; in that case, we have sessins starting at different times
* (initiated here) and also different passwords
*/
string tag = string.Format("_{0:yyMMdd}_{0:HHmmss}", DateTime.Now);
if (pwd.Length > 0)
{
tag += string.Format("_{0}", pwd);
}
string eep_filename = cmd_parser.eeprom_file_name;
string flash_filename = cmd_parser.flash_file_name;
if (cmd_parser.tag_eepromfilename_withdatetimepwd && !string.IsNullOrEmpty(cmd_parser.eeprom_file_name))
{
eep_filename = AddTagToFilename(cmd_parser.eeprom_file_name, tag);
}
if (cmd_parser.tag_flashfilename_withdatetimepwd && !string.IsNullOrEmpty(cmd_parser.flash_file_name))
{
flash_filename = AddTagToFilename(cmd_parser.flash_file_name, tag);
}
/* loop through the various operations requested */
foreach (CommandLineParser.en_bootloader_operations bootloader_op in cmd_parser.bootloader_operations)
{
switch (bootloader_op)
{
case CommandLineParser.en_bootloader_operations.DISPLAY_DEVICE_INFO:
/* do nothing; when we activated TSB it already displayed the device info */
break;
case CommandLineParser.en_bootloader_operations.EEP_ERASE:
if (!tsb.EEProm_Erase())
{
Console.WriteLine();
Console.WriteLine("> Error Erasing EEProm.");
errors_encountered = true;
}
break;
case CommandLineParser.en_bootloader_operations.EEP_WRITE:
if (!tsb.EEProm_Write(eep_filename))
{
Console.WriteLine();
Console.WriteLine("> Error Writing EEPROM.");
errors_encountered = true;
}
break;
case CommandLineParser.en_bootloader_operations.EEP_VERIFY:
if (!tsb.EEProm_Verify(eep_filename))
{
Console.WriteLine();
Console.WriteLine("> Error Verifying EEPROM.");
errors_encountered = true;
}
break;
case CommandLineParser.en_bootloader_operations.EEP_READ:
if (!tsb.EEProm_Read(eep_filename))
{
Console.WriteLine();
Console.WriteLine("> Error Reading EEPROM.");
errors_encountered = true;
}
break;
case CommandLineParser.en_bootloader_operations.FW_ERASE:
if (!tsb.Flash_Erase())
{
Console.WriteLine();
Console.WriteLine("> Error Erasing Flash.");
errors_encountered = true;
}
break;
case CommandLineParser.en_bootloader_operations.FW_WRITE:
if (!tsb.Flash_Write(flash_filename))
{
Console.WriteLine();
Console.WriteLine("> Error Writing Flash.");
errors_encountered = true;
}
break;
case CommandLineParser.en_bootloader_operations.FW_VERIFY:
if (!tsb.Flash_Verify(flash_filename))
{
Console.WriteLine();
Console.WriteLine("> Error Verifying Flash.");
errors_encountered = true;
}
break;
case CommandLineParser.en_bootloader_operations.FW_READ:
if (!tsb.Flash_Read(flash_filename))
{
Console.WriteLine();
Console.WriteLine("> Error Reading Flash.");
errors_encountered = true;
}
break;
case CommandLineParser.en_bootloader_operations.PASSWORD_CHANGE:
/* ask the user for a password */
Console.WriteLine();
Console.Write("Please enter the new Password (max. {0} chars): ", TSBInterfacing.max_pwd_length);
string new_pwd = Console.ReadLine();
if (string.IsNullOrEmpty(new_pwd))
{
new_pwd = "";
Console.WriteLine("No password specified. The bootloader will be accessible without password.");
}
else if (new_pwd.Length > Tsbloader_adv.TSBInterfacing.max_pwd_length)
{
Console.WriteLine("ERROR: Password is too long. Maximum password length supported by this tool is {0} characters.", Tsbloader_adv.TSBInterfacing.max_pwd_length);
Console.WriteLine("> Password has not been changed.");
}
else
{
Console.WriteLine("New password will be set to: {0}", new_pwd);
Console.WriteLine("(if you lose your password, you may use the Emergency Erase option '-XXX')");
}
if (request_confirm())
{
tsb.session_data_.password = new_pwd;
if (!tsb.LastPage_Write())
{
Console.WriteLine();
Console.WriteLine("> Error writing bootloader configuration data.");
errors_encountered = true;
}
}
break;
case CommandLineParser.en_bootloader_operations.TIMEOUT_CHANGE:
/* ask the user for a timeout */
int new_timeout_setting;
while (true)
{
Console.WriteLine();
Console.Write("Please enter the new Timeout setting: ");
string new_timeout = Console.ReadLine();
if (string.IsNullOrEmpty(new_timeout))
{
Console.WriteLine("Invalid timeout specified. Timeout must be number between 8 and 255.");
}
else
{
if (!int.TryParse(new_timeout, out new_timeout_setting))
{
Console.WriteLine("Invalid timeout specified. Timeout must be number between 8 and 255.");
}
else if (new_timeout_setting < 8 || new_timeout_setting > 255)
{
Console.WriteLine("Invalid timeout specified. Timeout must be number between 8 and 255.");
}
else
{
break;
}
}
}
/* no need to confirm this one; save immediately */
tsb.session_data_.timeout = (byte)new_timeout_setting;
if (!tsb.LastPage_Write())
{
Console.WriteLine();
Console.WriteLine("> Error writing bootloader configuration data.");
errors_encountered = true;
}
break;
default:
Console.WriteLine("ERROR: Unknown Bootloader operation in function main()");
return(RETURN_UNKOWN_OPTION_IN_CASE);
}
}
tsb.DeactivateBootloader();
}
else
{
Console.WriteLine();
Console.WriteLine("> Could not activate bootloader for the selected device.");
tsb.DeactivateBootloader();
errors_encountered = true;
}
}
if (errors_encountered)
{
Console.WriteLine();
Console.WriteLine("> Requested operations completed with errors. Please review the error messages above.");
return(RETURN_ERRORS_ENCOUNTERED);
}
else
{
Console.WriteLine();
Console.WriteLine("> All operations complete.");
return(0);
}
}
static int Main(string[] args)
{
/* install global Exception handler
* Won't do much more than pretify'ing the error messages but better
* fail gracefully that terribly
*/
System.AppDomain.CurrentDomain.UnhandledException += UnhandledExceptionTrapper;
bool errors_encountered = false;
CommandLineParser cmd_parser = new CommandLineParser();
if (cmd_parser.parse_command_line(args) == false)
{
return(RETURN_INVALID_CMDLINE);
}
/****** SEED EROS Bdrige mode enable/disable requests */
if (cmd_parser.bootloader_operations.Contains(CommandLineParser.en_bootloader_operations.SEEDEROS_BRIDGEENABLE))
{
return(EROS_EnableBridgeMode(ref cmd_parser));
}
if (cmd_parser.bootloader_operations.Contains(CommandLineParser.en_bootloader_operations.SEEDEROS_BRIDGEDISABLE))
{
return(EROS_DisableBridgeMode(ref cmd_parser));
}
/****** Emergency Erase Request
* Emergency Erase restores bootloader access in case of lost password, by wiping
* the full FLASH and EEPROM memory areas
*/
if (cmd_parser.bootloader_operations.Contains(CommandLineParser.en_bootloader_operations.EMERGENCY_ERASE))
{
enEmergencyEraseConfirmResult eresult = ConfirmEmergencyErase(ref cmd_parser);
if (eresult == enEmergencyEraseConfirmResult.ER_CONFIRMED)
{
TSBInterfacing tsb = new TSBInterfacing(UpdateStatusOnScreen, AskQuestion_ToUser);
if (!tsb.EmergencyErase(cmd_parser.port_name, cmd_parser.baudrate_bps, cmd_parser.prewait_ms, cmd_parser.replytimeout_ms))
{
Console.WriteLine();
Console.WriteLine("> Error while performing Emergency Erase operation.");
return(RETURN_ERRORS_ENCOUNTERED);
}
else
{
return(0);
}
}
else if (eresult == enEmergencyEraseConfirmResult.ER_ERROR)
{
return(RETURN_ERRORS_ENCOUNTERED);
}
else
{
return(0);
}
}
/********** Main cycle for multi-device bootloader operations
* We will cycle through the list of passwords supplied
* (or use empty password if none supplied)
*
* On every iteration we will run the same operations but we will collect user
* options on each iteration (bc user may want different options for each
* device)
*/
if (cmd_parser.bootloader_passwords.Count() == 0)
{
/* add a bogus entry with an empty password. Assuming user intends to start the session
* with no password. */
cmd_parser.bootloader_passwords.Add("");
}
/* only advance to TSB if we have more commands lined up and requested at the command line */
if (cmd_parser.bootloader_operations.Count == 0)
{
Console.WriteLine();
Console.WriteLine("> No bootloader actions specified. Ending session");
return(0);
}
foreach (string pwd in cmd_parser.bootloader_passwords)
{
TSBInterfacing tsb = new TSBInterfacing(UpdateStatusOnScreen, AskQuestion_ToUser);
bool activation_result = false;
/* from TSB versions of 2020 onwards, we now have an operation timeout
* which means the commands must get their complete input in a limited timespan
*
* This means that, for setting password, timeout and/or magic bytes
* we should ask the user for them beforehand so that they'r ready to go
* If we wait for the user input while the sesison is active, the session
* will likely timeout.
*/
TSBInterfacing.str_tsb_session_data new_user_data = default(TSBInterfacing.str_tsb_session_data);
new_user_data.magic_bytes = new byte[2]; // we need to explicit allocate space for this
if (pwd.Length > 0)
{
if (cmd_parser.activation_mode == CommandLineParser.en_bootloader_activation_mode.COLD_BOOT)
{
Console.WriteLine();
Console.WriteLine("> Preparing to activate bootloader for device with password: {0}", pwd);
CollectUserOptions_AndUpdateCachedSessionData(ref cmd_parser, ref new_user_data);
activation_result = tsb.ActivateBootloaderFromColdStart(cmd_parser.port_name, cmd_parser.baudrate_bps, cmd_parser.prewait_ms, cmd_parser.replytimeout_ms, pwd, cmd_parser.verbose_output);
}
else
{
Console.WriteLine("ERROR: Bootloader passwords can only be specified when activating in 'cold' [boot] mode.");
return(RETURN_ERRORS_ENCOUNTERED);
}
}
else if (cmd_parser.activation_mode == CommandLineParser.en_bootloader_activation_mode.COLD_BOOT)
{
Console.WriteLine();
Console.WriteLine("> Preparing to activate bootloader (no device password specified)");
CollectUserOptions_AndUpdateCachedSessionData(ref cmd_parser, ref new_user_data);
activation_result = tsb.ActivateBootloaderFromColdStart(cmd_parser.port_name, cmd_parser.baudrate_bps, cmd_parser.prewait_ms, cmd_parser.replytimeout_ms, pwd, cmd_parser.verbose_output);
}
else if (cmd_parser.activation_mode == CommandLineParser.en_bootloader_activation_mode.LIVE_VIA_DYNAMIXEL)
{
if (cmd_parser.dynid < 0 || cmd_parser.dynid > 253)
{
Console.WriteLine("ERROR: 'live' bootloader activation mode was selected but the '-dynid' parameter was not given or is invalid. Please set a valid '-dynid' for 'live' activation mode.");
return(RETURN_ERRORS_ENCOUNTERED);
}
Console.WriteLine();
Console.WriteLine("> Preparing to activate bootloader 'live', on device with DynID {0}", cmd_parser.dynid);
CollectUserOptions_AndUpdateCachedSessionData(ref cmd_parser, ref new_user_data);
// baud after activation should not be hard coded as we may need to speak at higher bauds if going through the EROS board.
// timeout for bootloader activation must exceed the time set in the servo firmware.
activation_result = tsb.ActivateBootloaderFromDynamixel(cmd_parser.port_name, cmd_parser.baudrate_bps, 9600, (byte)cmd_parser.dynid, 3500, 6000, TSBInterfacing.en_dyn_protocol_version.DYNAMIXEL_1, cmd_parser.verbose_output);
}
if (activation_result == true)
{
/* Bootloader is active. Print all bootloader information */
PrintDeviceInfo(tsb);
/* check if the user asked to tag the file names.
* This MUST be done here for the cases where we use multiple
* passwords; in that case, we have sessins starting at different times
* (initiated here) and also different passwords
*/
string tag = string.Format("_{0:yyMMdd}_{0:HHmmss}", DateTime.Now);
if (pwd.Length > 0)
{
tag += string.Format("_{0}", pwd);
}
string eep_filename = cmd_parser.eeprom_file_name;
string flash_filename = cmd_parser.flash_file_name;
if (cmd_parser.tag_eepromfilename_withdatetimepwd && !string.IsNullOrEmpty(cmd_parser.eeprom_file_name))
{
eep_filename = AddTagToFilename(cmd_parser.eeprom_file_name, tag);
}
if (cmd_parser.tag_flashfilename_withdatetimepwd && !string.IsNullOrEmpty(cmd_parser.flash_file_name))
{
flash_filename = AddTagToFilename(cmd_parser.flash_file_name, tag);
}
bool request_last_page_write = false;
/* loop through the various operations requested */
foreach (CommandLineParser.en_bootloader_operations bootloader_op in cmd_parser.bootloader_operations)
{
switch (bootloader_op)
{
case CommandLineParser.en_bootloader_operations.DISPLAY_DEVICE_INFO:
/* do nothing; when we activated TSB it already displayed the device info */
break;
case CommandLineParser.en_bootloader_operations.EEP_ERASE:
if (!tsb.EEProm_Erase())
{
Console.WriteLine();
Console.WriteLine("> Error Erasing EEProm.");
errors_encountered = true;
}
break;
case CommandLineParser.en_bootloader_operations.EEP_WRITE:
if (!tsb.EEProm_Write(eep_filename))
{
Console.WriteLine();
Console.WriteLine("> Error Writing EEPROM.");
errors_encountered = true;
}
break;
case CommandLineParser.en_bootloader_operations.EEP_VERIFY:
if (!tsb.EEProm_Verify(eep_filename))
{
Console.WriteLine();
Console.WriteLine("> Error Verifying EEPROM.");
errors_encountered = true;
}
break;
case CommandLineParser.en_bootloader_operations.EEP_READ:
if (!tsb.EEProm_Read(eep_filename))
{
Console.WriteLine();
Console.WriteLine("> Error Reading EEPROM.");
errors_encountered = true;
}
break;
case CommandLineParser.en_bootloader_operations.FW_ERASE:
if (!tsb.Flash_Erase())
{
Console.WriteLine();
Console.WriteLine("> Error Erasing Flash.");
errors_encountered = true;
}
break;
case CommandLineParser.en_bootloader_operations.FW_WRITE:
if (!tsb.Flash_Write(flash_filename))
{
Console.WriteLine();
Console.WriteLine("> Error Writing Flash.");
errors_encountered = true;
}
break;
case CommandLineParser.en_bootloader_operations.FW_VERIFY:
if (!tsb.Flash_Verify(flash_filename))
{
Console.WriteLine();
Console.WriteLine("> Error Verifying Flash.");
errors_encountered = true;
}
break;
case CommandLineParser.en_bootloader_operations.FW_READ:
if (!tsb.Flash_Read(flash_filename))
{
Console.WriteLine();
Console.WriteLine("> Error Reading Flash.");
errors_encountered = true;
}
break;
case CommandLineParser.en_bootloader_operations.PASSWORD_CHANGE:
tsb.session_data_.password = new_user_data.password;
request_last_page_write = true;
break;
case CommandLineParser.en_bootloader_operations.TIMEOUT_CHANGE:
tsb.session_data_.timeout = new_user_data.timeout;
request_last_page_write = true;
break;
case CommandLineParser.en_bootloader_operations.WRITE_MAGIC_BYTES:
tsb.session_data_.magic_bytes[0] = new_user_data.magic_bytes[0];
tsb.session_data_.magic_bytes[1] = new_user_data.magic_bytes[1];
request_last_page_write = true;
break;
case CommandLineParser.en_bootloader_operations.PATCH_DAISY_CHAIN_BUG:
request_last_page_write = true; // a simple last page write, applies the patch
break;
default:
Console.WriteLine("ERROR: Unknown Bootloader operation in function main()");
return(RETURN_UNKOWN_OPTION_IN_CASE);
}
}
// check if there are updated settings in last page, and commit them
if (request_last_page_write)
{
if (!tsb.LastPage_Write())
{
Console.WriteLine();
Console.WriteLine("> Error updating bootloader configuration data.");
Console.WriteLine("> (Daisy chain patch, Timeout, password and/or Magic bytes might not have been updated)");
errors_encountered = true;
}
request_last_page_write = false;
}
tsb.DeactivateBootloader();
}
else
{
Console.WriteLine();
Console.WriteLine("> Could not activate bootloader for the selected device.");
Console.WriteLine("> Hint: Is password correct? Is BAUD rate correct?");
tsb.DeactivateBootloader();
errors_encountered = true;
}
}
if (errors_encountered)
{
Console.WriteLine();
Console.WriteLine("> Requested operations completed with errors. Please review the error messages above.");
return(RETURN_ERRORS_ENCOUNTERED);
}
else
{
Console.WriteLine();
Console.WriteLine("> All operations complete.");
return(0);
}
}
static int Main(string[] args)
{
/* install global Exception handler
* Won't do much more than pretify'ing the error messages but better
* fail gracefully that terribly
*/
System.AppDomain.CurrentDomain.UnhandledException += UnhandledExceptionTrapper;
bool errors_encountered = false;
CommandLineParser cmd_parser = new CommandLineParser();
if (cmd_parser.parse_command_line(args) == false)
{
return(RETURN_INVALID_CMDLINE);
}
/********************************
* SEED EROS Bdrige mode enable/disable requests
*/
/* SEED EROS Bridge Enable */
if (cmd_parser.bootloader_operations.Contains(CommandLineParser.en_bootloader_operations.SEEDEROS_BRIDGEENABLE))
{
System.IO.Ports.SerialPort serial_port = new System.IO.Ports.SerialPort();
serial_port.BaudRate = cmd_parser.baudrate_bps;
serial_port.PortName = cmd_parser.port_name;
serial_port.Encoding = Encoding.ASCII;
try
{
Console.WriteLine();
Console.WriteLine("> Seed Robotics Eros: Enabling bridge mode...");
serial_port.Open();
System.Threading.Thread.Sleep(cmd_parser.prewait_ms);
/* clear out any wrong/previous commands that might exist on the board buffer
* This ensures we're at a clean state of the command parser when we send the bridge enable command */
serial_port.Write("\r\n");
wait_for_reply(serial_port, cmd_parser.replytimeout_ms);
//System.Threading.Thread.Sleep(500); /* wait another 500ms to fully receive all comms */
serial_port.ReadExisting(); /* read and discard */
/* now send the actual command */
/* 20 = 4 + 16 (Int bus to USB with DTR reset) */
serial_port.Write("commbridge 20\r\n"); /* this command is specific to the EROS firmware CONSOLE; if you
* don't have a console on the port you are trying to open, this is
* not necessary;
* It bridges the USB interface to the Internal bus, using the
* a special bridge mode built for flashing the servos
* (it will auto reset the bus on Serial connect, uses a softserial library to
* cope with the device side of TSB weird timing, etc.) */
wait_for_reply(serial_port, cmd_parser.replytimeout_ms);
if (serial_port.BytesToRead < 1)
{
Console.WriteLine("ERROR");
Console.WriteLine("No reply from the Seed Eros device.");
Console.WriteLine("(Is this the Serial Port of the Seed Eros device? Is the device already in bridge mode?)");
return(RETURN_SEEDEROS_COMMAND_FAILED);
}
else
{
Console.Write(" < Reply: ");
while (serial_port.BytesToRead > 0)
{
Console.WriteLine(serial_port.ReadLine().ToString());
}
}
serial_port.Close();
return(0);
}
catch (Exception ex)
{
Console.WriteLine("ERROR");
Console.WriteLine(ex.Message);
Console.WriteLine();
Console.WriteLine("> Pre requisite command (SeedEros) failed. Ending session.");
return(RETURN_SEEDEROS_COMMAND_FAILED);
}
}
/* SEED EROS Bridge Disable */
if (cmd_parser.bootloader_operations.Contains(CommandLineParser.en_bootloader_operations.SEEDEROS_BRIDGEDISABLE))
{
System.IO.Ports.SerialPort serial_port = new System.IO.Ports.SerialPort();
/* to exit bridge mode, we open and close the port at 1200 bps */
serial_port.BaudRate = 1200;
serial_port.PortName = cmd_parser.port_name;
serial_port.Encoding = Encoding.ASCII;
try
{
Console.WriteLine();
Console.Write("> Seed Robotics Eros: Sending Host request to disable bridge mode...");
serial_port.Open();
serial_port.DtrEnable = true; /* on Mono / .Net we apparently need to explicitly set DTR */
System.Threading.Thread.Sleep(800); /* wait a moment */
serial_port.Close();
System.Threading.Thread.Sleep(200); /* wait some other moment; just give Serial driver some spare time */
Console.WriteLine(" Done.\n");
Console.WriteLine(" ( If your firmware supports host request to exit bridge mode, the unit's LEDs should be back to white/three colours.");
Console.WriteLine(" If the LED colour hasn't changed, you need to manually power cycle your unit (including disconnecting the USB cable) to resume regular operation.)");
return(0);
}
catch (Exception ex)
{
Console.WriteLine("ERROR");
Console.WriteLine(ex.Message);
Console.WriteLine();
Console.WriteLine("> Post process command (SeedEros) failed.");
return(RETURN_SEEDEROS_COMMAND_FAILED);
}
}
/* Emergency Erase Request
* Emergency Erase restoresbootloader access in case of lost password, by wiping
* the full FLASH and EEPROM memory areas
*/
if (cmd_parser.bootloader_operations.Contains(CommandLineParser.en_bootloader_operations.EMERGENCY_ERASE))
{
if (cmd_parser.activation_mode != CommandLineParser.en_bootloader_activation_mode.COLD_BOOT)
{
Console.WriteLine("ERROR: Emergency Erase can only be done in Cold [boot] activation mode.");
return(RETURN_ERRORS_ENCOUNTERED);
}
Console.WriteLine();
Console.WriteLine("WARNING: Emergency Erase deletes all Application Flash");
Console.WriteLine("and EEPROM data, as well as:");
Console.WriteLine(" Timeout, Password and Magic Byte!");
Console.WriteLine("No Firmware or EEPROM data will be left on the device after");
Console.WriteLine("this operation.");
Console.WriteLine("This creates a clean TSB configuration with default values.");
Console.WriteLine();
Console.WriteLine("IMPORTANT! An Emergency Erase DOES NOT target an individual");
Console.WriteLine("device; if the device is connected on a BUS (Daisy chain),");
Console.WriteLine("ALL the devices will perform the Emergency Erase.");
Console.WriteLine();
Console.WriteLine("This function should ONLY be used by experienced users.");
Console.WriteLine();
Console.Write("Do you fully understand the information above? (Y/n) ");
if (!get_YesNo_reply())
{
Console.WriteLine();
Console.WriteLine("Operation cancelled. Nothing was done.");
return(0);
}
Console.Write("Do you wish to continue? (Y/n) ");
if (!get_YesNo_reply())
{
Console.WriteLine();
Console.WriteLine("Operation cancelled. Nothing was done.");
return(0);
}
Console.WriteLine();
TSBInterfacing tsb = new TSBInterfacing(UpdateStatusOnScreen, AskQuestion_ToUser);
if (!tsb.EmergencyErase(cmd_parser.port_name, cmd_parser.baudrate_bps, cmd_parser.prewait_ms, cmd_parser.replytimeout_ms))
{
Console.WriteLine();
Console.WriteLine("> Error while performing Emergency Erase operation.");
return(RETURN_ERRORS_ENCOUNTERED);
}
else
{
return(0);
}
}
/********** Main cycle for multi-device bootloader operations **************
* /* Cycle through the passwords specified for the bootloader */
if (cmd_parser.bootloader_passwords.Count() == 0)
{
/* add a bogus entry with an empty password. Assuming user intends to start the session
* with no password. */
cmd_parser.bootloader_passwords.Add("");
}
/* only advance to TSB if we have more commands lined up and requested at the command line */
if (cmd_parser.bootloader_operations.Count == 0 ||
(cmd_parser.bootloader_operations.Count == 1 && cmd_parser.bootloader_operations.Contains(CommandLineParser.en_bootloader_operations.SEEDEROS_BRIDGEDISABLE)))
{
Console.WriteLine();
Console.WriteLine("> No bootloader actions specified. Ending session");
return(0);
}
foreach (string pwd in cmd_parser.bootloader_passwords)
{
TSBInterfacing tsb = new TSBInterfacing(UpdateStatusOnScreen, AskQuestion_ToUser);
bool activation_result = false;
if (pwd.Length > 0)
{
if (cmd_parser.activation_mode == CommandLineParser.en_bootloader_activation_mode.COLD_BOOT)
{
Console.WriteLine();
Console.WriteLine("> Activating bootloader for device with password: {0}", pwd);
Console.WriteLine();
activation_result = tsb.ActivateBootloaderFromColdStart(cmd_parser.port_name, cmd_parser.baudrate_bps, cmd_parser.prewait_ms, cmd_parser.replytimeout_ms, pwd);
}
else
{
Console.WriteLine("ERROR: Bootloader passwords can only be specified when activating in 'cold' [boot] mode.");
return(RETURN_ERRORS_ENCOUNTERED);
}
}
else if (cmd_parser.activation_mode == CommandLineParser.en_bootloader_activation_mode.COLD_BOOT)
{
Console.WriteLine();
Console.WriteLine("> Activating bootloader (no device password specified)");
Console.WriteLine();
activation_result = tsb.ActivateBootloaderFromColdStart(cmd_parser.port_name, cmd_parser.baudrate_bps, cmd_parser.prewait_ms, cmd_parser.replytimeout_ms, pwd);
}
else if (cmd_parser.activation_mode == CommandLineParser.en_bootloader_activation_mode.LIVE_VIA_DYNAMIXEL)
{
if (cmd_parser.dynid < 0 || cmd_parser.dynid > 253)
{
Console.WriteLine("ERROR: 'live' bootloader activation mode was selected but the '-dynid' parameter was not given or is invalid. Please set a valid '-dynid' for 'live' activation mode.");
return(RETURN_ERRORS_ENCOUNTERED);
}
Console.WriteLine();
Console.WriteLine("> Activating bootloader on 'live' device with Dynamixel ID {0}", cmd_parser.dynid);
Console.WriteLine();
// baud after activation should not be hard coded as we may need to speak at higher bauds if going through the EROS board.
// timeout for bootloader activation must exceed the time set in the servo firmware.
activation_result = tsb.ActivateBootloaderFromDynamixel(cmd_parser.port_name, cmd_parser.baudrate_bps, 9600, (byte)cmd_parser.dynid, 3500, 6000, TSBInterfacing.en_protocol_version.DYNAMIXEL_1);
}
/* build a new instance for every new device; this ensures variables and
* control structures come from a clean slate, which makes sense, since we're
* starting a whole new session
*/
if (activation_result == true)
{
/* Bootloader is active. Print all bootloader information */
PrintDeviceInfo(tsb);
if (cmd_parser.patch_daisychain_bug)
{
if (tsb.session_data_.daisychain_patch_in_lastpage == false)
{
/* forcing a LastPageWrite will write the data with the necessary
* patches in place to cope with this bug */
Console.WriteLine();
Console.WriteLine("> Patching for daisy chain operation", pwd);
Console.WriteLine();
tsb.LastPage_Write();
}
else
{
Console.WriteLine();
Console.WriteLine("> Daisy chain patch is already applied", pwd);
Console.WriteLine();
}
}
/* check if the user asked to tag the file names.
* This MUST be done here for the cases where we use multiple
* passwords; in that case, we have sessins starting at different times
* (initiated here) and also different passwords
*/
string tag = string.Format("_{0:yyMMdd}_{0:HHmmss}", DateTime.Now);
if (pwd.Length > 0)
{
tag += string.Format("_{0}", pwd);
}
string eep_filename = cmd_parser.eeprom_file_name;
string flash_filename = cmd_parser.flash_file_name;
if (cmd_parser.tag_eepromfilename_withdatetimepwd && !string.IsNullOrEmpty(cmd_parser.eeprom_file_name))
{
eep_filename = AddTagToFilename(cmd_parser.eeprom_file_name, tag);
}
if (cmd_parser.tag_flashfilename_withdatetimepwd && !string.IsNullOrEmpty(cmd_parser.flash_file_name))
{
flash_filename = AddTagToFilename(cmd_parser.flash_file_name, tag);
}
/* loop through the various operations requested */
foreach (CommandLineParser.en_bootloader_operations bootloader_op in cmd_parser.bootloader_operations)
{
switch (bootloader_op)
{
case CommandLineParser.en_bootloader_operations.DISPLAY_DEVICE_INFO:
/* do nothing; when we activated TSB it already displayed the device info */
break;
case CommandLineParser.en_bootloader_operations.EEP_ERASE:
if (!tsb.EEProm_Erase())
{
Console.WriteLine();
Console.WriteLine("> Error Erasing EEProm.");
errors_encountered = true;
}
break;
case CommandLineParser.en_bootloader_operations.EEP_WRITE:
if (!tsb.EEProm_Write(eep_filename))
{
Console.WriteLine();
Console.WriteLine("> Error Writing EEPROM.");
errors_encountered = true;
}
break;
case CommandLineParser.en_bootloader_operations.EEP_VERIFY:
if (!tsb.EEProm_Verify(eep_filename))
{
Console.WriteLine();
Console.WriteLine("> Error Verifying EEPROM.");
errors_encountered = true;
}
break;
case CommandLineParser.en_bootloader_operations.EEP_READ:
if (!tsb.EEProm_Read(eep_filename))
{
Console.WriteLine();
Console.WriteLine("> Error Reading EEPROM.");
errors_encountered = true;
}
break;
case CommandLineParser.en_bootloader_operations.FW_ERASE:
if (!tsb.Flash_Erase())
{
Console.WriteLine();
Console.WriteLine("> Error Erasing Flash.");
errors_encountered = true;
}
break;
case CommandLineParser.en_bootloader_operations.FW_WRITE:
if (!tsb.Flash_Write(flash_filename))
{
Console.WriteLine();
Console.WriteLine("> Error Writing Flash.");
errors_encountered = true;
}
break;
case CommandLineParser.en_bootloader_operations.FW_VERIFY:
if (!tsb.Flash_Verify(flash_filename))
{
Console.WriteLine();
Console.WriteLine("> Error Verifying Flash.");
errors_encountered = true;
}
break;
case CommandLineParser.en_bootloader_operations.FW_READ:
if (!tsb.Flash_Read(flash_filename))
{
Console.WriteLine();
Console.WriteLine("> Error Reading Flash.");
errors_encountered = true;
}
break;
case CommandLineParser.en_bootloader_operations.PASSWORD_CHANGE:
/* ask the user for a password */
Console.WriteLine();
Console.WriteLine("Please enter the new Password (max. {0} chars): ", TSBInterfacing.max_pwd_length);
string new_pwd = Console.ReadLine();
if (string.IsNullOrEmpty(new_pwd))
{
new_pwd = "";
Console.WriteLine("No password specified. The bootloader will be accessible without password.");
}
else if (new_pwd.Length > Tsbloader_adv.TSBInterfacing.max_pwd_length)
{
Console.WriteLine("ERROR: Password is too long. Maximum password length supported by this tool is {0} characters.", Tsbloader_adv.TSBInterfacing.max_pwd_length);
Console.WriteLine("> Password has not been changed.");
}
else
{
Console.WriteLine("New password will be set to: {0}", new_pwd);
Console.WriteLine("(if you lose your password, you may use the Emergency Erase option '-XXX')");
}
if (request_confirm())
{
tsb.session_data_.password = new_pwd;
if (!tsb.LastPage_Write())
{
Console.WriteLine();
Console.WriteLine("> Error writing bootloader configuration data.");
errors_encountered = true;
}
}
break;
case CommandLineParser.en_bootloader_operations.TIMEOUT_CHANGE:
/* ask the user for a timeout */
int new_timeout_setting;
while (true)
{
Console.WriteLine();
Console.WriteLine("Current timeout is set to value {0}", tsb.session_data_.timeout);
Console.WriteLine("Please enter the new Timeout setting: ");
string new_timeout = Console.ReadLine();
if (string.IsNullOrEmpty(new_timeout))
{
Console.WriteLine("Invalid timeout specified. Timeout must be number between {0} and 255.", MINIMUM_TIMEOUT_SETTING);
}
else
{
if (!int.TryParse(new_timeout, out new_timeout_setting))
{
Console.WriteLine("Invalid timeout specified. Timeout must be number between {0} and 255.", MINIMUM_TIMEOUT_SETTING);
}
else if (new_timeout_setting < MINIMUM_TIMEOUT_SETTING || new_timeout_setting > 255)
{
Console.WriteLine("Invalid timeout value specified. Timeout must be number between {0} and 255.", MINIMUM_TIMEOUT_SETTING);
}
else
{
Console.WriteLine("New Timeout will be set to: {0}", new_timeout_setting);
break;
}
}
}
/* no need to confirm this one; save immediately */
tsb.session_data_.timeout = (byte)new_timeout_setting;
if (!tsb.LastPage_Write())
{
Console.WriteLine();
Console.WriteLine("> Error writing bootloader configuration data.");
errors_encountered = true;
}
break;
case CommandLineParser.en_bootloader_operations.WRITE_MAGIC_BYTES:
/* ask the user for the new magic bytes */
string[] s_magic_bytes_names = { "First", "Second" };
Console.WriteLine();
Console.WriteLine("Current Magic Bytes are set to [0x{0:X02}] [0x{1:X02}]", tsb.session_data_.magic_bytes[0], tsb.session_data_.magic_bytes[1]);
for (byte b = 0; b < 2; b++)
{
while (true)
{
Console.WriteLine();
Console.WriteLine("Enter the {0} Magic Byte, in HEX format (i.e. '0xA6', type 'A6', omitting the '0x'):", s_magic_bytes_names[b]);
string magic_byte = Console.ReadLine();
if (string.IsNullOrWhiteSpace(magic_byte))
{
Console.WriteLine("Empty Magic Byte specified; setting it to 0xFF");
magic_byte = "FF";
}
int mb;
try
{
// based on tips for parsing HEX here https://theburningmonk.com/2010/02/converting-hex-to-int-in-csharp/
mb = int.Parse(magic_byte, System.Globalization.NumberStyles.HexNumber);
if (mb > 255)
{
Console.WriteLine("ERROR: HEX number too big. Magic bytes are of BYTE type in range 0x0 to 0xFF.");
}
else
{
tsb.session_data_.magic_bytes[b] = (byte)mb;
break;
}
}
catch (Exception ex)
{
Console.WriteLine("ERROR: Invalid HEX value. Magic bytes are set in HEX. Example: set to 0xA7, type 'A7' and ommit the '0x' part.");
}
}
}
/* Save now */
Console.WriteLine("Magic Bytes will be set to: [0x{0:X02}] [0x{1:X02}]", tsb.session_data_.magic_bytes[0], tsb.session_data_.magic_bytes[1]);
if (!tsb.LastPage_Write())
{
Console.WriteLine();
Console.WriteLine("> Error writing bootloader configuration data.");
errors_encountered = true;
}
break;
default:
Console.WriteLine("ERROR: Unknown Bootloader operation in function main()");
return(RETURN_UNKOWN_OPTION_IN_CASE);
}
}
tsb.DeactivateBootloader();
}
else
{
Console.WriteLine();
Console.WriteLine("> Could not activate bootloader for the selected device.");
tsb.DeactivateBootloader();
errors_encountered = true;
}
}
if (errors_encountered)
{
Console.WriteLine();
Console.WriteLine("> Requested operations completed with errors. Please review the error messages above.");
return(RETURN_ERRORS_ENCOUNTERED);
}
else
{
Console.WriteLine();
Console.WriteLine("> All operations complete.");
return(0);
}
}