sphero_pwn 0.0.0 → 0.0.1

checksums.yaml

@@ -1,7 +1,7 @@
 ---
 SHA1:
-  metadata.gz: 6b51f0b12bbd766e4ad620a00be1d1841b90fe72
-  data.tar.gz: c23728318daf4e7e42d756b195461c39f3cdd0be
+  metadata.gz: 9eac1b907fc6e5963161d6572b72c2d8f2ff241d
+  data.tar.gz: ae48c0c7bb5ca8a3c851bbaf512a7612e5caee5b
 SHA512:
-  metadata.gz: 033e26a33d83a0e8a8ee49f38a43a69b75f975dbf81e2252055d1383aa5e96b275ebfb8ef1a49aa0d7d8961073eff0ec9d6f05e378528ac6f9cb492409cf0caf
-  data.tar.gz: 409bd796603489498346cab6f01caff53231c78a9e05d34a3302a0eb4f1b24208e7b1ef591da29791b56b4f6789f212cdd8ae83a53c6e1627317759b3906a242
+  metadata.gz: 33bf8e533323091af250cccdeefbec7abb09ad2d71901ce9c7c61cc2aa4d35eb64b66cde688c28c8a088c7d2624f219e6eac4f89728ecf4da41dcd73c0faa421
+  data.tar.gz: f6357fc7cda85e4c77d25787827e99251f4304f3f9e34cc5b6f7dcfa45746545b037c2b07d01284311123d255b3b89982b42242f26c1bad5d5f5bd254c81cf74

data/VERSION

@@ -1 +1 @@
-0.0.0
+0.0.1

data/bin/sphero_diagnostics.rb

@@ -0,0 +1,71 @@
+#!/usr/bin/env ruby
+
+require_relative '../lib/sphero_pwn.rb'
+
+require 'pp'
+
+unless ARGV.length == 1
+  puts <<END_USAGE
+Usage: #{$PROGRAM_NAME} /dev/bluetooth-device
+
+The block name can be soul|factory_config|user_config.
+END_USAGE
+  exit 1
+end
+
+rfconn_path = ARGV[0]
+channel = SpheroPwn::Channel.new rfconn_path
+session = SpheroPwn::Session.new channel
+
+session.send_command SpheroPwn::Commands::L1Diagnostics.new
+response = nil
+async = nil
+while response.nil? || async.nil?
+  message = session.recv_message
+  if message.nil?
+    sleep 0.05
+    next
+  end
+
+  if message.kind_of? SpheroPwn::Response
+    response = message
+    if response.code == :ok
+      puts "Queued command to L1 diagnostics.\n"
+    else
+      puts "Failed to get L1 diagnostics. Code: #{response.code}\n"
+      exit 1
+    end
+  else
+    async = message
+    puts "L1 diagnostics:\n"
+    puts message.text
+  end
+end
+
+session.send_command SpheroPwn::Commands::L2Diagnostics.new
+response = nil
+async = nil
+while response.nil? || async.nil?
+  message = session.recv_message
+  if message.nil?
+    sleep 0.05
+    next
+  end
+
+  if message.kind_of? SpheroPwn::Response
+    response = message
+    if response.code == :ok
+      puts "Queued command to L2 diagnostics.\n"
+    else
+      puts "Failed to get L2 diagnostics. Code: #{response.code}\n"
+      exit 1
+    end
+  else
+    async = message
+    puts "L2 diagnostics:\n"
+    pp message.counters
+  end
+end
+
+session.close
+exit 0

data/bin/sphero_map_flash.rb

@@ -0,0 +1,82 @@
+#!/usr/bin/env ruby
+
+require_relative '../lib/sphero_pwn.rb'
+
+unless ARGV.length == 1
+  puts <<END_USAGE
+Usage: #{$PROGRAM_NAME} /dev/bluetooth-device
+END_USAGE
+  exit 1
+end
+
+rfconn_path = ARGV[0]
+channel = SpheroPwn::Channel.new rfconn_path
+session = SpheroPwn::Session.new channel
+
+session.send_command SpheroPwn::Commands::EnterBootloader.new
+response = session.recv_until_response
+unless response.code == :ok
+  puts "Failed to enter bootloader. Code: #{response.code}\n"
+  exit 1
+end
+
+page_map = []
+first_good = 0
+first_bad = 0
+
+begin
+  loop do
+    print "Probing page #{first_good}... "
+    session.send_command SpheroPwn::Commands::IsPageBlank.new(first_good)
+    response = session.recv_until_response
+    case response.code
+    when :ok
+      page_map[first_good] = response.is_blank? ? '.' : '*'
+      puts(response.is_blank? ? 'blank' : 'used')
+      break
+    when :bad_page
+      page_map[first_good] = 'X'
+      puts 'bad'
+      first_good += 1
+      next
+    else
+      puts "Failed to get page status. Code: #{response.code}\n"
+      exit 1
+    end
+  end
+
+  first_bad = first_good + 1
+  loop do
+    print "Probing page #{first_bad}... "
+    session.send_command SpheroPwn::Commands::IsPageBlank.new(first_bad)
+    response = session.recv_until_response
+    case response.code
+    when :ok
+      page_map[first_bad] = response.is_blank? ? '.' : '*'
+      puts(response.is_blank? ? 'blank' : 'used')
+      first_bad += 1
+      next
+    when :bad_page
+      page_map[first_bad] = 'X'
+      puts 'bad'
+      break
+    else
+      puts "Failed to get page status. Code: #{response.code}\n"
+      exit 1
+    end
+  end
+ensure
+  puts "First valid page: #{first_good}\n"
+  puts "Last valid page: #{first_bad - 1}\n"
+  puts "Page map:\n#{page_map.join('')}\n"
+
+  session.send_command SpheroPwn::Commands::BootMainApp.new
+  response = session.recv_until_response
+  unless response.code == :ok
+    puts "Failed to boot main application. Code: #{response.code}\n"
+    exit 1
+  end
+end
+
+session.close
+exit 0

data/bin/sphero_save_flash_block.rb

@@ -0,0 +1,47 @@
+#!/usr/bin/env ruby
+
+require_relative '../lib/sphero_pwn.rb'
+
+unless ARGV.length == 3
+  puts <<END_USAGE
+Usage: #{$PROGRAM_NAME} /dev/bluetooth-device block_name flash_file.bin
+
+The block name can be soul|factory_config|user_config.
+END_USAGE
+  exit 1
+end
+
+rfconn_path = ARGV[0]
+channel = SpheroPwn::Channel.new rfconn_path
+session = SpheroPwn::Session.new channel
+
+session.send_command SpheroPwn::Commands::GetFlashBlock.new ARGV[1].to_sym
+
+response = nil
+async = nil
+while response.nil? || async.nil?
+  message = session.recv_message
+  if message.nil?
+    sleep 0.05
+    next
+  end
+
+  if message.kind_of? SpheroPwn::Response
+    response = message
+    if response.code == :ok
+      puts "Queued command to get #{ARGV[1]} block.\n"
+    else
+      puts "Failed to get #{ARGV[1]} block. Code: #{response.code}\n"
+      exit 1
+    end
+  else
+    async = message
+    File.open ARGV[2], 'wb' do |f|
+      f.write async.data_bytes.pack('C*')
+    end
+    puts "Wrote #{ARGV[1]} block to #{ARGV[2]}\n"
+  end
+end
+
+session.close
+exit 0

data/bin/sphero_set_flag.rb

@@ -0,0 +1,38 @@
+#!/usr/bin/env ruby
+
+require_relative '../lib/sphero_pwn.rb'
+
+unless ARGV.length == 3
+  puts <<END_USAGE
+Usage: #{$PROGRAM_NAME} /dev/bluetooth-device flag_name {true|false}
+
+Known flags: #{SpheroPwn::Commands::SetPermanentFlags::FLAGS.keys.join(' ')}
+END_USAGE
+  exit 1
+end
+
+rfconn_path = ARGV[0]
+channel = SpheroPwn::Channel.new rfconn_path
+session = SpheroPwn::Session.new channel
+
+session.send_command SpheroPwn::Commands::GetPermanentFlags.new
+response = session.recv_until_response
+unless response.code == :ok
+  puts "Failed to retrieve current flags. Code: #{response.code}\n"
+  exit 1
+end
+puts "Current flags: #{response.flags.inspect}\n"
+
+new_flags = response.flags.merge({ ARGV[1].to_sym => (ARGV[2] == 'true') })
+puts "New flags: #{new_flags}\n"
+
+session.send_command SpheroPwn::Commands::SetPermanentFlags.new(new_flags)
+response = session.recv_until_response
+unless response.code == :ok
+  puts "Failed to set new flags. Code: #{response.code}\n"
+  exit 1
+end
+
+puts "New flags set successfully\n"
+session.close
+exit 0

data/bin/sphero_soft_reboot.rb

@@ -0,0 +1,33 @@
+#!/usr/bin/env ruby
+
+require_relative '../lib/sphero_pwn.rb'
+
+unless ARGV.length == 1
+  puts <<END_USAGE
+Usage: #{$PROGRAM_NAME} /dev/bluetooth-device
+END_USAGE
+  exit 1
+end
+
+rfconn_path = ARGV[0]
+channel = SpheroPwn::Channel.new rfconn_path
+session = SpheroPwn::Session.new channel
+
+session.send_command SpheroPwn::Commands::EnterBootloader.new
+response = session.recv_until_response
+unless response.code == :ok
+  puts "Failed to enter bootloader. Code: #{response.code}\n"
+  exit 1
+end
+puts "Entered bootloader\n"
+
+session.send_command SpheroPwn::Commands::BootMainApp.new
+response = session.recv_until_response
+unless response.code == :ok
+  puts "Failed to boot main application. Code: #{response.code}\n"
+  exit 1
+end
+puts "Entered main app\n"
+
+session.close
+exit 0

data/bin/sphero_toggle_user_hack.rb

@@ -0,0 +1,36 @@
+#!/usr/bin/env ruby
+
+require_relative '../lib/sphero_pwn.rb'
+
+unless ARGV.length == 1
+  puts <<END_USAGE
+Usage: #{$PROGRAM_NAME} /dev/bluetooth-device
+END_USAGE
+  exit 1
+end
+
+rfconn_path = ARGV[0]
+channel = SpheroPwn::Channel.new rfconn_path
+session = SpheroPwn::Session.new channel
+
+session.send_command SpheroPwn::Commands::GetDeviceMode.new
+response = session.recv_until_response
+unless response.code == :ok
+  puts "Failed to retrieve device mode. Code: #{response.code}\n"
+  exit 1
+end
+puts "Current device mode: #{response.mode}\n"
+
+new_mode = (response.mode == :normal) ? :user_hack : :normal
+puts "Switching device to mode: #{new_mode}\n"
+
+session.send_command SpheroPwn::Commands::SetDeviceMode.new(new_mode)
+response = session.recv_until_response
+unless response.code == :ok
+  puts "Failed to set device mode. Code: #{response.code}\n"
+  exit 1
+end
+
+puts "New mode set successfully\n"
+session.close
+exit 0

data/lib/sphero_pwn.rb

@@ -2,19 +2,29 @@
 module SpheroPwn
 end
 
-require 'sphero_pwn/async.rb'
-require 'sphero_pwn/asyncs.rb'
-require 'sphero_pwn/channel.rb'
-require 'sphero_pwn/channel_recorder.rb'
-require 'sphero_pwn/command.rb'
-require 'sphero_pwn/commands.rb'
-require 'sphero_pwn/replay_channel.rb'
-require 'sphero_pwn/response.rb'
-require 'sphero_pwn/session.rb'
-require 'sphero_pwn/test_channel.rb'
+require_relative './sphero_pwn/async.rb'
+require_relative './sphero_pwn/asyncs.rb'
+require_relative './sphero_pwn/channel.rb'
+require_relative './sphero_pwn/channel_recorder.rb'
+require_relative './sphero_pwn/command.rb'
+require_relative './sphero_pwn/commands.rb'
+require_relative './sphero_pwn/replay_channel.rb'
+require_relative './sphero_pwn/response.rb'
+require_relative './sphero_pwn/session.rb'
+require_relative './sphero_pwn/test_channel.rb'
 
-require 'sphero_pwn/asyncs/l1_diagnostics.rb'
+require_relative './sphero_pwn/asyncs/flash_block.rb'
+require_relative './sphero_pwn/asyncs/l1_diagnostics.rb'
 
-require 'sphero_pwn/commands/get_versions.rb'
-require 'sphero_pwn/commands/l1_diagnostics.rb'
-require 'sphero_pwn/commands/ping.rb'
+require_relative './sphero_pwn/commands/boot_main_app.rb'
+require_relative './sphero_pwn/commands/enter_bootloader.rb'
+require_relative './sphero_pwn/commands/get_device_mode.rb'
+require_relative './sphero_pwn/commands/get_flash_block.rb'
+require_relative './sphero_pwn/commands/get_permanent_flags.rb'
+require_relative './sphero_pwn/commands/get_versions.rb'
+require_relative './sphero_pwn/commands/is_page_blank.rb'
+require_relative './sphero_pwn/commands/l1_diagnostics.rb'
+require_relative './sphero_pwn/commands/l2_diagnostics.rb'
+require_relative './sphero_pwn/commands/ping.rb'
+require_relative './sphero_pwn/commands/set_device_mode.rb'
+require_relative './sphero_pwn/commands/set_permanent_flags.rb'

data/lib/sphero_pwn/asyncs/flash_block.rb

@@ -0,0 +1,26 @@
+# The result of a get flash block request.
+#
+# This is an asynchronous message because it's too long to fit into the command
+# response structure.
+class SpheroPwn::Asyncs::FlashBlock < SpheroPwn::Async
+  # @return {String} the text form of the diagnostics
+  attr_reader :text
+
+  def initialize(data_bytes)
+    super
+  end
+end
+
+class SpheroPwn::Asyncs::FlashBlock::Config < SpheroPwn::Asyncs::FlashBlock
+  def self.id_code
+    0x04
+  end
+end
+SpheroPwn::Asyncs.register SpheroPwn::Asyncs::FlashBlock::Config
+
+class SpheroPwn::Asyncs::FlashBlock::Soul < SpheroPwn::Asyncs::FlashBlock
+  def self.id_code
+    0x0D
+  end
+end
+SpheroPwn::Asyncs.register SpheroPwn::Asyncs::FlashBlock::Soul

data/lib/sphero_pwn/channel.rb

@@ -10,29 +10,17 @@ class SpheroPwn::Channel
   #
   # @param {String} rfconn_path the path to the device file connecting to the
   #   robot's Bluetooth RFCONN service
-  def initialize(rfconn_path)
-    give_up_at = Time.now + 15
-    @port = nil
-    while @port.nil?
-      begin
-        @port = Serial.new rfconn_path, 115200
-      rescue RubySerial::Exception => e
-        raise e unless e.message == 'EBUSY'
-        raise e if Time.now >= give_up_at
-      end
-    end
-
+  # @param {Hash} options the options below
+  # @option {Number} connect_timeout retry for this number of seconds when the
+  #   connection gets refused with EBUSY
+  def initialize(rfconn_path, options = {})
+    @connect_timeout = options[:connect_timeout] || 15
+    @read_timeout = options[:read_timeout] || 30
+    @read_backoff = options[:read_backoff] || 0.2
     @send_queue = Queue.new
-    @send_thread = Thread.new @send_queue do
-      send_queue = @send_queue
 
-      loop do
-        bytes = send_queue.pop
-        break if bytes == :close
-
-        @port.write bytes
-      end
-    end
+    @port = connect rfconn_path, @connect_timeout
+    @send_thread = spawn_sending_thread @send_queue, @port
   end
 
   # @param {String} bytes a binary-encoded string of bytes to be sent to the
@@ -43,15 +31,27 @@ class SpheroPwn::Channel
     self
   end
 
-  # @param {Integer} count the number of bytes to be read from the RFCONN port
-  def recv_bytes(count)
-    retries_left = 100_000
-    while retries_left > 0
-      bytes = @port.read count
-      return bytes unless bytes.empty?
-      retries_left -= 1
+  # @param {Integer} byte_count the number of bytes to be read from the RFCONN
+  #   port
+  # @return {String} a binary-encoded string of bytes retrieved from the RFCONN
+  #   port; the string may have fewer bytes than requested
+  def recv_bytes(byte_count)
+    buffer = ''.encode Encoding::BINARY
+
+    last_byte_at = Time.now
+    loop do
+      new_bytes = @port.read byte_count - buffer.length
+      buffer.concat new_bytes
+      break if buffer.length == byte_count
+
+      if new_bytes.empty?
+        break if Time.now - last_byte_at >= @read_timeout
+        sleep @read_backoff
+      else
+        last_byte_at = Time.now
+      end
     end
-    nil
+    buffer
   end
 
   # Gracefully shuts down the communication channel with the robot.
@@ -62,4 +62,47 @@ class SpheroPwn::Channel
     @port.close
     self
   end
+
+  # Connects to an RFCONN serial port.
+  #
+  # @param {String} rfconn_path the path to the device file connecting to the
+  #   robot's Bluetooth RFCONN service
+  # @param {Number} timeout the number of seconds to retry connecting when
+  #   getting EBUSY
+  # @return {Serial} the connected port
+  def connect(rfconn_path, timeout)
+    give_up_at = Time.now + timeout
+    port = nil
+    while port.nil?
+      begin
+        port = Serial.new rfconn_path, 115200, 8
+      rescue RubySerial::Exception => e
+        raise e unless e.message == 'EBUSY'
+        raise e if Time.now >= give_up_at
+      end
+    end
+    port
+  end
+  private :connect
+
+  # Creates a thread that reads data from a queue and writes it to an IO.
+  #
+  # The thread expects to pop String instances from the queue, and will
+  # write them to the IO. When the thread pops the :close symbol, it stops
+  # executing.
+  #
+  # @param {Queue} send_queue the queue that the tread will read data from
+  # @param {IO} io the IO that the data bytes will be written to
+  # @return {Thread} the newly created thread
+  def spawn_sending_thread(send_queue, io)
+    Thread.new do
+      loop do
+        bytes = send_queue.pop
+        break if bytes == :close
+
+        io.write bytes
+      end
+    end
+  end
+  private :spawn_sending_thread
 end