1.0.3 - added check version

Author: gbr1

arduino_alvik/__init__.py

@@ -4,7 +4,8 @@
 
 __author__ = "Lucio Rossi <[email protected]>, Giovanni Bruno <[email protected]>"
 __license__ = "MPL 2.0"
-__version__ = "1.0.2"
+__version__ = "1.0.3"
 __maintainer__ = "Lucio Rossi <[email protected]>, Giovanni Bruno <[email protected]>"
+__required_firmware_version__ = "1.0.3"
 
 from .arduino_alvik import *

arduino_alvik/arduino_alvik.py

@@ -13,6 +13,9 @@
 from .robot_definitions import *
 from .constants import *
 
+from .__init__ import __version__
+from .__init__ import __required_firmware_version__
+
 
 class ArduinoAlvik:
     _update_thread_running = False
@@ -73,7 +76,9 @@ def __init__(self):
         self._angular_velocity = None
         self._last_ack = None
         self._waiting_ack = None
-        self._version = [None, None, None]
+        self._version = list(map(int, __version__.split('.')))
+        self._fw_version = [None, None, None]
+        self._required_fw_version = list(map(int, __required_firmware_version__.split('.')))
         self._touch_events = _ArduinoAlvikTouchEvents()
         self._move_events = _ArduinoAlvikMoveEvents()
         self._timer_events = _ArduinoAlvikTimerEvents(-1)
@@ -208,6 +213,9 @@ def begin(self) -> int:
         self._flush_uart()
         self._snake_robot(1000)
         self._wait_for_ack()
+        if not self._wait_for_fw_check():
+            print('\n********** PLEASE UPDATE ALVIK FIRMWARE! Check documentation **********\n')
+            sys.exit(-2)
         self._snake_robot(2000)
         self.set_illuminator(True)
         self.set_behaviour(1)
@@ -241,6 +249,18 @@ def _wait_for_ack(self) -> None:
             sleep_ms(20)
         self._waiting_ack = None
 
+    def _wait_for_fw_check(self) -> bool:
+        """
+        Waits until receives version from robot, check required version and return true if everything is ok
+        :return:
+        """
+        while self._fw_version == [None, None, None]:
+            sleep_ms(20)
+        if self.check_firmware_compatibility():
+            return True
+        else:
+            return False
+
     @staticmethod
     def _flush_uart():
         """
@@ -689,7 +709,7 @@ def _parse_message(self) -> int:
             _, self._x, self._y, self._theta = self._packeter.unpacketC3F()
         elif code == 0x7E:
             # firmware version
-            _, *self._version = self._packeter.unpacketC3B()
+            _, *self._fw_version = self._packeter.unpacketC3B()
         else:
             return -1
 
@@ -1053,20 +1073,56 @@ def get_distance_bottom(self, unit: str = 'cm') -> float | None:
         """
         return convert_distance(self._bottom_tof, 'mm', unit)
 
-    def get_version(self) -> str:
+    def get_version(self, version: str = 'fw') -> str:
+        """
+        Returns the version of the Alvik firmware or micropython library
+        :param version:
+        :return:
+        """
+        if version == 'fw' or version == 'FW' or version == 'firmware':
+            return self.get_fw_version()
+        elif version == 'lib' or version == 'LIB':
+            return self.get_lib_version()
+        else:
+            return f'{None, None, None}'
+
+    def get_lib_version(self) -> str:
         """
-        Returns the firmware version of the Alvik
+        Returns the micropython library version of the Alvik
         :return:
         """
         return f'{self._version[0]}.{self._version[1]}.{self._version[2]}'
+    
+    def get_fw_version(self) -> str:
+        """
+        Returns the firmware version of the Alvik Carrier
+        :return:
+        """
+        return f'{self._fw_version[0]}.{self._fw_version[1]}.{self._fw_version[2]}'
+    
+    def get_required_fw_version(self) -> str:
+        """
+        Returns the required firmware version of the Alvik Carrier for this micropython library
+        :return:
+        """
+        return f'{self._required_fw_version[0]}.{self._required_fw_version[1]}.{self._required_fw_version[2]}'
+    
+    def check_firmware_compatibility(self) -> bool:
+        """
+        Returns true if the library and the firmware are compatible
+        :return:
+        """
+        return self._fw_version == self._required_fw_version
 
     def print_status(self):
         """
         Prints the Alvik status
         :return:
         """
         print('---ALVIK STATUS---')
-        print(f'VERSION: {self._version}')
+        print(f'LIBRARY VERSION: {self._version}')
+        print(f'REQUIRED FW VERSION: {self._required_fw_version}')
+        print(f'FIRMWARE VERSION: {self._fw_version}')
 
         print('---SENSORS---')
         print(f'TOF: T:{self._top_tof} B:{self._bottom_tof} L:{self._left_tof} CL:{self._center_left_tof}' +

examples/tests/message_reader.py

@@ -9,7 +9,7 @@
 
 while True:
     try:
-        print(f'VER: {alvik.get_version()}')
+        print(f'FW VER: {alvik.get_fw_version()}')
         print(f'LSP: {alvik.left_wheel.get_speed()}')
         print(f'RSP: {alvik.right_wheel.get_speed()}')
         print(f'LPOS: {alvik.left_wheel.get_position()}')

package.json

@@ -12,5 +12,5 @@
     "deps": [
         ["github:arduino/ucPack-mpy", "0.1.6"]
     ],
-    "version": "1.0.2"
+    "version": "1.0.3"
 }