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ardupilot/Tools/debug/crash_debugger.py

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Python
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#!/usr/bin/env python
# -*- coding: utf-8 -*-
"""
Script to catch and give backtrace of a HardFault Crash
Usage:
python crash_debugger.py <elf_file> --ser-debug --ser-port <serial_port> --dump-fileout <dump_fileout>
python crash_debugger.py <elf_file> --swd-debug --gdb-port <gdb_port> --dump-fileout <dump_fileout>
python crash_debugger.py <elf_file> --dump-debug --dump-fileout <dump_fileout>
Copyright Siddharth Bharat Purohit, CubePilot Pty. Ltd. 2021
based on http://www.cyrilfougeray.com/2020/07/27/firmware-logs-with-stack-trace.html
Released under GNU GPL version 3 or later
"""
from serial import Serial
import sys
import subprocess
import argparse
import os
import time
from queue import Queue, Empty
from threading import Thread
import signal
def serial_debug(args):
global spinner, process_cmd
try:
ser = Serial(args.ser_port, 921600) # Configure speed depending on your config
print('Detecting Crash...')
ser.write("dump_crash_log".encode('utf-8')) # Send a newline to start the dump
while 1:
# Read line by line (waiting for '\n')
sys.stdout.write(next(spinner))
sys.stdout.flush()
line = ser.readline()
sys.stdout.write('\b')
if not line:
break
# When crash is detected
# Crash dump is added into a temporary file
# GDB is used to back trace the crash
if b"Enable logging" in line.strip():
print("Crash detected, retrieving crash info, please be patient...")
dump_file = open(args.dump_fileout, 'wb+')
# We are now storing the stack dump into the file
ser.write("dump_crash_log".encode('utf-8')) # Send a newline to start the dump
line = ser.readline()
dumping = False
while b"End of dump" not in line.strip():
sys.stdout.write(next(spinner))
sys.stdout.flush()
if b"6343" in line.strip(): # Look for the start of dump
dumping = True
if dumping:
dump_file.write(line)
line = ser.readline()
sys.stdout.write('\b')
print("Crash info retrieved.\n")
dump_file.close()
return True
except KeyboardInterrupt:
ser.close()
return False
def swd_debug(args):
global spinner, process_cmd
openocd_proc = None
try:
# Get BackTrace
ON_POSIX = 'posix' in sys.builtin_module_names
def enqueue_output(out, queue):
for line in iter(out.readline, b''):
queue.put(line)
out.close()
hardfault_detected = False
# Check if already in hardfault
# p = subprocess.Popen(['arm-none-eabi-gdb', '-nx', '--batch',
# '-ex', 'target extended-remote {}'.format(args.gdb_port),
# '-ex', 'bt',
# args.elf_file], stdout=subprocess.PIPE, close_fds=ON_POSIX)
# q = Queue()
# t = Thread(target=enqueue_output, args=(p.stdout, q))
# t.daemon = True # thread dies with the program
# t.start()
# print("Checking if already Crashed")
# while p.poll() is None:
# try:
# line = q.get(False)
# if b"HardFault_Handler" in line:
# hardfault_detected = True
# break
# except Empty:
# pass
# sys.stdout.write(next(spinner))
# sys.stdout.flush()
# sys.stdout.write('\b')
if not hardfault_detected:
# lets place breakpoint at HardFault_Handler and wait for it to hit
cmd = ['arm-none-eabi-gdb', '-nx', '--batch',
'-ex', 'target extended-remote {}'.format(args.gdb_port),
'-ex', 'b *&HardFault_Handler',
'-ex', 'continue',
'-ex', 'run',
args.elf_file]
p = subprocess.Popen(cmd, stdout=subprocess.PIPE, close_fds=ON_POSIX)
q = Queue()
t = Thread(target=enqueue_output, args=(p.stdout, q))
t.daemon = True # thread dies with the program
t.start()
print(' '.join(cmd))
# Wait for HardFault_Handler to hit
running = False
while p.poll() is None:
try:
line = q.get(False)
# print(line.decode('utf-8'))
if b"Breakpoint" in line:
time.sleep(1)
p.send_signal(signal.SIGINT)
running = True
if b"HardFault_Handler" in line and running:
hardfault_detected = True
break
except Empty:
pass
sys.stdout.write(next(spinner))
sys.stdout.flush()
sys.stdout.write('\b')
if hardfault_detected:
dir_path = os.path.dirname(os.path.realpath(__file__))
# generate crash log
print("Crash detected, retrieving crash info, please be patient...")
cmd = ['arm-none-eabi-gdb', '-nx', '--batch',
'-ex', 'target extended-remote {}'.format(args.gdb_port),
'-ex', 'set logging file {}'.format(args.dump_fileout),
'-x', os.path.join(dir_path, 'crash_dump.scr'),
args.elf_file]
# We are now storing the stack dump into the file
p = subprocess.Popen(cmd, stdout=subprocess.PIPE, close_fds=ON_POSIX)
q = Queue()
t = Thread(target=enqueue_output, args=(p.stdout, q))
t.daemon = True # thread dies with the program
t.start()
print(' '.join(cmd))
# Wait for HardFault_Handler to hit
# TODO: a progress bar would be nice here
while p.poll() is None:
sys.stdout.write(next(spinner))
sys.stdout.flush()
sys.stdout.write('\b')
print("Crash info retrieved.\n")
return True
else:
print("No crash detected")
raise KeyboardInterrupt
except KeyboardInterrupt:
# kill openocd if running
if openocd_proc is not None and openocd_proc.poll() is None:
openocd_proc.kill()
return False
if __name__ == '__main__':
global spinner, process_cmd
parser = argparse.ArgumentParser(description='manipulate parameter defaults in an ArduPilot firmware')
parser.add_argument('elf_file')
parser.add_argument('--ser-debug', action='store_true', help='enable serial debug')
parser.add_argument('--ser-port', help='serial port to use')
parser.add_argument('--dump-debug', action='store_true', help='generate stack trace from dump file')
parser.add_argument('--dump-filein', help='log file to use to generate stack trace')
parser.add_argument('--swd-debug', action='store_true', help='enable swd debug')
parser.add_argument('--gdb-port', default=':3333', help='set gdb port')
parser.add_argument('--dump-fileout', help='filename to dump crash dump')
args = parser.parse_args()
if not args.ser_debug and not args.swd_debug and not args.dump_debug:
parser.error('Must enable either --ser-debug or --swd-debug')
if args.ser_debug and not args.ser_port:
parser.error('--ser-debug requires --port')
if args.dump_debug and not args.dump_filein:
parser.error('--dump-debug requires --dump-filein')
#get directory of the script
dir_path = os.path.dirname(os.path.realpath(__file__))
crashdebug_exe = None
if sys.platform == "linux" or sys.platform == "linux2":
crashdebug_exe = str(os.path.join(dir_path, "../../modules/CrashDebug/bins/lin64/CrashDebug"))
elif sys.platform == "darwin":
crashdebug_exe = str(os.path.join(dir_path, "../../modules/CrashDebug/bins/osx/CrashDebug"))
elif sys.platform == "win32":
crashdebug_exe = str(os.path.join(dir_path, "../../modules/CrashDebug/bins/win32/CrashDebug"))
def spinning_cursor():
while True:
for cursor in '|/-\\':
yield cursor
spinner = spinning_cursor()
dump_file = None
if args.ser_debug:
if args.dump_fileout is None:
args.dump_fileout = "last_crash_dump_ser.txt"
if (serial_debug(args)):
dump_file = args.dump_fileout
elif args.swd_debug:
if args.dump_fileout is None:
args.dump_fileout = "last_crash_dump_gdb.txt"
if (swd_debug(args)):
dump_file = args.dump_fileout
elif args.dump_debug:
dump_file = args.dump_filein
if dump_file is not None:
print(crashdebug_exe)
print("Processing Crash Dump.\n")
process_cmd = "arm-none-eabi-gdb -nx --batch --quiet " + args.elf_file + " -ex \"set target-charset ASCII\" -ex \"target remote | " + crashdebug_exe + " --elf " + args.elf_file + " --dump " + dump_file + "\" -ex \"set print pretty on\" -ex \"bt full\" -ex \"quit\""
print(process_cmd)
# We can call GDB and CrashDebug using the command and print the results
process = subprocess.Popen(process_cmd, shell=True, stdout=subprocess.PIPE)
output, error = process.communicate()
print(output.decode("utf-8"))
print("---------\n")
line = b""
else:
print("No crash detected")
print("\nExiting!")
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