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Parallel Bootloading #9

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2f91c50
ui callback location
Lucien950 May 22, 2025
4bdd8e3
parallelize
Lucien950 May 22, 2025
ef91ae0
remove comments
Lucien950 May 22, 2025
1d62b6b
use thread safe bus
Lucien950 May 22, 2025
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40 changes: 20 additions & 20 deletions bootloader.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -40,21 +40,18 @@ class Bootloader:
ih: intelhex.IntelHex
board: boards.Board
timeout: int
ui_callback: Callable

def __init__(
self,
bus: can.Bus,
board: boards.Board,
ui_callback: Callable,
ih: intelhex.IntelHex = None,
timeout: int = 5,
) -> None:
self.bus: can.Bus = bus
self.ih: intelhex.IntelHex = ih
self.board: boards.Board = board
self.timeout: int = timeout
self.ui_callback: Callable = ui_callback

def goto_bootloader(self) -> bool:
"""
Expand Down Expand Up @@ -130,7 +127,7 @@ def _validator(msg: can.Message) -> bool:
self._await_can_msg(validator=_validator, timeout=self.timeout) is not None
)

def erase_sectors(self, sectors) -> bool:
def erase_sectors(self, sectors, ui_callback: Optional[Callable] = None) -> bool:
"""
Erase specific sectors of FLASH, sets all bytes to 0xFF. FLASH memory must first be
erased before it can be programmed.
Expand All @@ -154,8 +151,8 @@ def _validator(msg: can.Message):
erase_progress = 0

for sector in sectors:
if self.ui_callback:
self.ui_callback("Erasing FLASH sectors", erase_size, erase_progress)
if ui_callback is not None:
ui_callback("Erasing FLASH sectors", erase_size, erase_progress)

if sector.write_protect:
raise RuntimeError("Attempted to write to a readonly memory sector!")
Expand All @@ -173,12 +170,12 @@ def _validator(msg: can.Message):

erase_progress += sector.size

if self.ui_callback:
self.ui_callback("Erasing FLASH sectors", erase_size, erase_size)
if ui_callback is not None:
ui_callback("Erasing FLASH sectors", erase_size, erase_size)

return True

def program(self) -> None:
def program(self, ui_callback: Optional[Callable] = None) -> None:
"""
Program the binary into flash. There is no CAN handshake here to reduce
latency during programming. Also, the bootloader will verify the app's code is valid
Expand All @@ -188,8 +185,8 @@ def program(self) -> None:
for i, address in enumerate(
range(self.ih.minaddr(), self.ih.minaddr() + self.size_bytes(), 8)
):
if self.ui_callback and i % 128 == 0:
self.ui_callback("Programming data", self.size_bytes(), i * 8)
if ui_callback is not None and i % 128 == 0:
ui_callback("Programming data", self.size_bytes(), i * 8)

data = [self.ih[address + i] for i in range(0, 8)]

Expand All @@ -207,8 +204,8 @@ def program(self) -> None:
success = True
except can.interfaces.vector.exceptions.VectorOperationError:
pass
if self.ui_callback:
self.ui_callback("Programming data", self.size_bytes(), self.size_bytes())
if ui_callback is not None:
ui_callback("Programming data", self.size_bytes(), self.size_bytes())

def status(self) -> Optional[int]:
"""
Expand Down Expand Up @@ -247,7 +244,7 @@ def _validator(msg: can.Message):

return rx_msg.data[0]

def update(self) -> None:
def update(self, ui_callback: Optional[Callable] = None) -> None:
"""
Run the update procedure for this bootloader.

Expand Down Expand Up @@ -284,7 +281,8 @@ def _intersect(a_min, a_max, b_min, b_max):
self.program()
time.sleep(0.5)

self.ui_callback("Verifying programming", self.size_bytes(), 0)
if ui_callback is not None:
ui_callback("Verifying programming", self.size_bytes(), 0)
boot_status = self.status()
if boot_status is not None:
if boot_status != BOOT_STATUS_APP_VALID:
Expand All @@ -296,10 +294,11 @@ def _intersect(a_min, a_max, b_min, b_max):
f"Bootloader for {self.board.name} did not respond to command to verify application integrity."
)

self.ui_callback("Verifying programming", self.size_bytes(), self.size_bytes())
if ui_callback is not None:
ui_callback("Verifying programming", self.size_bytes(), self.size_bytes())
time.sleep(0.5)

def erase(self) -> None:
def erase(self, ui_callback: Optional[Callable] = None) -> None:
"""
Erase this bootloader's application.

Expand All @@ -322,7 +321,8 @@ def erase(self) -> None:
)
time.sleep(0.5)

self.ui_callback("Verifying erase", erase_size, 0)
if ui_callback is not None:
ui_callback("Verifying erase", erase_size, 0)
boot_status = self.status()
if boot_status is not None:
if boot_status != BOOT_STATUS_NO_APP:
Expand All @@ -333,8 +333,8 @@ def erase(self) -> None:
raise RuntimeError(
f"Bootloader for {self.board.name} did not respond to command to erase flash."
)

self.ui_callback("Verifying erase", erase_size, erase_size)
if ui_callback is not None:
ui_callback("Verifying erase", erase_size, erase_size)
time.sleep(0.5)

def _await_can_msg(
Expand Down
96 changes: 45 additions & 51 deletions update.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@

import argparse
import os
from concurrent.futures import ThreadPoolExecutor
from typing import List

import can
Expand All @@ -27,7 +28,7 @@
)


def all_goto_bootloader(live: Live, bootloaders: List[bootloader.Bootloader]):
def all_goto_bootloader(bootloaders: List[bootloader.Bootloader], live: Live):
live.console.log("Putting all boards into bootloader mode")
# first put everybody into bootloader mode
bootload_task = progress.add_task("Jump to Bootloader")
Expand All @@ -46,7 +47,7 @@ def all_goto_bootloader(live: Live, bootloaders: List[bootloader.Bootloader]):
live.console.log(f"[bold green]All boards pushed into bootloader mode successfully")


def all_goto_app(live: Live, bootloaders: List[bootloader.Bootloader]):
def all_goto_app(bootloaders: List[bootloader.Bootloader], live: Live):
live.console.log("Pushing all boards out of bootloader mode")
app_task = progress.add_task("Jump to App")
for b_idx, bootload_board in enumerate(bootloaders):
Expand All @@ -66,20 +67,28 @@ def all_goto_app(live: Live, bootloaders: List[bootloader.Bootloader]):
)


def update_board(bootload_board: bootloader.Bootloader, live: Live):
steps_task = progress.add_task(
f"Updating board [blue bold]{bootload_board.board.name}"
)
bootload_board.update(
ui_callback=lambda description, total, completed: progress.update(
task_id=steps_task,
total=total,
description=description,
completed=completed,
)
)
live.console.log(f"[green]{bootload_board.board.name} updated successfully")
progress.remove_task(steps_task)


def update(configs: List[boards.Board], build_dir: str) -> None:
"""Update and handle UI."""
num_boards = len(configs)
steps_task = progress.add_task("Steps")
bootloaders: List[bootloader.Bootloader] = [
bootloader.Bootloader(
bus=bus,
board=board,
ui_callback=lambda description, total, completed: progress.update(
task_id=steps_task,
total=total,
description=description,
completed=completed,
),
ih=intelhex.IntelHex(os.path.join(build_dir, board.path)),
)
for board in configs
Expand All @@ -88,69 +97,54 @@ def update(configs: List[boards.Board], build_dir: str) -> None:
# push all boards into bootloader
with Live(Group(status, progress), transient=True) as live:
# push all boards into bootloader
all_goto_bootloader(live, bootloaders)
all_goto_bootloader(bootloaders, live)
live.console.log(
f"Updating firmware for boards: [blue bold]{', '.join(board.name for board in configs)}"
)
for b_idx, bootload_board in enumerate(bootloaders):
# TODO do this in parallel
progress.update(
task_id=steps_task,
total=0,
completed=0,
description=f"Starting update for {bootload_board.board.name}",
)
status.update(
f"Updating board [yellow]{b_idx + 1}/{num_boards}[/]: [blue bold]{bootload_board.board.name}"
)
bootload_board.update()
live.console.log(f"[green]{bootload_board.board.name} updated successfully")
progress.remove_task(steps_task)
with ThreadPoolExecutor(max_workers=(len(configs))) as executor:
executor.map(update_board, [(b, live) for b in bootloaders])
live.console.log(
f"[bold green]Firmware update successfully ({num_boards} board{'s' if num_boards > 1 else ''} updated)"
f"[bold green]Firmware update successfully ({len(configs)} board{'s' if len(configs) > 1 else ''} updated)"
)
# push all boards out of bootloader
all_goto_app(live, bootloaders)
all_goto_app(bootloaders, live)


def erase_board(bootloader_board: bootloader.Bootloader, live: Live):
steps_task = progress.add_task(
f"Erasing board [blue bold]{bootloader_board.board.name}"
)
bootloader_board.erase(
ui_callback=lambda description, total, completed: progress.update(
task_id=steps_task,
total=total,
description=description,
completed=completed,
)
)
live.console.log(f"[green]{bootloader_board.board.name} erased successfully")
progress.remove_task(steps_task)


def erase(configs: List[boards.Board]) -> None:
"""Erase and handle UI."""
# push all boards into bootloader
num_boards = len(configs)
steps_task = progress.add_task("Steps")
bootloaders = [
bootloader.Bootloader(
bus=bus,
board=board,
ui_callback=lambda description, total, completed: progress.update(
task_id=steps_task,
total=total,
description=description,
completed=completed,
),
)
for board in configs
]

with Live(Group(status, progress), transient=True) as live:
all_goto_bootloader(live, bootloaders)

all_goto_bootloader(bootloaders, live)
live.console.log(
f"Erasing with config: [blue bold]{', '.join(board.name for board in configs)}"
)
for b_idx, bootloader_board in enumerate(bootloaders):
# TODO do this in parallel
status.update(f"Sending board {bootloader_board.board.name} to bootloader")
status.update(
f"Erasing board [yellow]{b_idx + 1}/{num_boards}[/]: [blue bold]{bootloader_board.board.name}"
)
bootloader_board.erase()
live.console.log(
f"[green]{bootloader_board.board.name} erased successfully"
)
progress.remove_task(steps_task)
with ThreadPoolExecutor(max_workers=(len(configs))) as executor:
executor.map(update_board, [(b, live) for b in bootloaders])
live.console.log(
f"[bold green]Erase successful ({num_boards} board{'s' if num_boards > 1 else ''} erased)"
f"[bold green]Erase successful ({len(configs)} board{'s' if len(configs) > 1 else ''} erased)"
)


Expand Down Expand Up @@ -187,7 +181,7 @@ def erase(configs: List[boards.Board]) -> None:
for board in boards.CONFIGS[config_name.strip()]
}
)
with can.interface.Bus(
with can.ThreadSafeBus(
interface=args.bus, channel=args.channel, bitrate=args.bit_rate
) as bus:
if args.erase:
Expand Down