Merge pull request #39 from arduino/dev

1.1.2 - mpy 1.24 compatibility

Author: gbr1

arduino_alvik/__init__.py

@@ -4,7 +4,7 @@
 
 __author__ = "Lucio Rossi <[email protected]>, Giovanni Bruno <[email protected]>"
 __license__ = "MPL 2.0"
-__version__ = "1.1.1"
+__version__ = "1.1.2"
 __maintainer__ = "Lucio Rossi <[email protected]>, Giovanni Bruno <[email protected]>"
 __required_firmware_version__ = "1.1.0"
 

arduino_alvik/arduino_alvik.py

@@ -1,5 +1,4 @@
 import sys
-import gc
 import struct
 from machine import I2C
 import _thread
@@ -84,6 +83,14 @@ def __init__(self):
         self._move_events = _ArduinoAlvikMoveEvents()
         self._timer_events = _ArduinoAlvikTimerEvents(-1)
 
+    def __del__(self):
+        """
+        This method is a stub. __del__ is not implemented in MicroPython (https://docs.micropython.org/en/latest/genrst/core_language.html#special-method-del-not-implemented-for-user-defined-classes)
+        :return:
+        """
+        ...
+        # self.__class__._instance = None
+
     @staticmethod
     def is_on() -> bool:
         """
@@ -254,13 +261,19 @@ def _wait_for_ack(self) -> None:
             sleep_ms(20)
         self._waiting_ack = None
 
-    def _wait_for_fw_check(self) -> bool:
+    def _wait_for_fw_check(self, timeout=5) -> bool:
         """
         Waits until receives version from robot, check required version and return true if everything is ok
+        :param timeout: wait for fw timeout in seconds
         :return:
         """
+        start = ticks_ms()
         while self._fw_version == [None, None, None]:
             sleep_ms(20)
+            if ticks_diff(ticks_ms(), start) > timeout * 1000:
+                print("Could not get FW version")
+                return False
+
         if self.check_firmware_compatibility():
             return True
         else:
@@ -272,8 +285,7 @@ def _flush_uart():
         Empties the UART buffer
         :return:
         """
-        while uart.any():
-            uart.read(1)
+        uart.read(uart.any())
 
     def _begin_update_thread(self):
         """
@@ -377,10 +389,6 @@ def stop(self):
         # stop touch events thread
         self._stop_events_thread()
 
-        # delete _instance
-        del self.__class__._instance
-        gc.collect()
-
     @staticmethod
     def _reset_hw():
         """
@@ -641,21 +649,22 @@ def _update(self, delay_=1):
                 self.set_behaviour(2)
             if not ArduinoAlvik._update_thread_running:
                 break
-            if self._read_message():
-                self._parse_message()
+            self._read_message()
             sleep_ms(delay_)
 
-    def _read_message(self) -> bool:
+    def _read_message(self) -> None:
         """
         Read a message from the uC
         :return: True if a message terminator was reached
         """
-        while uart.any():
-            b = uart.read(1)[0]
-            self._packeter.buffer.push(b)
-            if b == self._packeter.end_index and self._packeter.checkPayload():
-                return True
-        return False
+        buf = bytearray(uart.any())
+        uart.readinto(buf)
+        if len(buf):
+            uart.readinto(buf)
+            for b in buf:
+                self._packeter.buffer.push(b)
+                if b == self._packeter.end_index and self._packeter.checkPayload():
+                    self._parse_message()
 
     def _parse_message(self) -> int:
         """
@@ -2096,6 +2105,19 @@ def update_firmware(file_path: str):
         STM32_eraseMEM,
         STM32_writeMEM, )
 
+    def flash_toggle():
+        i = 0
+
+        while True:
+            if i == 0:
+                LEDR.value(1)
+                LEDG.value(0)
+            else:
+                LEDR.value(0)
+                LEDG.value(1)
+            i = (i + 1) % 2
+            yield
+
     if CHECK_STM32.value() is not 1:
         print("Turn on your Alvik to continue...")
         while CHECK_STM32.value() is not 1:
@@ -2112,8 +2134,13 @@ def update_firmware(file_path: str):
     STM32_eraseMEM(0xFFFF)
 
     print("\nWRITING MEM")
-    STM32_writeMEM(file_path)
+    toggle = flash_toggle()
+    STM32_writeMEM(file_path, toggle)
+
     print("\nDONE")
     print("\nLower Boot0 and reset STM32")
 
+    LEDR.value(1)
+    LEDG.value(1)
+
     STM32_endCommunication()

arduino_alvik/stm32_flash.py

@@ -296,7 +296,7 @@ def STM32_readMEM(pages: int):
         _incrementAddress(readAddress)
 
 
-def STM32_writeMEM(file_path: str):
+def STM32_writeMEM(file_path: str, toggle: "Generator" = None):
 
     with open(file_path, 'rb') as f:
         print(f"Flashing {file_path}\n")
@@ -326,6 +326,8 @@ def STM32_writeMEM(file_path: str):
             sys.stdout.write(f"{int((i/file_pages)*100)}%")
             i = i + 1
             _incrementAddress(writeAddress)
+            if toggle is not None:
+                next(toggle)
 
 
 def _STM32_standardEraseMEM(pages: int, page_list: bytearray = None):

examples/actuators/leds_setting.py

@@ -1,6 +1,6 @@
 from arduino_alvik import ArduinoAlvik
 from time import sleep_ms
-import sys
+
 
 alvik = ArduinoAlvik()
 alvik.begin()
@@ -34,4 +34,4 @@
     except KeyboardInterrupt as e:
         print('over')
         alvik.stop()
-        sys.exit()
+        break

examples/actuators/move_wheels.py

@@ -1,6 +1,6 @@
 from arduino_alvik import ArduinoAlvik
 from time import sleep_ms
-import sys
+
 
 alvik = ArduinoAlvik()
 alvik.begin()
@@ -33,4 +33,4 @@
     except KeyboardInterrupt as e:
         print('over')
         alvik.stop()
-        sys.exit()
+        break

examples/actuators/pose_example.py

@@ -1,82 +1,80 @@
 from arduino_alvik import ArduinoAlvik
 from time import sleep_ms
-import sys
+
 
 alvik = ArduinoAlvik()
 alvik.begin()
 
-while True:
-    try:
+try:
+
+    alvik.move(100.0, 'mm')
+    print("on target after move")
+
+    alvik.move(50.0, 'mm')
+    print("on target after move")
+
+    alvik.rotate(90.0, 'deg')
+    print("on target after rotation")
 
-        alvik.move(100.0, 'mm')
-        print("on target after move")
+    alvik.rotate(-45.00, 'deg')
+    print("on target after rotation")
 
-        alvik.move(50.0, 'mm')
-        print("on target after move")
+    x, y, theta = alvik.get_pose()
+    print(f'Current pose is x(cm)={x}, y(cm)={y}, theta(deg)={theta}')
 
-        alvik.rotate(90.0, 'deg')
-        print("on target after rotation")
+    alvik.reset_pose(0, 0, 0)
 
-        alvik.rotate(-45.00, 'deg')
-        print("on target after rotation")
+    x, y, theta = alvik.get_pose()
+    print(f'Updated pose is x(cm)={x}, y(cm)={y}, theta(deg)={theta}')
+    sleep_ms(500)
 
-        x, y, theta = alvik.get_pose()
-        print(f'Current pose is x(cm)={x}, y(cm)={y}, theta(deg)={theta}')
+    print("___________NON-BLOCKING__________________")
 
-        alvik.reset_pose(0, 0, 0)
+    alvik.move(50.0, 'mm', blocking=False)
 
-        x, y, theta = alvik.get_pose()
-        print(f'Updated pose is x(cm)={x}, y(cm)={y}, theta(deg)={theta}')
+    while not alvik.is_target_reached():
+        alvik.left_led.set_color(1, 0, 0)
+        sleep_ms(500)
+        alvik.left_led.set_color(0, 0, 0)
+        sleep_ms(500)
+    print("on target after move")
+
+    alvik.rotate(45.0, 'deg', blocking=False)
+    while not alvik.is_target_reached():
+        alvik.left_led.set_color(1, 0, 0)
+        sleep_ms(500)
+        alvik.left_led.set_color(0, 0, 0)
         sleep_ms(500)
+    print("on target after rotation")
 
-        print("___________NON-BLOCKING__________________")
-
-        alvik.move(50.0, 'mm', blocking=False)
-
-        while not alvik.is_target_reached():
-            alvik.left_led.set_color(1, 0, 0)
-            sleep_ms(500)
-            alvik.left_led.set_color(0, 0, 0)
-            sleep_ms(500)
-        print("on target after move")
-
-        alvik.rotate(45.0, 'deg', blocking=False)
-        while not alvik.is_target_reached():
-            alvik.left_led.set_color(1, 0, 0)
-            sleep_ms(500)
-            alvik.left_led.set_color(0, 0, 0)
-            sleep_ms(500)
-        print("on target after rotation")
-
-        alvik.move(100.0, 'mm', blocking=False)
-        while not alvik.is_target_reached():
-            alvik.left_led.set_color(1, 0, 0)
-            sleep_ms(500)
-            alvik.left_led.set_color(0, 0, 0)
-            sleep_ms(500)
-        print("on target after move")
-
-        alvik.rotate(-90.00, 'deg', blocking=False)
-        while not alvik.is_target_reached():
-            alvik.left_led.set_color(1, 0, 0)
-            sleep_ms(500)
-            alvik.left_led.set_color(0, 0, 0)
-            sleep_ms(500)
-        print("on target after rotation")
-
-        x, y, theta = alvik.get_pose()
-        print(f'Current pose is x(cm)={x}, y(cm)={y}, theta(deg)={theta}')
-
-        alvik.reset_pose(0, 0, 0)
-
-        x, y, theta = alvik.get_pose()
-        print(f'Updated pose is x={x}, y={y}, theta(deg)={theta}')
+    alvik.move(100.0, 'mm', blocking=False)
+    while not alvik.is_target_reached():
+        alvik.left_led.set_color(1, 0, 0)
         sleep_ms(500)
+        alvik.left_led.set_color(0, 0, 0)
+        sleep_ms(500)
+    print("on target after move")
+
+    alvik.rotate(-90.00, 'deg', blocking=False)
+    while not alvik.is_target_reached():
+        alvik.left_led.set_color(1, 0, 0)
+        sleep_ms(500)
+        alvik.left_led.set_color(0, 0, 0)
+        sleep_ms(500)
+    print("on target after rotation")
+
+    x, y, theta = alvik.get_pose()
+    print(f'Current pose is x(cm)={x}, y(cm)={y}, theta(deg)={theta}')
+
+    alvik.reset_pose(0, 0, 0)
+
+    x, y, theta = alvik.get_pose()
+    print(f'Updated pose is x={x}, y={y}, theta(deg)={theta}')
+    sleep_ms(500)
 
-        alvik.stop()
-        sys.exit()
+except KeyboardInterrupt as e:
+    print('Test interrupted')
 
-    except KeyboardInterrupt as e:
-        print('over')
-        alvik.stop()
-        sys.exit()
+finally:
+    alvik.stop()
+    print("END of pose example")

examples/actuators/set_servo.py

@@ -1,6 +1,6 @@
 from arduino_alvik import ArduinoAlvik
 from time import sleep_ms
-import sys
+
 
 alvik = ArduinoAlvik()
 alvik.begin()
@@ -19,4 +19,4 @@
     except KeyboardInterrupt as e:
         print('over')
         alvik.stop()
-        sys.exit()
+        break

examples/actuators/wheels_position.py

@@ -1,6 +1,6 @@
 from arduino_alvik import ArduinoAlvik
 from time import sleep, sleep_ms
-import sys
+
 
 alvik = ArduinoAlvik()
 alvik.begin()
@@ -62,4 +62,4 @@
     except KeyboardInterrupt as e:
         print('over')
         alvik.stop()
-        sys.exit()
+        break

examples/actuators/wheels_speed.py

@@ -1,6 +1,6 @@
 from arduino_alvik import ArduinoAlvik
 from time import sleep_ms
-import sys
+
 
 alvik = ArduinoAlvik()
 alvik.begin()
@@ -21,4 +21,4 @@
     except KeyboardInterrupt as e:
         print('over')
         alvik.stop()
-        sys.exit()
+        break