This project is discontinued due to significant changes in the Kaleidoscope core. See Kaleidoscope-Simulator for a follow up project with a slightly different focus.
Leidokos-Python is a Python scriptable Kaleidoscope firmware simulator.
- Leidokos-Python
- Introduction
- A virtual keyboard
- Usage
- Under the hood
- Prerequisites
- CMake build setup configuration
- Python module usage
- Python API documentation
- Python export
Leidokos-Python can be used to prototype new or to test existing functionality, e.g. as part of a regression-testing framework.
Python wrapper code is generated for the main firmware as well as for plugins that explicitly support Python code export. The virtual firmware can be loaded as a Python module.
The project aims to support all portable features of the firmware to make it possible to develop new plugins in a rapid and painless way before finally porting them to C++. Sometimes implementations are the only way to test weird ideas and new algorithms. Leidokos-Python helps by allowing to test such new features under reproducible lab conditions.
Leidokos-Python is an open source project whose documentation is and will be a work in progress. If you find any errors or sections that might be improved, please don't hesitate to generate an issue or pull request on GitHub.
Leidokos-Python is an essential part of the CapeLeidokos build, develop and testing infrastructure for the Kaleidoscope firmware.
For the impatient let's start with a usage example.
Below you see the python code of the example examples/test_kaleidoscope.py that is provided as part of the project source repository. It tests some functionality of the firmware.
import kaleidoscope
from kaleidoscope import *
from leidokos import *
driver = TestDriver()
driver.debug = True
# The assertions are evaluated in the next loop cycle
#
driver.queueGroupedReportAssertions([
ReportNthInCycle(1),
ReportNthCycle(1),
ReportKeyActive(keyA()),
ReportKeyActive(keyB()),
ReportModifierActive(modSHIFT_HELD()),
DumpReport()
])
driver.keyDown(2, 1)
driver.scanCycle()
driver.keyUp(2, 1)
driver.scanCycles(2)
driver.skipTime(200)Although this might sound strange, tests are there to (potentially) fail. A test that fails helps you to fix an issue in your software. You will rarely look at the output of tests that pass, but if a test fails you certainly want to know what exactly went wrong. That's why it is so important that the information provided by a regression system is more than just to inform that a specific test failed.
To demonstrate what Leidokos-Python outputs when a test fails, this example is deliberately build to fail.
It's console output (stdout) is the following.
################################################################################
Leidokos-Python
author: noseglasses (https://github.com/noseglasses, [email protected])
version: e53109d519c6041e595a441d98957a71a7661129
cycle duration: 5.000000
################################################################################
0000000000 Single scan cycle
0000000000 Scan cycle 1
0000000000 Processing keyboard report 1 (1. in cycle)
0000000000 1 queued report assertions
0000000000 Report assertion passed: Is 1. report in cycle
0000000000 Report assertion passed: Is 1. cycle
0000000000 Report assertion passed: Key A active
0000000000 !!! Report assertion failed: Key B active
0000000000 !!! Report assertion failed: Modifier SHIFT_HELD active
0000000000 Report assertion passed: Dump report: a
0000000000 1 keyboard reports processed
0000000005
0000000005 Running 2 cycles
0000000005 Scan cycle 2
0000000005 Processing keyboard report 2 (1. in cycle)
0000000005 0 queued report assertions
0000000005 1 keyboard reports processed
0000000010 Scan cycle 3
0000000010 No keyboard reports processed
0000000015
0000000015 Skipping dt >= 20.000000 ms
0000000015 Scan cycle 4
0000000015 No keyboard reports processed
0000000020 Scan cycle 5
0000000020 No keyboard reports processed
0000000025 Scan cycle 6
0000000025 No keyboard reports processed
0000000030 Scan cycle 7
0000000030 No keyboard reports processed
0000000035 20.000000 ms (4 cycles) skipped
0000000035
################################################################################
Testing done
################################################################################
!!! Error: Not all assertions passed
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
!!! Error: Terminating with exit code 1
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
A keyboard firmware is basically a program that consists of an endless loop that reacts in real time on user input.
The real time aspect is essential for an input device. It can makes it very difficult to reproduce failure scenarios. To debug or test certain aspects of a firmware the timing of input is very important. On a real hardware it can sometimes even be necessary to hit several keys in a well defined order and with a well defined timing to trigger a specific behavior. This can in some cases require supernatural skills or at least those of a professional pianist.
This is where Leidokos-Python comes in quite handy.
Leidokos-Python enables an exact and reproducible simulation of the firmware input in terms of key-action sequences (presses and releases) with precise timing. Once setup, a sequence can be repeated as often as necessary while debugging and optimizing the firmware code.
One loop cycle of the main keyboard firmware loop is called a scan cycle. In every cycle the current state of the keyboard matrix is checked for changes. Specific events are triggered by by calling hook functions that can be defined as part of plugins or the firmware core.
A keyboard scan cycle of the real keyboard has a specific duration, typically in the order of a low number of milliseconds. Typically, between two key-actions, a number of scan cycles elapse. Therefore, the number of scan cycles that elapse is a natural meassure that is required to be sepecified when defining virtual firmware runs.
Apart from elapsing scan cycles, Leidokos-Python allows to specify amounts of time that elapse between consecutive key-actions. The latter requires an estimate of the duration of a single scan cycle's executing on the real hardware. Leidokos-Python automatically computes the number of cycles that match a given time interval.
Commonly, as a reaction on key-actions, the firmware generates USB HID reports that are send to the host computer. These reports are the firmware's output data.
To verify correct behavior of the firmware, it is important to carefully observe the firmware's I/O behavior. As part of its Python API, Leidokos-Python provides a large set of runtime assertions that can be used to define exactly what output is expected as a reaction on specific key-events. Assertions are grouped in report assertions and process assertions.
A report assertion verifies specific properties of a key report. It e.g. requires that a report must contain a specific key or modifier or that it must not contain one of those. Any combinations of positive or negative assertions are possible. Report assertions can be grouped and are queued. Whenever a report is generated by the keyboard firmware, the next group of assertions is taken form a global queue, casted on the report and then discarded. If assertions fail, errors are reported.
Process assertions ensure correct timing. A process assertion can e.g. ensure that a given number of HID reports have been generated between two control points of as test run.
Leidokos-Python allows the firmware and all of its plugins to make symbols (functions and variables) available to Python. This means that you can actually call C++ firmware functions from the Python side. This can be very valuable when writing tests to assert specific properties or to control the firmware state but also to play with the firmware without touching the C++ code. Staying on the Python side can allow for much faster development cycles.
Most of the functions and some of the global variables defined by Kaleidoscope's firmware core are exported to Python as part of Leidokos-Pythons standard API. This enables an implementation of whole plugins written in Python and, thus, virtual prototyping. As most programmers will agree, it is much faster to develop new algorithms in Python than it is in C++. This is mainly due to the absence of a compile stage. With Leidokos-Python is is, moreover, due to the absence of firmware device upload.
You have a new fancy firmware idea and want to write a Kaleidoscope plugin to realize it. Why not use test driven development? The following process can drastically shorten development times.
- Define a set of tests with Leidokos-Python.
- Develop the plugin's algorithm by writing Python code.
- Run the virtual firmware and debug your Python plugin until all your tests pass.
- Port the plugin's Python code to C++.
- Run the test series again with the C++ version of the new plugin.
- Upload and test on the real hardware.
- Use and maintain the already existing tests for regression testing with Leidokos-Testing.
Most people develop firmware in change-compile-upload-test cycles. In such a scenario, the only way to debug is passing back printf-type output to the host system or to use other types of feedback, like LEDs signals or sounds to report the state of the device. This can help in some cases, but how to debug segmentation faults?
On the other hand, using Leidokos-Python with a debugger is very simple. Just run the whole Python process in your favorite debugger. This allows you to debug the firmware code as if it was an ordinary host program. Leidokos-Python's programmable tests thereby enable an exact reproducibility of errors.
Apart from USB HID reports, there are other things that might happen as a reaction on key-actions. A keyboard of course has its own state. Parts of this state are more or less visible. Some keyboards are equipped with per-key LEDs. It is, thus, important to visualize the state of the LED matrix of the virtual keyboard.
Another thing that is usually not displayed but would be very nice to be displayed is the currently active keymap, i.e. the keys' current meaning. This is a point where a virtual keyboard has a clear advantage as it is fairly simple to display the current keymap for debugging purposes.
examples/Kaleidoscope-Heatmap demonstrates how the virtual keymap and LED visualization may be used to visualize a keyboard heatmap. First an example text is typed on the virtual keyboard. Then, the resulting heatmap that is generated by plugin Kaleidoscope-Heatmap is visualized.
Leidokos-Python's build process of the virtual Kaleidoscope firmware is a two stage process (stages 1 and 2 below). First you configure the CMake build system, then you build (compile and link) the firmware. The CMake build system must be configured only once. Later, when developing and performing change-test cycles, only the build stage needs to be repeated.
The following explanation of the Python module build assumes that the firmwares source code has already been downloaded to a directory <sketchbook_dir>, as described in the Kaleidoscope Wiki.
The example shell commands below work on GNU/Linux and MacOS.
-
Configure the CMake build system
Configuration of the build system is only carried out once. Later you will only repeat the build process while developing.
The CMake configuration process automatically detects Boost Python and a Python installation and prepares all plugins that reside in one or more directories that are specified through the CMake variable
KALEIDOSCOPE_HARDWARE_BASE_PATH. It also prepares the overall build system by generating symbolic links in specific places. The latter is necessary to allow for builds that can run on the host system (x86) rather than the keyboard.# Set some auxiliary variables that will be used later on. # SKETCHBOOK_DIR=<sketchbook_dir> BUILD_DIR=<build_dir> # Clone Leidokos-Python to your firmware boards directory. # cd $SKETCHBOOK_DIR/hardware/keyboardio/avr/libraries git clone --recursive https://github.com/CapeLeidokos/Leidokos-Python.git # Run the CMake configuration process. # cd ${BUILD_DIR} cmake \ -DKALEIDOSCOPE_FIRMWARE_SKETCH=$SKETCHBOOK_DIR/hardware/keyboardio/avr/libraries/Model01-Firmware/Model01-Firmware.ino \ $SKETCHBOOK_DIR/hardware/keyboardio/avr/libraries/Leidokos-Python
-
Build the Firmware
Build the firmware as described for Leidokos-CMake, on a GNU/Linux or MacOS system e.g. run
make
This will create a library
kaleidoscope.so(GNU/Linux and MacOS) orkaleidoscope.dll(Windows) in the build directory. The shared library (dll) that is created will be loaded as a Python module during you tests. -
Run a virtual firmware
# Tell Python where to find the newly build module and some auxiliary modules # that come with Leidokos-Python. # export PYTHONPATH=$BUILD_DIR:$SKETCHBOOK_DIR/hardware/keyboardio/avr/libraries/Leidokos-Python/python:$PYTHONPATH # Run the Python test. # python3 $SKETCHBOOK_DIR/hardware/keyboardio/avr/libraries/Leidokos-Python/examples/test_kaleidoscope.py
This plugin depends on the Kaleidoscope-Hardware-Virtual plugin to build a shared library that can be loaded as a Python module on the host system (x86). Its build process is too complex to be entirely incorporated in the Arduino build system. Therefore, to automatize largest parts of the build process, the plugin relies onCMake as a first level build system that prepares the actual build as part of the Arduino build system.
A two step build process consists in running CMake to prepare the plugin's build system and that of all modules that request the generation of Python wrappers. In a second step, the Arduino build system of the overall sketch is executed that creates the loadable Python module that makes all those modules accessible to Python that have specified directives for wrapper generation, see more about this below.
Leidokos-Python depends on a number of external software projects to build and run firmware. The installation process greatly differs between platforms and OS flavors.
It is not possible for Leidokos-Python's maintainers to support all sorts of platforms. Build instructions might change over time. Whenever you find that the instructions in this document are out of date, please open an issue or submit a pull request.
Python wrapping depends on boost Python to auto-generate Python wrapper code for C++ classes, functions and global data. Apart from that, CMake is needed to setup the plugin's build system.
On Ubuntu Linux, the necessary packages can be installed as
sudo apt-get install libboost-python-dev cmake python3-devTo configure the CMake build system manually, most Linux distributions allow for a curses based CMake GUI to be installed. Install it as follows under Ubuntu Linux.
sudo apt-get install cmake-curses-guiThis is how to execute the CMake GUI.
cd <sketchbook_dir>/hardware/keyboardio/avr/libraries/Leidokos-Python
ccmake .For the generation of the Python API generation, you will have to installhttp://www.sphinx-doc.org, under Ubuntu Linux e.g. as
sudo apt-get install python-sphinxPrerequisites can be installed using homebrew.
brew install ccache
brew upgrade python
brew install boost-python --with-python3 --without-python
sudo -H pip3 install pyyaml
sudo -H pip3 install sphinxCurrently there is no official Windows support. All required prerequisites are available for Windows, we just haven't found time to come up with build instructions.
If you find a way to use Leidokos-Python with Windows, please let us know by submitting an issue or a pull request.
The CMake based setup of the plugin's Arduino build relies on a number of variables that allow detailed configuration. For an explanation of such variables, run ccmake . as described above. Then look for build variables whose name starts with KALEIDOSCOPE_. A documentation of a variable is shown when the cursor is moved to the variable's line.
Although, Leidokos-Python is meant to be as auto-detecting and smart as possible, it may be necessary to configure the system.
| CMake Variable | Purpose |
|---|---|
| KALEIDOSCOPE_MODULE_REPO_PATHS | The base below which Kaleidoscope module repositories live that might contain .python-wrapper files |
| KALEIDOSCOPE_MODULE_REPO_PATHS_FILE | A text file that contains path names (linewise) of Kaleidoscope module repos that might contain .python-wrapper files |
| KALEIDOSCOPE_ARDUINO_SKETCHBOOK_DIR | A path to an Arduino sketchbook. |
| LEIDOKOS_PYTHON_GENERATE_API_DOC | Enable this flag to generate the Python API documentation |
Other CMake build system variables are defined by Leidokos-CMake and documented there.
Leidokos-Python provides a Python API that makes the generation of Kaleidoscope firmware tests pretty simple.
The API lives in a python module leidokos that can be found in the python directory of the Leidokos-Python repository.
Examples that exemplify the use of the testing API can be found in the examples directory of this project.
For Python to find the generated firmware module and the the leidokos module. Both files' paths must be made known to Python via the environment variable PYTHONPATH, e.g. as
export PYTHONPATH=<path to kaleidoscope dynamic library>:<Leidokos-Python repo path>/python:$PYTHONPATHYou can then run one of the examples or your own python test script, e.g.
PYTHON3_EXECUTABLE=<path_to_your_python_3_executable>/python3
LEIDOKOS_PYTHON_REPOSITORY=<Leidokos_Python_repo_path>
$PYTHON3_EXECUTABLE $LEIDOKOS_PYTHON_REPOSITORY/examples/test_kaleidoscope.pyHTML based documentation of the Python API supplied by Leidokos-Python can be auto-generated through the CMake doc target. Please see the Prerequisites section of this documentation for information about additional third party software that needs to be installed on you platform to generate the API documentation.
Configure the build system as explained above but add the flag
cmake ... \
-DLEIDOKOS_PYTHON_GENERATE_API_DOC=TRUENote: You can also enable the variable LEIDOKOS_PYTHON_GENERATE_API_DOC from the CMake curses GUI (ccmake) or other CMake GUIs.
Then build the API documentation. When the GNU Makefile generator is used (the default under Linux), this can e.g. be done as follows.
make docThe documentation is generated in the doc/kaleidoscope/API directory of the build tree. Open the file kaleidoscope_testing.html in a browser to see the API documentation.
Leidokos-Python allows any Kaleidoscope components to export classes, functions and data to be accessible from Python scripts. The easiest way for this to work is to add a file named <your_module_name>.python-wrapper to thesrc directory of any Kaleidoscope module that is meant to export symbols to python language.
The .python-wrapper are actually C++ files. We use a different file extension to prevent them to be considered in any normal firmware builds that are not targeted to the host system (x86). To make them accessible for the Python wrapper build, the plugin's CMake system searches for .python-wrapper files in directories below paths that are specified in KALEIDOSCOPE_MODULE_REPO_PATHS. For all files found, symbolic links with extension .cpp are generated to allow the python wrapper files to be found during the actual firmware build.
An example .python-wrapper file that exports the MouseKeys_ class of plugin Kaleidoscope-MouseKeys might look the following way. See the documentation of boost-Python for more information.
Important: The Kaleidoscope-MouseKeys plugin may have changed after this document was written. This example simply demonstrates how an export for a plugin might look.
For a real example have a look on the testing/example_test directory of CapeLeidokos' fork of Kaleidoscope-OneShot which is a demo regression system setup. Also have a look at the project's .travis.yml file to see how Leidokos-Testing is used for regression testing.
// Content of Kaleidoscope-MouseKeys/src/Kaleidoscope.python-wrapper
#include "Leidokos-Python.h"
#include "Kaleidoscope-MouseKeys.h"
// EXPORT_PROPERTY is an auxiliary macro that simplifies export of class
// members as Python properties.
// Here we generate accessor functions for MouseKeys's members.
#define EXPORT_PROPERTY(NAME, DESCRIPTION) \
.def_readwrite( \
#NAME, \
&MouseKeys_::NAME, \
DESCRIPTION \
)
namespace kaleidoscope {
namespace mouse_keys {
// Note: To export non-static class (struct) members, use .add_property(...)
// instead of .add_static_property(...)
static void exportPython() {
using namespace boost::Python;
LEIDOKOS_PYTHON_MODULE_CONTENT(MouseKeys)
class_<MouseKeys_>("MouseKeys")
// Please note: Some of the members accessed below are private.
// For this here to work, the MouseKeys_ class must declare
// the below function exportPython() as
// friend function via the following line that must be
// added to MouseKey_'s class definition.
//
// friend void exportPython();
//
EXPORT_PROPERTY(speed,
"The mouse speed"
)
EXPORT_PROPERTY(speedDelay,
"The mouse speed delay"
)
EXPORT_PROPERTY(accelSpeed,
"The mouse acceleration speed"
)
EXPORT_PROPERTY(accelDelay,
"The mouse acceleration delay"
)
EXPORT_PROPERTY(wheelSpeed,
"The mouse wheel speed"
)
EXPORT_PROPERTY(wheelDelay,
"The mouse wheel delay"
)
EXPORT_PROPERTY(mouseMoveIntent,
"The mouse intent"
)
EXPORT_PROPERTY(endTime,
"The mouse end time"
)
EXPORT_PROPERTY(accelEndTime,
"The mouse acceleration end time"
)
EXPORT_PROPERTY(wheelEndTime,
"The mouse wheel end time"
)
// Export a static method.
//
.def("scrollWheel", &MouseKeys_::scrollWheel,
"Scrolls the mouse wheel\n\n"
"Args:\n"
" keyCode (uint8_t): The scroll wheel key code."
).staticmethod("scrollWheel")
// Note: To export a non static method, just omit the .staticmethod(...)
// statement.
;
}
LEIDOKOS_PYTHON_EXPORT(&exportPython, nullptr)
} // namespace kaleidoscope
} // namespace mouse_keysFor more examples on how to export C++ class inventory, have a look at the C++ files inLeidokos-Python/src/Kaleidoscope/src that contain the code responsible for the export of Kaleidoscope's core symbols.