Add i2c master slave menu programs

lib/robot.py

 from machine import Pin, I2C, Timer
-from time import sleep
+from time import sleep, ticks_ms
 
 from lib.cube import Buzzer, I2CGuard, SH1106_I2C, Esp
 from lib import nxt, ev3, OC
@@ -19,6 +19,7 @@ MOTOR_NUM = len(MOTOR_PORT_PINS)
 # Object is initialized in the main program (main.py) after the startup of the cube and can be used in user programs
 class Robot:
     def __init__(self):
+        start_time = ticks_ms()
         # Set pins 0, 1 to input to correctly initialize HW UART0
         Pin(0, mode=Pin.IN)
         Pin(1, mode=Pin.IN)

main/main.py

@@ -45,7 +45,7 @@ def main():
     menu_list_size = [0, Port.M_COUNT, menu_programs_functions_size, menu_cube_programs_functions_size, 1, 1, Port.S_COUNT]
     SENSOR_TEST_MENU_PORT_IDX = 6   
 
-    def log_error(e):
+    def log_error(robot, e, program_name):
         # Write error to error log file
         log_deleted = False
         if "error_log.txt" in os.listdir(".") and os.stat("error_log.txt")[FILE_SIZE_IDX] > MAX_ERROR_LOG_SIZE:
@@ -56,7 +56,7 @@ def main():
                 print("Previous log too long, file deleted")
                 f.write("Previous log too long, file deleted\n")
                 f.write("--------------------------------------------------\n")
-            f.write(f"ERROR program: {program_name}, time since reset: {utime.time()}\n")
+            f.write(f"ERROR program: {program_name}, time since reset: {int(utime.tick_diff(utime.ticks_ms(),robot.start_time)/1000)}\n")
             sys.print_exception(e, f)
             f.write("--------------------------------------------------\n")
 
@@ -113,7 +113,7 @@ def main():
             # Print exception for debugging and show error message on display 
             # if error occurs in user program
             sys.print_exception(e)
-            log_error(e)
+            log_error(robot, e, program_name)
             display_show_error(robot)
             utime.sleep(1.0)
         finally:
@@ -241,12 +241,12 @@ def main():
             if ok_pressed:
                 robot_state = 1
                 program_name = f"Motor M{chosen_motor_port+1}"
-                program_path = "./menu_programs/motor.py"
+                print("Running motor test: ", program_name)
                 try:
                     menu_programs.motor_run(robot, chosen_motor_port)
                 except Exception as e:
                     sys.print_exception(e)
-                    log_error(e)
+                    log_error(robot, e, program_name)
                     display_show_error(robot)
                 robot.deinit_all()
                 robot_state = 0
@@ -262,11 +262,13 @@ def main():
                 if sensor_test_menu == Menu.SEN_TEST_PROGRAM:
                     if sensor_test_menu_stype == MENU_PROGRAM_NXT_UTZ_IDX:
                         robot_state = 1
+                        program_name = menu_programs_functions[sensor_test_menu_stype][0]
+                        print("Running sensor test: ", program_name)
                         try:
                             menu_programs_functions[sensor_test_menu_stype][1](robot)
                         except Exception as e:
                             sys.print_exception(e)
-                            log_error(e)
+                            log_error(robot, e, program_name)
                             display_show_error(robot)
                         robot.deinit_all()
                         robot_state = 0
@@ -277,11 +279,13 @@ def main():
                         menu_debounce = 1
                 elif sensor_test_menu == Menu.SEN_TEST_PORT:
                     robot_state = 1
+                    program_name = menu_programs_functions[sensor_test_menu_stype][0]
+                    print("Running sensor test: ", program_name)
                     try:
                         menu_programs_functions[sensor_test_menu_stype][1](robot, sensor_test_menu_port)
                     except Exception as e:
                         sys.print_exception(e)
-                        log_error(e)
+                        log_error(robot, e, program_name)
                         display_show_error(robot)
                     robot.deinit_all()
                     sensor_test_menu == Menu.SEN_TEST_PROGRAM
@@ -301,7 +305,7 @@ def main():
                     menu_cube_programs_functions[cube_test_menu_program][1](robot)
                 except Exception as e:
                     sys.print_exception(e)
-                    log_error(e)
+                    log_error(robot, e, cube_test_menu_name)
                     display_show_error(robot)
                     
                 robot.deinit_all()