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Fix non-windows support for run_robot.py #71

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Fix non-windows support for run_robot.py #71

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61 changes: 40 additions & 21 deletions run_robot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,120 +21,139 @@ def ensure_directory_exists(files, directory):
# Ignore the error if the directory already exists
pass


def copy_file_to_pico(files, local_file_path, pico_destination_path):
"""Copy a single file to the Pico, replacing it if it already exists."""
try:
with open(local_file_path, 'rb') as local_file:
with open(local_file_path, "rb") as local_file:
file_content = local_file.read()

# Write or replace the file on the Pico
files.put(pico_destination_path, file_content)
print(f"Successfully copied {local_file_path} to {pico_destination_path} on Pico.")

print(
f"Successfully copied {local_file_path} to {pico_destination_path} on Pico."
)

except Exception as e:
print(f"Failed to copy file {local_file_path}. Error: {str(e)}")


def copy_directory_to_pico(files, local_directory, pico_destination_directory):
"""Copy an entire directory to the Pico, including all subdirectories and files"""
try:
for root, dirs, files_list in os.walk(local_directory):
relative_path = os.path.relpath(root, local_directory)
pico_dir_path = os.path.join(pico_destination_directory, relative_path).replace("\\", "/")
pico_dir_path = os.path.join(
pico_destination_directory, relative_path
).replace("\\", "/")
ensure_directory_exists(files, pico_dir_path)

for file_name in files_list:
local_file_path = os.path.join(root, file_name)
pico_file_path = os.path.join(pico_dir_path, file_name).replace("\\", "/")
pico_file_path = os.path.join(pico_dir_path, file_name).replace(
"\\", "/"
)
copy_file_to_pico(files, local_file_path, pico_file_path)

except Exception as e:
print(f"Failed to copy directory {local_directory}. Error: {str(e)}")
finally:
pyb.close() # Ensure the connection to the Pico is closed


def create_temp_folder():
"""Create a temporary folder to store the last synced XRPLib files."""
if not os.path.exists(TEMP_FOLDER):
os.makedirs(TEMP_FOLDER)


def compare_and_copy(files, local_directory, pico_destination_directory):
"""Compare local XRPLib with the last synced version and copy only changed files."""
create_temp_folder()
for root, dirs, files_list in os.walk(local_directory):
relative_path = os.path.relpath(root, local_directory)
pico_dir_path = os.path.join(pico_destination_directory, relative_path).replace("\\", "/")
pico_dir_path = os.path.join(pico_destination_directory, relative_path).replace(
"\\", "/"
)
temp_dir_path = os.path.join(TEMP_FOLDER, relative_path)

if not os.path.exists(temp_dir_path):
os.makedirs(temp_dir_path)

for file_name in files_list:
local_file_path = os.path.join(root, file_name)
temp_file_path = os.path.join(temp_dir_path, file_name)
pico_file_path = os.path.join(pico_dir_path, file_name).replace("\\", "/")

if not os.path.exists(temp_file_path) or not filecmp.cmp(local_file_path, temp_file_path, shallow=False):
if not os.path.exists(temp_file_path) or not filecmp.cmp(
local_file_path, temp_file_path, shallow=False
):
# If the file doesn't exist in the temp folder, or it has changed, copy it
copy_file_to_pico(files, local_file_path, pico_file_path)
# Update the temp folder with the new file
shutil.copy2(local_file_path, temp_file_path)


def read_serial_output(port, baudrate=115200, timeout=1):
"""Read and print serial output from the Pico W."""
try:
with serial.Serial(port, baudrate, timeout=timeout) as ser:
print("Reading serial output...")
while True:
if ser.in_waiting > 0:
output = ser.read(ser.in_waiting).decode('utf-8')
print(output, end='') # Print without adding extra newlines
output = ser.read(ser.in_waiting).decode("utf-8")
print(output, end="") # Print without adding extra newlines
time.sleep(0.1) # Small delay to prevent high CPU usage
except Exception as e:
print(f"Failed to read serial output. Error: {str(e)}")


def run_pico_script(port, script_name):
"""Run a MicroPython script on the Pico using ampy."""
try:
subprocess.run(['ampy', '-p', port, 'run', script_name], check=True)
subprocess.run(["ampy", "-p", port, "run", script_name], check=True)
print(f"Successfully ran {script_name} on Pico.")
except subprocess.CalledProcessError as e:
print(f"Failed to run script {script_name}. Error: {str(e)}")


def list_files_on_pico(port):
"""List all files and folders on the Pico."""
try:
pyb = Pyboard(port)
files = Files(pyb)
file_list = files.ls('/')
file_list = files.ls("/")

print("Files and folders on Pico:")
for file in file_list:
print(file)

except Exception as e:
print(f"Failed to list files. Error: {str(e)}")


def copy_all_files_to_pico(port, directory=True, main=True, telemetry=True):
pyb = Pyboard(port)
files = Files(pyb)

if directory:
compare_and_copy(files, "XRPLib", "lib/XRPLib")
if main:
copy_file_to_pico(files, "mainprogram.py", "mainprogram.py")
if telemetry:
copy_file_to_pico(files, "telemetry.txt", "telemetry.txt")


def detect_pico_port():
"""Auto-detect the Pico W's serial port."""
"""Auto-detect the Pico W's serial port based on vendor and product IDs."""
ports = list(serial.tools.list_ports.comports())
for port in ports:
if "usbmodem" in port.device or "COM" in port.device: # Adjust this pattern if needed
if "VID:PID=2E8A:0005" in port.hwid: # Look for the MicroPython Board ID
return port.device
raise IOError("Pico W not found. Please check the connection.")

if __name__ == "__main__":

if __name__ == "__main__":
# Auto-detect the Pico W port
pico_port = detect_pico_port()
print(f"Pico W detected on port: {pico_port}")
Expand Down