contrib/servoinfo

#!/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