MicroROS开发时将程序烧录失败错误代码1

小豆

Warning! Please install `99-platformio-udev.rules`. 
More details: https://docs.platformio.org/en/latest/core/installation/udev-rules.html

CURRENT: upload_protocol = esptool
Looking for upload port...
Auto-detected: /dev/ttyUSB0
Uploading .pio/build/featheresp32/firmware.bin
esptool.py v4.2.1
Serial port /dev/ttyUSB0
Connecting....
Traceback (most recent call last):
  File "/home/bigbean/.platformio/packages/tool-esptoolpy/esptool.py", line 34, in <module>
    esptool._main()
  File "/home/bigbean/.platformio/packages/tool-esptoolpy/esptool/__init__.py", line 1004, in _main
    main()
  File "/home/bigbean/.platformio/packages/tool-esptoolpy/esptool/__init__.py", line 646, in main
    esp = esp or get_default_connected_device(
  File "/home/bigbean/.platformio/packages/tool-esptoolpy/esptool/__init__.py", line 895, in get_default_connected_device
    _esp.connect(before, connect_attempts)
  File "/home/bigbean/.platformio/packages/tool-esptoolpy/esptool/loader.py", line 631, in connect
    last_error = self._connect_attempt(
  File "/home/bigbean/.platformio/packages/tool-esptoolpy/esptool/loader.py", line 572, in _connect_attempt
    self.sync()
  File "/home/bigbean/.platformio/packages/tool-esptoolpy/esptool/loader.py", line 435, in sync
    val, _ = self.command(
  File "/home/bigbean/.platformio/packages/tool-esptoolpy/esptool/loader.py", line 375, in command
    p = self.read()
  File "/home/bigbean/.platformio/packages/tool-esptoolpy/esptool/loader.py", line 307, in read
    return next(self._slip_reader)
  File "/home/bigbean/.platformio/packages/tool-esptoolpy/esptool/loader.py", line 1402, in slip_reader
    read_bytes = port.read(1 if waiting == 0 else waiting)
  File "/home/bigbean/.platformio/penv/lib/python3.10/site-packages/serial/serialposix.py", line 595, in read
    raise SerialException(
serial.serialutil.SerialException: device reports readiness to read but returned no data (device disconnected or multiple access on port?)
*** [upload] Error 1
===================================== [FAILED] Took 3.75 seconds =====================================

 *  终端进程“platformio 'run', '--target', 'upload'”已终止，退出代码: 1。 
 *  终端将被任务重用，按任意键关闭。 

 *  正在文件夹 example10_hello_microros 中执行任务: platformio run --target upload 

Processing featheresp32 (platform: espressif32; board: featheresp32; framework: arduino)
-------------------------------------------------------------------------------------------------------
Verbose mode can be enabled via `-v, --verbose` option
CONFIGURATION: https://docs.platformio.org/page/boards/espressif32/featheresp32.html
PLATFORM: Espressif 32 (5.2.0) > Adafruit ESP32 Feather
HARDWARE: ESP32 240MHz, 320KB RAM, 4MB Flash
DEBUG: Current (cmsis-dap) External (cmsis-dap, esp-bridge, esp-prog, iot-bus-jtag, jlink, minimodule, olimex-arm-usb-ocd, olimex-arm-usb-ocd-h, olimex-arm-usb-tiny-h, olimex-jtag-tiny, tumpa)
PACKAGES: 
 - framework-arduinoespressif32 @ 3.20005.220925 (2.0.5) 
 - tool-esptoolpy @ 1.40201.0 (4.2.1) 
 - tool-mkfatfs @ 2.0.1 
 - tool-mklittlefs @ 1.203.210628 (2.3) 
 - tool-mkspiffs @ 2.230.0 (2.30) 
 - toolchain-xtensa-esp32 @ 8.4.0+2021r2-patch3
LDF: Library Dependency Finder -> https://bit.ly/configure-pio-ldf
LDF Modes: Finder ~ chain, Compatibility ~ soft
Installing pyyaml with pip at PlatformIO environment
/home/bigbean/.platformio/penv/bin/python -m pip install pyyaml
Requirement already satisfied: pyyaml in /home/bigbean/.platformio/penv/lib/python3.10/site-packages (6.0.1)
Installing markupsafe==2.0.1 with pip at PlatformIO environment
/home/bigbean/.platformio/penv/bin/python -m pip install markupsafe==2.0.1
Requirement already satisfied: markupsafe==2.0.1 in /home/bigbean/.platformio/penv/lib/python3.10/site-packages (2.0.1)
Configuring featheresp32 with transport serial
micro-ROS already built
Found 33 compatible libraries
Scanning dependencies...
Dependency Graph
|-- micro_ros_platformio @ 0.0.1+sha.085c5dd
Building in release mode
Retrieving maximum program size .pio/build/featheresp32/firmware.elf
Checking size .pio/build/featheresp32/firmware.elf
Advanced Memory Usage is available via "PlatformIO Home > Project Inspect"
RAM:   [=         ]  15.0% (used 49144 bytes from 327680 bytes)
Flash: [==        ]  22.6% (used 296213 bytes from 1310720 bytes)
Configuring upload protocol...
AVAILABLE: cmsis-dap, esp-bridge, esp-prog, espota, esptool, iot-bus-jtag, jlink, minimodule, olimex-arm-usb-ocd, olimex-arm-usb-ocd-h, olimex-arm-usb-tiny-h, olimex-jtag-tiny, tumpa
CURRENT: upload_protocol = esptool
Looking for upload port...

Warning! Please install `99-platformio-udev.rules`. 
More details: https://docs.platformio.org/en/latest/core/installation/udev-rules.html

Auto-detected: /dev/ttyUSB0
Uploading .pio/build/featheresp32/firmware.bin
esptool.py v4.2.1
Serial port /dev/ttyUSB0
Connecting.....
Traceback (most recent call last):
  File "/home/bigbean/.platformio/packages/tool-esptoolpy/esptool.py", line 34, in <module>
    esptool._main()
  File "/home/bigbean/.platformio/packages/tool-esptoolpy/esptool/__init__.py", line 1004, in _main
    main()
  File "/home/bigbean/.platformio/packages/tool-esptoolpy/esptool/__init__.py", line 646, in main
    esp = esp or get_default_connected_device(
  File "/home/bigbean/.platformio/packages/tool-esptoolpy/esptool/__init__.py", line 895, in get_default_connected_device
    _esp.connect(before, connect_attempts)
  File "/home/bigbean/.platformio/packages/tool-esptoolpy/esptool/loader.py", line 631, in connect
    last_error = self._connect_attempt(
  File "/home/bigbean/.platformio/packages/tool-esptoolpy/esptool/loader.py", line 572, in _connect_attempt
    self.sync()
  File "/home/bigbean/.platformio/packages/tool-esptoolpy/esptool/loader.py", line 445, in sync
    val, _ = self.command()
  File "/home/bigbean/.platformio/packages/tool-esptoolpy/esptool/loader.py", line 375, in command
    p = self.read()
  File "/home/bigbean/.platformio/packages/tool-esptoolpy/esptool/loader.py", line 307, in read
    return next(self._slip_reader)
  File "/home/bigbean/.platformio/packages/tool-esptoolpy/esptool/loader.py", line 1402, in slip_reader
    read_bytes = port.read(1 if waiting == 0 else waiting)
  File "/home/bigbean/.platformio/penv/lib/python3.10/site-packages/serial/serialposix.py", line 595, in read
    raise SerialException(
serial.serialutil.SerialException: device reports readiness to read but returned no data (device disconnected or multiple access on port?)
*** [upload] Error 1

小豆

好像是上一步的MicroROS的Docker镜像还在占用USB0构建镜像的原因

小鱼

@330709390 同一时间只能有一个程序使用串口

小豆

@小鱼嗯,还有一个问题,就是docker那边已经下载好了,但启动很缓慢,几十分钟都还没好,没有达到手册里的那几个步骤,请问初次启动是这么慢吗
一直卡在以下界面

1692670448.813736] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
[1692670448.815704] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 6

小鱼

@330709390 这是启动成功了，在等待连接中

小黄小黄触底反弹ت

@小鱼这里一直在等待连接怎么办呢，按开发板的rst也没用

命里有我

@330709390 这个怎么结束对串口的占用啊

命里有我

@小鱼这个怎么知道是不是只有一个串口在用啊

小鱼

@2693226252 比如串口调试助手，查看器，凡是用到串口的地方都关掉

命里有我

@小鱼好的，我试试，谢谢鱼哥