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Commit 094f7c25 authored by Václav Jelínek's avatar Václav Jelínek
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Rework menu, add bt and test pages

parent 4aa1376d
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1 merge request!12Major update of menu visuals and example programs
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with 97 additions and 72 deletions
main/main.py
+ 97
− 72
View file @ 094f7c25
......@@ -7,14 +7,22 @@ import gc
from lib.robot import Robot
from lib.robot_consts import Button
esp_name = "Open-Cube01"
try
from config import *
except:
from lib.default_config import *
# File and directory constants for browsing user programs
FILE = 0x8000
DIRECTORY = 0x4000
class Menu:
PROGRAM: Menu = micropython.const(0)
MOT_SEN_TEST: Menu = micropython.const(1)
BT: Menu = micropython.const(2)
COUNT: Menu = micropython.const(3)
# Allocate exception buffer for interrupt handlers
micropython.alloc_emergency_exception_buf(100)
......@@ -23,33 +31,27 @@ robot = Robot()
def main():
# Show menu on display
def display_show_menu(robot, bat_voltage, program_list, current_program):
# Fill framebuffer with programs menu
def display_fill_programs(robot, bat_voltage, program_list, current_program):
robot.display.fill(0)
robot.display.text('{:.2f}V'.format(bat_voltage), 87, 0, 1)
robot.display.text('Press OK', 0, 0, 1)
robot.display.text('to start', 0, 10, 1)
robot.display.text('Press UP or DOWN', 0, 25, 1)
robot.display.text('to list programs', 0, 35, 1)
robot.display.centered_text('< Programs >', 0, 1)
if len(program_list) > 0:
robot.display.text(program_list[current_program][0][:-3], 0, 55, 1)
robot.display.centered_text('^', 15, 1)
robot.display.text(program_list[current_program][0][:-3], 0, 30, 1)
robot.display.centered_text('v', 45, 1)
else:
robot.display.text("<brick is empty>", 0, 55, 1)
robot.display.text("cube is empty", 0, 30, 1)
# Show program error on display
def display_show_error(robot):
# Fill framebuffer with bt menu
def display_fill_bt_menu(robot, esp_default_name):
robot.display.fill(0)
robot.display.text('Program', 35, 20, 1)
robot.display.text('error!', 40, 30, 1)
robot.display.show()
robot.display.text('BT pair', 35, 20, 1)
robot.display.text(esp_default_name, 40, 0, 1)
def display_show_startup(robot):
robot.display.fill(0)
robot.display.text('Turning', 35, 20, 1)
robot.display.text('on', 40, 30, 1)
robot.display.show()
def display_show_bt_pin(robot, pin, connecting):
# Add bt connecting window to framebuffer
def display_fill_bt_pin(robot, pin, connecting):
robot.display.rect(6,6,116,52, 1)
robot.display.rect(7,7,114,50, 1)
robot.display.fill_rect(8,8,112,48, 0)
......@@ -63,6 +65,19 @@ def main():
robot.display.text('no', 10, 44, 1)
robot.display.text('yes', 100,44, 1)
# Show program error on display
def display_show_error(robot):
robot.display.fill(0)
robot.display.text('Program', 35, 20, 1)
robot.display.text('error!', 40, 30, 1)
robot.display.show()
def display_show_startup(robot):
robot.display.fill(0)
robot.display.text('Turning', 35, 20, 1)
robot.display.text('on', 40, 30, 1)
robot.display.show()
def display_show_program(robot):
robot.display.fill(0)
robot.display.text('Program', 35, 20, 1)
......@@ -70,27 +85,28 @@ def main():
robot.display.show()
# Analyze pressed buttons for menu movement
def buttons(robot, button_values, robotState, menu_move, menu_debounce):
def buttons(robot, button_values, robot_state, menu_move_v, menu_move_h, menu_debounce):
ok_pressed = 0
if button_values[Button.OK]:
ok_pressed = 1
elif button_values[Button.DOWN]:
if robotState==0:
menu_move=1
elif button_values[Button.UP]:
if robotState==0:
menu_move=-1
elif button_values[Button.RIGHT]:
pass
elif button_values[Button.LEFT]:
pass
elif robot_state == 0:
if button_values[Button.DOWN]:
menu_move_v=1
elif button_values[Button.UP]:
menu_move_v=-1
elif button_values[Button.RIGHT]:
menu_move_h=1
elif button_values[Button.LEFT]:
menu_move_h=-1
# Buttons debounce
if not button_values[Button.UP] and not button_values[Button.DOWN]:
if robotState==0 and menu_debounce == 1:
menu_move=0
if (not button_values[Button.UP] and not button_values[Button.DOWN]
and not button_values[Button.RIGHT] and not button_values[Button.LEFT]):
if robot_state == 0 and menu_debounce == 1:
menu_move_v=0
menu_move_h=0
menu_debounce = 0
return menu_move, menu_debounce, ok_pressed
return menu_move_v, menu_move_h, menu_debounce, ok_pressed
# Request ESP32 for BT pair pin
def send_esp_req(robot):
......@@ -108,8 +124,8 @@ def main():
utime.sleep_ms(200) # wait for all components of the Cube to start
# Initialize variables
robotState = 0
menu_move = 0
robot_state = 0
menu_move_v, menu_move_h = 0, 0
menu_debounce = 0
current_program = 0
counter = 1
......@@ -144,48 +160,56 @@ def main():
if not robot.esp.running() and counter % 20 == 0:
reset = robot.esp.reset(100)
if reset:
robot.esp.set_name(esp_name,100)
print("ESP BT name: ", esp_name)
robot.esp.set_name(esp_default_name,100)
print("ESP BT name: ", esp_default_name)
bat_voltage = robot.battery.voltage() # Get current battery voltage
button_values = robot.buttons.pressed() # Get buttons state
# Request BT pair pin every 20 cycles
if robot.esp.running() and counter % 20 == 0:
bt_pair, pin = send_esp_req(robot)
if pin != None and pin == rejected_pin:
bt_pair = False
if not bt_pair:
bt_connecting = False
# Move menu accordingly to pressed buttons
if not bt_pair:
menu_move, menu_debounce, ok_pressed = buttons(robot, button_values, robotState,
menu_move, menu_debounce)
display_show_menu(robot, bat_voltage, program_list, current_program)
# Show BT pair pin request on display and send confirm or cancel
if bt_pair:
display_show_bt_pin(robot, pin, bt_connecting)
if button_values[Button.RIGHT]:
robot.esp.send_pair()
bt_connecting = True
elif button_values[Button.LEFT]:
rejected_pin = pin
robot.esp.send_cancel()
else:
menu_move_v, menu_move_h, menu_debounce, ok_pressed = buttons(robot,
button_values, robot_state,
menu_move_v, menu_move_h,
menu_debounce)
# Check if buttons were pressed and move menu accordingly
if menu_move != 0 and menu_debounce == 0 and program_count > 0:
current_program += menu_move
current_program %= program_count
menu_debounce = 1
if menu_debounce == 0:
if menu_move_v != 0 and program_count > 0:
current_program += menu_move_v
current_program %= program_count
menu_debounce = 1
elif menu_move_h != 0:
current_menu += menu_move_h
current_menu %= Menu.COUNT
bt_pair = False
menu_debounce = 1
if current_menu == Menu.BT:
display_fill_bt_menu(robot, esp_default_name)
# Request BT pair pin every 10 cycles
if robot.esp.running() and counter % 10 == 0:
bt_pair, pin = send_esp_req(robot)
if pin != None and pin == rejected_pin:
bt_pair = False
if not bt_pair:
bt_connecting = False
# Show BT pair pin request on display and send confirm or cancel
if bt_pair:
display_fill_bt_pin(robot, pin, bt_connecting)
if button_values[Button.RIGHT]:
robot.esp.send_pair()
bt_connecting = True
elif button_values[Button.LEFT]:
rejected_pin = pin
robot.esp.send_cancel()
elif current_menu == Menu.MOT_SEN_TEST:
elif current_menu == Menu.PROGRAM:
# Check if OK button was pressed and start user program
if ok_pressed:
print("Running program", program_list[current_program][0])
display_show_program(robot)
robotState = 1
robot_state = 1
try:
# Open user program and execute it
program_name = program_list[current_program][0]
......@@ -208,9 +232,10 @@ def main():
robot.deinit_all()
# Collect unreachable objects (this deinitializes EV3 motors & sensors)
gc.collect()
robotState = 0
robot_state = 0
robot.esp.esp_running = False
print("Program finished\n")
display_fill_programs(robot, bat_voltage, program_list, current_program)
robot.display.show()
counter += 1
utime.sleep(0.05)
......
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