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Commit 515fa8b0 authored by Václav Jelínek's avatar Václav Jelínek
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Move contents of main.py to a separate file, this simplifies updating fw -... 

Move contents of main.py to a separate file, this simplifies updating fw - main.py does not have be updated in the cube filesystem
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    lib/menu.py 0 → 100644
    + 336
    − 0
    View file @ 515fa8b0
    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
    lib/robot_consts.py
    + 3
    − 1
    View file @ 515fa8b0
    ......@@ -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
    lib/utils/utils.py 0 → 100644
    + 22
    − 0
    View file @ 515fa8b0
    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
    main/main.py
    + 12
    − 353
    View file @ 515fa8b0
    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
    mpy @ f1018ee5
    Compare af2770e0...f1018ee5
    Subproject commit af2770e02c1fcd9e6517223ae81c9a0d089a23e1
    Subproject commit f1018ee5c2dd0eabcc0cfe7e02c607594e489788
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