contrib: add servoinfo script
Print out information about servos that are connected to the
system.
BUG=None
TEST=None
Change-Id: I003569e3150843b6de4f583725c1ff99b7f3735d
Signed-off-by: Martin Roth <[email protected]>
Reviewed-on: https://chromium-review.googlesource.com/1509773
Commit-Ready: ChromeOS CL Exonerator Bot <[email protected]>
Reviewed-by: Raul E Rangel <[email protected]>
diff --git a/contrib/servoinfo b/contrib/servoinfo
new file mode 100755
index 0000000..ce3d788
--- /dev/null
+++ b/contrib/servoinfo
@@ -0,0 +1,210 @@
+#!/bin/bash
+# Copyright 2019 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.
+
+VERSION="0.01"
+
+#Flags & Parameters
+SHOW_USAGE="" # Show the usage for the tool
+VERBOSE="" # Show verbose output
+
+# Servo USB Device ID values
+GOOGLE_VENDOR_ID="18d1"
+SERVO_V2_DEVICE_ID="5002"
+SERVO_V4_DEVICE_ID="501b"
+SERVO_MICRO_DEVICE_ID="501a"
+SUZY_Q_CABLE_DEVICE_ID="501f"
+SUZY_Q_DEVICE_ID="5014" # Actually CR50, but report as Suzy Q-connected to CR50
+
+# Text STYLE variables
+RED='\033[38;5;9m'
+GREEN='\033[38;5;2m'
+ORANGE_RED="\033[38;5;202m"
+C_DODGERBLUE2="\033[38;5;27m"
+NC='\033[0m' # No Color
+
+_printf_color() {
+ printf "${1}%s" "$2"
+}
+
+_echo_color() {
+ printf "${1}%s${NC}\n" "$2"
+}
+
+_echo_error() {
+ (_echo_color >&2 "${RED}" "$*")
+}
+
+_echo_debug() {
+ if [ -n "${VERBOSE}" ]; then
+ (_echo_color >&2 "${ORANGE_RED}" "$*")
+ fi
+}
+
+# Checks that a program is installed. Prints an optional message on failure.
+_checkutil() {
+ local util="$1"
+ local printstring="$2"
+
+ if ! command -v "${util}" >/dev/null 2>&1; then
+ _echo_error "Error: ${util} not found in path."
+ if [ -n "$printstring" ]; then
+ _echo_error "$printstring"
+ fi
+ exit 1
+ fi
+}
+
+_show_dev() {
+ local servo_type="$1"
+ local portnum="$2"
+ local serialnum="$3"
+ local fw_version="$4"
+
+ if [ -n "${portnum}" ]; then
+ _printf_color "${GREEN}" " ${servo_type} running servod."
+ else
+ _printf_color "${C_DODGERBLUE2}" " ${servo_type} -"
+ fi
+
+ if [ -n "${fw_version}" ]; then
+ _printf_color "" " Firmware Version: ${fw_version}"
+ fi
+
+ if [ -n "${portnum}" ]; then
+ _printf_color "" " --port ${portnum}"
+ fi
+
+ if [ -n "${serialnum}" ]; then
+ _printf_color "" " --serialname ${serialnum}"
+ fi
+
+ _echo_color "${NC}" ""
+}
+
+get_servo_info() {
+ local lsusb_output
+ local servod_running
+
+ # Verify that lsusb is installed
+ _checkutil lsusb "Please install with your package manager before continuing." || exit 127
+
+ # Get USB attached devices
+ lsusb_output="$(lsusb | grep "ID ${GOOGLE_VENDOR_ID}:")"
+ servod_running="$(pgrep -a servod)"
+ _echo_debug "Debug Output:"
+ _echo_debug "${lsusb_output}"
+ _echo_debug "${servod_running}"
+
+ servo_v2_attached="$(echo -n "${lsusb_output}" | grep ":${SERVO_V2_DEVICE_ID}" | grep -c "^")"
+ servo_micro_attached="$(echo -n "${lsusb_output}" | grep ":${SERVO_MICRO_DEVICE_ID}" | grep -c "^")"
+ servo_v4_attached="$(echo -n "${lsusb_output}" | grep ":${SERVO_V4_DEVICE_ID}" | grep -c "^")"
+ suzy_q_attached="$(echo -n "${lsusb_output}" | grep ":${SUZY_Q_DEVICE_ID}" | grep -c "^")"
+ suzy_q_cables="$(echo -n "${lsusb_output}" | grep ":${SUZY_Q_CABLE_DEVICE_ID}" | grep -c "^")"
+ suzy_q_detached=$((suzy_q_cables - suzy_q_attached))
+ SERVOS_ATTACHED=$((servo_v2_attached + servo_micro_attached + servo_v4_attached + suzy_q_attached))
+
+ if [ "${suzy_q_detached}" -ne 0 ]; then
+ _echo_error "Detected ${suzy_q_detached} SuzyQables not attached to a device."
+ fi
+ if [ "${SERVOS_ATTACHED}" -eq 0 ]; then
+ _echo_error "No servos detected"
+ exit 0
+ else
+ echo "Found ${SERVOS_ATTACHED} servo devices."
+ fi
+ echo
+
+ # Loop through all the servo types and see if any are detected.
+ # If any are, see if they match the current port or serialnumber (serialname?)
+ for servo_vals in "servo_v2:${SERVO_V2_DEVICE_ID}" "servo_micro:${SERVO_MICRO_DEVICE_ID}" \
+ "suzy-q:${SUZY_Q_DEVICE_ID}" "servo_v4:${SERVO_V4_DEVICE_ID}"; do
+ local servo_device_id=${servo_vals#*:}
+ local servo_type=${servo_vals%:*}
+
+ # Move on to next servo type if none of this type are detected.
+ if [ "$(echo -n "${lsusb_output}" | grep ":${servo_device_id}" | grep -c "^")" -eq 0 ]; then
+ continue
+ fi
+
+ echo "Detected ${servo_type}. (Vendor/Device = ${GOOGLE_VENDOR_ID}:${servo_device_id})"
+ # Loop through all detected devices of this type
+ for dev in $(echo "${lsusb_output}" | grep ":${servo_device_id}" | sed 's/://' | awk '{ print $2 ":" $4 }'); do
+ local portnum
+ local serialnum
+ local firmware_version
+ local devinfo
+
+ devinfo="$(lsusb -v -s "${dev}")"
+ serialnum="$(echo "${devinfo}" | grep iSerial | awk '{ print $3 }')"
+ portnum="$(echo -n "${servod_running}" | grep "${serialnum}" | head -n 1 | sed 's/.*--port.//' | cut -f1 -d ' ')"
+ firmware_version="$(echo "${devinfo}" | grep iConfiguration | awk '{ print $3 }')"
+ _show_dev "${servo_type}" "${portnum}" "${serialnum}" "${firmware_version}"
+ _echo_debug "${devinfo}"
+ done
+ echo
+ done
+
+ if [ "$(printf "%s" "${servod_running}" | wc -l)" -ne 0 ]; then
+ echo
+ echo "Running servod instances"
+ echo "${servod_running}"
+ fi
+ echo
+}
+
+myversion() {
+ echo "servoinfo version ${VERSION}"
+}
+
+usage() {
+ echo "${0} [options]"
+ echo
+ echo "Options:"
+ echo " V | version - Print version and exit"
+ echo " h | help - Print help and exit"
+ echo " d | debug - Set verbose output"
+ echo
+}
+
+################################################################################
+# Get arguments
+args=$(getopt -l version,help,debug -o Vhd -- "$@")
+getopt_ret=$?
+eval set -- "${args}"
+
+if [ ${getopt_ret} != 0 ]; then
+ SHOW_USAGE=1
+fi
+
+while true; do
+ case "$1" in
+ -V | --version)
+ shift
+ myversion
+ exit 0
+ ;;
+ -h | --help)
+ shift
+ SHOW_USAGE=1
+ ;;
+
+ -d | --debug)
+ shift
+ VERBOSE=1
+ ;;
+ --)
+ shift
+ break
+ ;;
+ *) break ;;
+ esac
+done
+
+if [ "${SHOW_USAGE}" ]; then
+ usage
+ exit 0
+fi
+
+get_servo_info
