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Refactor boot delay handling into _get_boot_delay() method #528

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Merged
gemenerik merged 1 commit into from
Mar 19, 2025
Merged

Refactor boot delay handling into _get_boot_delay() method #528

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70 changes: 53 additions & 17 deletions cflib/bootloader/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -178,7 +178,48 @@ def _get_provided_nrf51_bl_version(self, flash_artifacts: List[FlashArtifact]):

return provided_nrf_bl_version

def flash(self, filename: str, targets: List[Target], cf=None, enable_console_log: Optional[bool] = False):
def _get_boot_delay(self, cf: Optional[Crazyflie] = None) -> float:
"""
Determines the boot delay for the Crazyflie.
This method calculates the boot delay based on the presence of specific decks.
If the AI deck is attached, a longer boot delay is used.
@return: The boot delay in seconds. Returns -1 if no deck memory is found.
@rtype: float
@raises RuntimeError: If there is a failure in reading the decks.
"""

if cf is not None and cf.link:
cf.close_link()

try:
with SyncCrazyflie(self.clink, cf=Crazyflie()) as scf:
deck_mems = scf.cf.mem.get_mems(MemoryElement.TYPE_DECK_MEMORY)
deck_mems_count = len(deck_mems)
if deck_mems_count == 0:
return -1

mgr = deck_memory.SyncDeckMemoryManager(deck_mems[0])
try:
decks = mgr.query_decks()
except RuntimeError as e:
if self.progress_cb:
message = f'Failed to read decks: {str(e)}'
self.progress_cb(message, 0)
logger.error(message)
time.sleep(2)
raise RuntimeError(message)

if any(deck.name in ['bcAI:gap8', 'bcAI:esp'] for deck in decks.values()):
return 5.0
except Exception as e:
# If we fail to connect to the Crazyflie in firmware mode, we assume the AI-deck is attached
print(f'Failed to connect to Crazyflie in firmware mode: {str(e)}. Setting boot delay to 5.0 seconds')
return 5.0 # AI-deck may be attached

return 0.0

def flash(self, filename: str, targets: List[Target], cf=None, enable_console_log: Optional[bool] = False,
boot_delay: Optional[float] = 0.0):
# Separate flash targets from decks
platform = self._get_platform_id()
flash_targets = [t for t in targets if t.platform == platform]
Expand Down Expand Up @@ -276,23 +317,21 @@ def flash(self, filename: str, targets: List[Target], cf=None, enable_console_lo
self.progress_cb('Restarting firmware to update decks.', int(0))

# Reset to firmware mode
self.reset_to_firmware(boot_delay=5.0)
self.reset_to_firmware(boot_delay=boot_delay)
self.close()
time.sleep(2)

# Flash all decks and reboot after each deck
current_index = 0
while current_index != -1:
current_index = self._flash_deck_incrementally(deck_artifacts, deck_targets, current_index,
enable_console_log=enable_console_log)
enable_console_log=enable_console_log,
boot_delay=boot_delay)
if self.progress_cb:
self.progress_cb('Deck updated! Restarting...', int(100))
if current_index != -1:
PowerSwitch(self.clink).reboot_to_fw()
if any(deck.target in ['bcAI:gap8', 'bcAI:esp'] for deck in deck_targets):
time.sleep(7)
else:
time.sleep(2)
time.sleep(2.0 + boot_delay)

# Put the crazyflie back in Bootloader mode to exit the function in the same state we entered it
self.start_bootloader(warm_boot=True, cf=cf)
Expand Down Expand Up @@ -321,6 +360,9 @@ def flash_full(self, cf: Optional[Crazyflie] = None,
Flash .zip or bin .file to list of targets.
Reset to firmware when done.
"""
# Get the required boot delay
boot_delay = self._get_boot_delay(cf=cf)

if progress_cb is not None:
self.progress_cb = progress_cb
if terminate_flash_cb is not None:
Expand All @@ -336,7 +378,7 @@ def flash_full(self, cf: Optional[Crazyflie] = None,
info_cb(self.protocol_version, connected)

if filename is not None:
self.flash(filename, targets, cf, enable_console_log=enable_console_log)
self.flash(filename, targets, cf, enable_console_log=enable_console_log, boot_delay=boot_delay)
self.reset_to_firmware(boot_delay=5.0)

def _get_flash_artifacts_from_zip(self, filename):
Expand Down Expand Up @@ -549,7 +591,7 @@ def console_callback(self, text: str):
print(text, end='')

def _flash_deck_incrementally(self, artifacts: List[FlashArtifact], targets: List[Target], start_index: int,
enable_console_log: Optional[bool] = False):
enable_console_log: Optional[bool] = False, boot_delay=0.0):
flash_all_targets = len(targets) == 0
if self.progress_cb:
self.progress_cb('Identifying deck to be updated', 0)
Expand Down Expand Up @@ -604,10 +646,7 @@ def _flash_deck_incrementally(self, artifacts: List[FlashArtifact], targets: Lis
self.progress_cb(f'Updating deck {deck.name}', 0)

# Test and wait for the deck to be started
if any(deck.name in ['bcAI:gap8', 'bcAI:esp'] for deck in decks.values()):
timeout_time = time.time() + 9
else:
timeout_time = time.time() + 4
timeout_time = time.time() + 4. + boot_delay
while not deck.is_started:
if time.time() > timeout_time:
raise RuntimeError(f'Deck {deck.name} did not start')
Expand All @@ -634,10 +673,7 @@ def _flash_deck_incrementally(self, artifacts: List[FlashArtifact], targets: Lis
continue

# Wait for bootloader to be ready
if any(deck.name in ['bcAI:gap8', 'bcAI:esp'] for deck in decks.values()):
timeout_time = time.time() + 9
else:
timeout_time = time.time() + 4
timeout_time = time.time() + 4. + boot_delay
while not deck.is_bootloader_active:
if time.time() > timeout_time:
raise RuntimeError(f'Deck {deck.name} did not enter bootloader mode')
Expand Down