diff --git a/lib/menu.py b/lib/menu.py
new file mode 100644
index 0000000000000000000000000000000000000000..c983b3e2a97b08f6bc4ab17236492dc566f84d84
--- /dev/null
+++ b/lib/menu.py
@@ -0,0 +1,336 @@
+import micropython
+# Allocate exception buffer for interrupt handlers
+micropython.alloc_emergency_exception_buf(100)
+
+import machine
+from lib.robot import Robot
+from lib.menu_display import display_show_startup
+
+# Initialize global robot object
+robot = Robot()
+# machine.WDT_RESET = hard and soft reboot or WDT reboot
+display_show_startup(robot, machine.WDT_RESET == machine.reset_cause())
+
+import time, os, sys, gc
+import os
+import sys
+import gc
+
+import menu_programs
+
+from lib.robot_consts import Button, Port, FW_VERSION
+from lib.menu_display import *
+from lib.utils.utils import log_error
+try:
+ from config import esp_default_name, battery_multiplier
+except:
+ from lib.default_config import esp_default_name, battery_multiplier
+
+robot.battery.set_multiplier(battery_multiplier)
+
+def main():
+ # File and directory constants for browsing user programs
+ FILE = micropython.const(0x8000)
+ DIRECTORY = micropython.const(0x4000)
+ menu_programs_functions = (('NXT Light', menu_programs.nxt_light_run), ('NXT Sound', menu_programs.nxt_sound_run),
+ ('NXT Touch', menu_programs.nxt_touch_run), ('NXT Ultrasonic', menu_programs.nxt_ultra_run),
+ ('EV3 Color', menu_programs.ev3_color_run), ('EV3 Gyro', menu_programs.ev3_gyro_run),
+ ('EV3 Infrared', menu_programs.ev3_infra_run), ('EV3 Ultrasonic', menu_programs.ev3_ultra_run),
+ ('EV3 & OC Touch', menu_programs.ev3_oc_touch_run),
+ ('OC Color', menu_programs.oc_color_run), ('OC AHRS', menu_programs.oc_gyro_run),
+ ('OC Laser', menu_programs.oc_laser_run), ('OC Ultrasonic', menu_programs.oc_ultra_run))
+ MENU_PROGRAM_NXT_UTZ_IDX = 3
+ menu_programs_functions_size = len(menu_programs_functions)
+
+ menu_cube_programs_functions = (('Gyro Acc', menu_programs.cube_gyro_acc_run), ('LED & buzzer', menu_programs.cube_utility_run),
+ ('Wifi webserver', menu_programs.esp_wifi_run), ('I2C Master', menu_programs.i2c_master_run),
+ ('I2C Slave', menu_programs.i2c_slave_run))
+ menu_cube_programs_functions_size = len(menu_cube_programs_functions)
+
+ menu_list = [0, 0, 0, 0, 0, 0, 0]
+ 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
+
+ # Analyze pressed buttons for menu movement
+ def buttons(robot, button_values, robot_state, menu_move_v, menu_move_h, menu_debounce):
+ menu_move_v=0
+ menu_move_h=0
+ ok_pressed = 0
+ if menu_debounce == 0:
+ if button_values[Button.OK]:
+ ok_pressed = 1
+ 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] and not button_values[Button.OK]
+ 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
+ ok_pressed = 0
+ menu_debounce = 0
+ return menu_move_v, menu_move_h, menu_debounce, ok_pressed
+
+ # Request ESP32 for BT pair pin
+ def send_esp_req(robot):
+ pin = robot.esp.req_bt_pin()
+ robot.esp.flush()
+ if pin is not None and pin != -1:
+ bt_pair = True
+ else:
+ bt_pair = False
+ if pin == -1:
+ robot.esp.flush()
+ robot.esp.timeout()
+ return bt_pair, pin
+
+ def run_program(robot, program_name, program_path, globals):
+ print("Running program", program_name)
+ display_show_program(robot)
+ try:
+ # Open user program and execute it
+ with open(program_path) as f:
+ code = compile(f.read(), program_name, 'exec')
+ robot.buttons.pressed_since()
+ exec(code, globals)
+ except Exception as e:
+ # Print exception for debugging and show error message on display
+ # if error occurs in user program
+ sys.print_exception(e)
+ log_error(robot.start_time, e, program_name)
+ display_show_error(robot)
+ time.sleep(1.0)
+ finally:
+ # Deinit all sensors, motors and uart if initialized by user program
+ # after user program ends
+ robot.deinit_all()
+ # Collect unreachable objects (this deinitializes EV3 motors & sensors)
+ gc.collect()
+ robot.esp.esp_running = False
+ print("Program finished\n")
+ time.sleep_ms(200) # wait for all components of the Cube to start
+
+ # Initialize variables
+ robot_state = 0
+ menu_move_v, menu_move_h = 0, 0
+ menu_debounce = 0
+ current_menu = Menu.PROGRAM
+ sensor_test_menu = Menu.SEN_TEST_PROGRAM
+ sensor_test_menu_port = 0
+ counter = 1
+ rejected_pin = 0
+ bt_pair = False
+ bt_connecting = False
+ button_values = robot.buttons.pressed()
+ esp_reset_failed_counter = 0
+
+ # Get a list of user programs
+ program_list = []
+ try:
+ # Browse programs directory
+ for entry in os.ilistdir("./programs"):
+ # Add .py user program to program list
+ if entry[1] == FILE and entry[0].endswith(".py"):
+ program_list.append((entry[0], FILE))
+ # Add all directory user program to program list
+ elif entry[1] == DIRECTORY:
+ for entry2 in os.ilistdir("./programs/"+entry[0]):
+ if entry2[1] == FILE and entry2[0] == "main.py":
+ program_list.append((entry[0], DIRECTORY))
+
+ except OSError:
+ # Create program directory if this is a new installation
+ os.mkdir("./programs")
+ print("Program directory created")
+ if len(program_list) == 0:
+ print("Cube is empty, no programs found")
+ menu_list_size[Menu.PROGRAM] = 1
+ else:
+ menu_list_size[Menu.PROGRAM] = len(program_list)
+
+ # Loop that shows display, controls menu and starts user programs
+ while(True):
+ #print(micropython.mem_info())
+ # Connect to and reset ESP32 to BT mode if it is not running
+
+ if not robot.esp.running() and counter % 10 == 0:
+ s = time.ticks_ms()
+ if not robot.esp.reset(100):
+ esp_reset_failed_counter += 1
+ else:
+ esp_reset_failed_counter = 0
+ esp_reset_counter = counter
+ print("ESP32 reset time: ", time.ticks_ms() - s)
+ if robot.esp.running() and counter - esp_reset_counter == 10:
+ robot.esp.set_name_nonblocking(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_since() # Get buttons state
+
+ # Move menu accordingly to pressed buttons
+ 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 not bt_pair:
+ if menu_debounce == 0:
+ if sensor_test_menu == Menu.SEN_TEST_PORT:
+ if menu_move_v != 0:
+ sensor_test_menu_port += menu_move_v
+ sensor_test_menu_port %= menu_list_size[SENSOR_TEST_MENU_PORT_IDX]
+ menu_debounce = 1
+ elif menu_move_h == -1:
+ sensor_test_menu = Menu.SEN_TEST_PROGRAM
+ sensor_test_menu_port = 0
+ menu_debounce = 1
+ else:
+ if menu_move_v != 0:
+ menu_list[current_menu] += menu_move_v
+ menu_list[current_menu] %= menu_list_size[current_menu]
+ menu_debounce = 1
+ elif menu_move_h != 0:
+ menu_list[current_menu] = 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, esp_reset_failed_counter)
+ # 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 ok_pressed:
+ robot.esp.send_pair()
+ bt_connecting = True
+ menu_debounce = 1
+ elif menu_move_h == -1:
+ rejected_pin = pin
+ robot.esp.send_cancel()
+ menu_debounce = 1
+
+ elif current_menu == Menu.MOT_TEST:
+ chosen_motor_port = menu_list[current_menu]
+ display_fill_mot_test(robot, chosen_motor_port)
+ if ok_pressed:
+ robot_state = 1
+ program_name = f"Motor M{chosen_motor_port+1}"
+ print("Running motor test: ", program_name)
+ try:
+ robot.buttons.pressed_since()
+ menu_programs.motor_run(robot, chosen_motor_port)
+ except Exception as e:
+ sys.print_exception(e)
+ log_error(robot.start_time, e, program_name)
+ display_show_error(robot)
+ robot.deinit_all()
+ robot_state = 0
+ menu_debounce = 1
+ continue
+
+ elif current_menu == Menu.SEN_TEST:
+ sensor_test_menu_stype = menu_list[current_menu]
+ display_fill_sen_test(robot, sensor_test_menu_port, sensor_test_menu,
+ sensor_test_menu_stype,
+ menu_programs_functions[sensor_test_menu_stype][0])
+ if ok_pressed:
+ 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:
+ robot.buttons.pressed_since()
+ menu_programs_functions[sensor_test_menu_stype][1](robot)
+ except Exception as e:
+ sys.print_exception(e)
+ log_error(robot.start_time, e, program_name)
+ display_show_error(robot)
+ robot.deinit_all()
+ robot_state = 0
+ menu_debounce = 1
+ continue
+ else:
+ sensor_test_menu = Menu.SEN_TEST_PORT
+ 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:
+ robot.buttons.pressed_since()
+ menu_programs_functions[sensor_test_menu_stype][1](robot, sensor_test_menu_port)
+ except Exception as e:
+ sys.print_exception(e)
+ log_error(robot.start_time, e, program_name)
+ display_show_error(robot)
+ robot.deinit_all()
+ sensor_test_menu = Menu.SEN_TEST_PROGRAM
+ sensor_test_menu_port = 0
+ robot_state = 0
+ menu_debounce = 1
+ ok_pressed = 0
+ continue
+
+ elif current_menu == Menu.CUBE_TEST:
+ cube_test_menu_program = menu_list[current_menu]
+ cube_test_menu_name = menu_cube_programs_functions[cube_test_menu_program][0]
+ display_fill_cube_test(robot, menu_list[current_menu], cube_test_menu_name)
+ if ok_pressed:
+ robot_state = 1
+ print("Running cube test: ", cube_test_menu_name)
+ try:
+ robot.buttons.pressed_since()
+ menu_cube_programs_functions[cube_test_menu_program][1](robot)
+ except Exception as e:
+ sys.print_exception(e)
+ log_error(robot.start_time, e, cube_test_menu_name)
+ display_show_error(robot)
+
+ robot.deinit_all()
+ robot_state = 0
+ menu_debounce = 1
+ continue
+
+ elif current_menu == Menu.PROGRAM:
+ current_program = menu_list[current_menu]
+ display_fill_programs(robot, program_list, current_program)
+ # Check if OK button was pressed and start user program
+ if ok_pressed and len(program_list) > 0:
+ robot_state = 1
+ program_name = program_list[current_program][0]
+ program_path = "./programs/" + program_name
+ if program_list[current_program][1] == DIRECTORY:
+ program_path += "/main.py"
+ run_program(robot, program_name, program_path, {'robot': robot})
+ robot_state = 0
+ menu_debounce = 1
+ continue
+ elif current_menu == Menu.FW_VERSION:
+ if ok_pressed:
+ display_show_boot(robot)
+ machine.bootloader()
+ display_fill_fw_version(robot, FW_VERSION)
+
+ display_fill_battery(robot, bat_voltage)
+ robot.display.show()
+ counter += 1
+ time.sleep(0.05)
\ No newline at end of file
diff --git a/lib/robot_consts.py b/lib/robot_consts.py
index 1ff807ef8a9df336268f1c081367befd7d3fdea7..8289caae00ca66fa3b1945605cf5ee3de1109a53 100644
--- a/lib/robot_consts.py
+++ b/lib/robot_consts.py
@@ -97,4 +97,6 @@ DISPLAY_WIDTH = const(128)
DISPLAY_HEIGHT = const(64)
WDT_TIMEOUT = const(4000) # ms
-WDT_FEED_TIMER_PERIOD = const(3500) # ms
\ No newline at end of file
+WDT_FEED_TIMER_PERIOD = const(3500) # ms
+
+MAX_ERROR_LOG_SIZE = const(10000)
\ No newline at end of file
diff --git a/lib/utils/utils.py b/lib/utils/utils.py
new file mode 100644
index 0000000000000000000000000000000000000000..fd10a1c03ad3488e36464bb2b878b4c09aee6f0e
--- /dev/null
+++ b/lib/utils/utils.py
@@ -0,0 +1,22 @@
+import os, time, sys
+from micropython import const
+
+from lib.robot_consts import MAX_ERROR_LOG_SIZE
+
+FILE_SIZE_IDX = const(6)
+
+def log_error(start_time, 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:
+ os.remove("error_log.txt")
+ log_deleted = True
+ with open("error_log.txt", "a") as f:
+ if log_deleted:
+ 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: {int(time.ticks_diff(time.ticks_ms(),start_time))} ms\n")
+ if e:
+ sys.print_exception(e, f)
+ f.write("--------------------------------------------------\n")
\ No newline at end of file
diff --git a/main/main.py b/main/main.py
index 5007257449ddede7f83cfe4513c036f68c21c35b..df677aa12c77934862fb44e6cabda80849fd63df 100644
--- a/main/main.py
+++ b/main/main.py
@@ -1,358 +1,17 @@
-import micropython
-# Allocate exception buffer for interrupt handlers
-micropython.alloc_emergency_exception_buf(100)
+import machine, sys
-import machine
-from lib.robot import Robot
-from lib.menu_display import display_show_startup
+from lib import menu
+from lib.utils.utils import log_error
-# Initialize global robot object
-robot = Robot()
-# machine.WDT_RESET = hard and soft reboot or WDT reboot
-display_show_startup(robot, machine.WDT_RESET == machine.reset_cause())
-
-import time
-import os
-import sys
-import gc
-
-import menu_programs
-
-from lib.robot_consts import Button, Port, FW_VERSION
-from lib.menu_display import *
-try:
- from config import esp_default_name, battery_multiplier
-except:
- from lib.default_config import esp_default_name, battery_multiplier
-
-robot.battery.set_multiplier(battery_multiplier)
-
-def main():
- # File and directory constants for browsing user programs
- FILE = 0x8000
- DIRECTORY = 0x4000
- FILE_SIZE_IDX = 6
- MAX_ERROR_LOG_SIZE = 10000
-
- menu_programs_functions = (('NXT Light', menu_programs.nxt_light_run), ('NXT Sound', menu_programs.nxt_sound_run),
- ('NXT Touch', menu_programs.nxt_touch_run), ('NXT Ultrasonic', menu_programs.nxt_ultra_run),
- ('EV3 Color', menu_programs.ev3_color_run), ('EV3 Gyro', menu_programs.ev3_gyro_run),
- ('EV3 Infrared', menu_programs.ev3_infra_run), ('EV3 Ultrasonic', menu_programs.ev3_ultra_run),
- ('EV3 & OC Touch', menu_programs.ev3_oc_touch_run),
- ('OC Color', menu_programs.oc_color_run), ('OC AHRS', menu_programs.oc_gyro_run),
- ('OC Laser', menu_programs.oc_laser_run), ('OC Ultrasonic', menu_programs.oc_ultra_run))
- MENU_PROGRAM_NXT_UTZ_IDX = 3
- menu_programs_functions_size = len(menu_programs_functions)
-
- menu_cube_programs_functions = (('Gyro Acc', menu_programs.cube_gyro_acc_run), ('LED & buzzer', menu_programs.cube_utility_run),
- ('Wifi webserver', menu_programs.esp_wifi_run), ('I2C Master', menu_programs.i2c_master_run),
- ('I2C Slave', menu_programs.i2c_slave_run))
- menu_cube_programs_functions_size = len(menu_cube_programs_functions)
-
- menu_list = [0, 0, 0, 0, 0, 0, 0]
- 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(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:
- os.remove("error_log.txt")
- log_deleted = True
- with open("error_log.txt", "a") as f:
- if log_deleted:
- 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: {int(time.ticks_diff(time.ticks_ms(),robot.start_time))} ms\n")
- if e:
- sys.print_exception(e, f)
- f.write("--------------------------------------------------\n")
-
- # Analyze pressed buttons for menu movement
- def buttons(robot, button_values, robot_state, menu_move_v, menu_move_h, menu_debounce):
- menu_move_v=0
- menu_move_h=0
- ok_pressed = 0
- if menu_debounce == 0:
- if button_values[Button.OK]:
- ok_pressed = 1
- 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] and not button_values[Button.OK]
- 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
- ok_pressed = 0
- menu_debounce = 0
- return menu_move_v, menu_move_h, menu_debounce, ok_pressed
-
- # Request ESP32 for BT pair pin
- def send_esp_req(robot):
- pin = robot.esp.req_bt_pin()
- robot.esp.flush()
- if pin is not None and pin != -1:
- bt_pair = True
- else:
- bt_pair = False
- if pin == -1:
- robot.esp.flush()
- robot.esp.timeout()
- return bt_pair, pin
-
- def run_program(robot, program_name, program_path, globals):
- print("Running program", program_name)
- display_show_program(robot)
+while True:
+ try:
+ menu.main()
+ except Exception as e:
try:
- # Open user program and execute it
- with open(program_path) as f:
- code = compile(f.read(), program_name, 'exec')
- robot.buttons.pressed_since()
- exec(code, globals)
- except Exception as e:
- # Print exception for debugging and show error message on display
- # if error occurs in user program
+ print("Fatal Open-Cube error in menu:")
sys.print_exception(e)
- log_error(robot, e, program_name)
- display_show_error(robot)
- time.sleep(1.0)
- finally:
- # Deinit all sensors, motors and uart if initialized by user program
- # after user program ends
- robot.deinit_all()
- # Collect unreachable objects (this deinitializes EV3 motors & sensors)
- gc.collect()
- robot.esp.esp_running = False
- print("Program finished\n")
- time.sleep_ms(200) # wait for all components of the Cube to start
-
- # Initialize variables
- robot_state = 0
- menu_move_v, menu_move_h = 0, 0
- menu_debounce = 0
- current_menu = Menu.PROGRAM
- sensor_test_menu = Menu.SEN_TEST_PROGRAM
- sensor_test_menu_port = 0
- counter = 1
- rejected_pin = 0
- bt_pair = False
- bt_connecting = False
- button_values = robot.buttons.pressed()
- esp_reset_failed_counter = 0
-
- # Get a list of user programs
- program_list = []
- try:
- # Browse programs directory
- for entry in os.ilistdir("./programs"):
- # Add .py user program to program list
- if entry[1] == FILE and entry[0].endswith(".py"):
- program_list.append((entry[0], FILE))
- # Add all directory user program to program list
- elif entry[1] == DIRECTORY:
- for entry2 in os.ilistdir("./programs/"+entry[0]):
- if entry2[1] == FILE and entry2[0] == "main.py":
- program_list.append((entry[0], DIRECTORY))
-
- except OSError:
- # Create program directory if this is a new installation
- os.mkdir("./programs")
- print("Program directory created")
- if len(program_list) == 0:
- print("Cube is empty, no programs found")
- menu_list_size[Menu.PROGRAM] = 1
- else:
- menu_list_size[Menu.PROGRAM] = len(program_list)
-
- # Loop that shows display, controls menu and starts user programs
- while(True):
- #print(micropython.mem_info())
- # Connect to and reset ESP32 to BT mode if it is not running
-
- if not robot.esp.running() and counter % 10 == 0:
- s = time.ticks_ms()
- if not robot.esp.reset(100):
- esp_reset_failed_counter += 1
- else:
- esp_reset_failed_counter = 0
- esp_reset_counter = counter
- print("ESP32 reset time: ", time.ticks_ms() - s)
- if robot.esp.running() and counter - esp_reset_counter == 10:
- robot.esp.set_name_nonblocking(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_since() # Get buttons state
-
- # Move menu accordingly to pressed buttons
- 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 not bt_pair:
- if menu_debounce == 0:
- if sensor_test_menu == Menu.SEN_TEST_PORT:
- if menu_move_v != 0:
- sensor_test_menu_port += menu_move_v
- sensor_test_menu_port %= menu_list_size[SENSOR_TEST_MENU_PORT_IDX]
- menu_debounce = 1
- elif menu_move_h == -1:
- sensor_test_menu = Menu.SEN_TEST_PROGRAM
- sensor_test_menu_port = 0
- menu_debounce = 1
- else:
- if menu_move_v != 0:
- menu_list[current_menu] += menu_move_v
- menu_list[current_menu] %= menu_list_size[current_menu]
- menu_debounce = 1
- elif menu_move_h != 0:
- menu_list[current_menu] = 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, esp_reset_failed_counter)
- # 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 ok_pressed:
- robot.esp.send_pair()
- bt_connecting = True
- menu_debounce = 1
- elif menu_move_h == -1:
- rejected_pin = pin
- robot.esp.send_cancel()
- menu_debounce = 1
-
- elif current_menu == Menu.MOT_TEST:
- chosen_motor_port = menu_list[current_menu]
- display_fill_mot_test(robot, chosen_motor_port)
- if ok_pressed:
- robot_state = 1
- program_name = f"Motor M{chosen_motor_port+1}"
- print("Running motor test: ", program_name)
- try:
- robot.buttons.pressed_since()
- menu_programs.motor_run(robot, chosen_motor_port)
- except Exception as e:
- sys.print_exception(e)
- log_error(robot, e, program_name)
- display_show_error(robot)
- robot.deinit_all()
- robot_state = 0
- menu_debounce = 1
- continue
-
- elif current_menu == Menu.SEN_TEST:
- sensor_test_menu_stype = menu_list[current_menu]
- display_fill_sen_test(robot, sensor_test_menu_port, sensor_test_menu,
- sensor_test_menu_stype,
- menu_programs_functions[sensor_test_menu_stype][0])
- if ok_pressed:
- 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:
- robot.buttons.pressed_since()
- menu_programs_functions[sensor_test_menu_stype][1](robot)
- except Exception as e:
- sys.print_exception(e)
- log_error(robot, e, program_name)
- display_show_error(robot)
- robot.deinit_all()
- robot_state = 0
- menu_debounce = 1
- continue
- else:
- sensor_test_menu = Menu.SEN_TEST_PORT
- 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:
- robot.buttons.pressed_since()
- menu_programs_functions[sensor_test_menu_stype][1](robot, sensor_test_menu_port)
- except Exception as e:
- sys.print_exception(e)
- log_error(robot, e, program_name)
- display_show_error(robot)
- robot.deinit_all()
- sensor_test_menu = Menu.SEN_TEST_PROGRAM
- sensor_test_menu_port = 0
- robot_state = 0
- menu_debounce = 1
- ok_pressed = 0
- continue
-
- elif current_menu == Menu.CUBE_TEST:
- cube_test_menu_program = menu_list[current_menu]
- cube_test_menu_name = menu_cube_programs_functions[cube_test_menu_program][0]
- display_fill_cube_test(robot, menu_list[current_menu], cube_test_menu_name)
- if ok_pressed:
- robot_state = 1
- print("Running cube test: ", cube_test_menu_name)
- try:
- robot.buttons.pressed_since()
- menu_cube_programs_functions[cube_test_menu_program][1](robot)
- except Exception as e:
- sys.print_exception(e)
- log_error(robot, e, cube_test_menu_name)
- display_show_error(robot)
-
- robot.deinit_all()
- robot_state = 0
- menu_debounce = 1
- continue
-
- elif current_menu == Menu.PROGRAM:
- current_program = menu_list[current_menu]
- display_fill_programs(robot, program_list, current_program)
- # Check if OK button was pressed and start user program
- if ok_pressed and len(program_list) > 0:
- robot_state = 1
- program_name = program_list[current_program][0]
- program_path = "./programs/" + program_name
- if program_list[current_program][1] == DIRECTORY:
- program_path += "/main.py"
- run_program(robot, program_name, program_path, {'robot': robot})
- robot_state = 0
- menu_debounce = 1
- continue
- elif current_menu == Menu.FW_VERSION:
- if ok_pressed:
- display_show_boot(robot)
- machine.bootloader()
- display_fill_fw_version(robot, FW_VERSION)
-
- display_fill_battery(robot, bat_voltage)
- robot.display.show()
- counter += 1
- time.sleep(0.05)
-
+ log_error(0, e, "Open-Cube menu.py")
+ except:
+ break
-if __name__ == '__main__':
- main()
\ No newline at end of file
+machine.reset()
\ No newline at end of file
diff --git a/micropython/mpy b/micropython/mpy
index af2770e02c1fcd9e6517223ae81c9a0d089a23e1..f1018ee5c2dd0eabcc0cfe7e02c607594e489788 160000
--- a/micropython/mpy
+++ b/micropython/mpy
@@ -1 +1 @@
-Subproject commit af2770e02c1fcd9e6517223ae81c9a0d089a23e1
+Subproject commit f1018ee5c2dd0eabcc0cfe7e02c607594e489788