🔖 Release 3.4.0 (#225)

* 🐛 emit correct compiler for C files when generating CDB (#188) * Update Azure Pipelines with new self hosted M1 Mac (#189) * Update azure-pipelines.yml for Azure Pipelines * Update azure-pipelines.yml * Update azure-pipelines.yml for Azure Pipelines * Update azure-pipelines.yml for Azure Pipelines * Fixes 'make.exe.exe' typo. Adds disable sentry prompt option for VSCode. (#190) * Fixes 'make.exe.exe' typo. Adds disable sentry prompt option for VSCode. * Fix sentry-off flag * change sentry-off to no-sentry * Update Version (#186) (#191) * ✨Add Analytics (#193) * Fix and move no-sentry to default options. Setup framework for analytics * Fix some things. --toggle-analytics works * Analytics should be working. Need to figure out which commands matter * Make use-analytics a choice not a toggle * Show no-analytics flag feedback so user knows it works * Analytics appear to be working! * Reset uid to None * Compress code a bit * Remove interactive command analytics. Fix info-project typo * Move GA config to cli.pros. Fixes --use-analytics * ✨More Upload Options (#194) * Start of more upload options * Adds project icon, name, and description. Use name/description="string" * pros v5 rm-program command * rm program literals * Remove extra print messages. Kernel version = None when no project * Update Version (#186) (#195) * Add __init__ file so ga is considered a module (#206) * Fix issue with programs uploading segfaulting/NACKing/doing nothing (#207) * ✨Set team number and robot name (#210) * Adds kv_read and kv_write functions (UNTESTED) to V5Device class * Add commands to read and set kernel variables * Add descriptions to set_variable and read_variable commands * Finish reading kernel variables. Use None for unknown rx length * Trim kernel variable value and ensure null terminated. * Move rv and sv to v5 commands * Working set command. Maximum lengths based on brain's screen space * get and set aliases * Add m as an alias for pros make. (#204) * Cleaned Up CI (#213) * Update azure-pipelines.yml for Azure Pipelines * Update azure-pipelines.yml for Azure Pipelines * Update azure-pipelines.yml for Azure Pipelines * Update azure-pipelines.yml for Azure Pipelines * Update azure-pipelines.yml for Azure Pipelines * Update azure-pipelines.yml for Azure Pipelines * Update azure-pipelines.yml for Azure Pipelines * Update azure-pipelines.yml for Azure Pipelines * Update azure-pipelines.yml for Azure Pipelines * Update azure-pipelines.yml for Azure Pipelines * Update azure-pipelines.yml for Azure Pipelines * Update azure-pipelines.yml for Azure Pipelines * Revert "✨Set team number and robot name (#210)" (#214) This reverts commit 62ee4b8. * ✨Set team number and robot name (#219) * old code (not working) * use correct txrx function * return set value * ✨Terminal file output (#220) * Added file redirect click.option to terminal.py * Got rid of indentation error * Added code for output * Redirects standard output stream to file * Outputs to both terminal and file * Modified imported modules * Added line at end * changes on windows * Update pros/cli/terminal.py for terminal file output Co-authored-by: Will Xu <[email protected]> * Removed ident error Co-authored-by: BennyBot <[email protected]> Co-authored-by: Will Xu <[email protected]> Co-authored-by: Benjamin Davis <[email protected]> Co-authored-by: Will Xu <[email protected]> Co-authored-by: BennyBot <[email protected]> Co-authored-by: Alex Brooke <[email protected]> Co-authored-by: BennyBot <[email protected]> Co-authored-by: Benjamin Davis <[email protected]> Co-authored-by: sharmaneha03 <[email protected]> Co-authored-by: Will Xu <[email protected]> Co-authored-by: Will Xu <[email protected]>
purduesigbots · Aug 25, 2022 · bdbc6e2 · bdbc6e2
1 parent 62758e9
commit bdbc6e2
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diff --git a/pros/cli/terminal.py b/pros/cli/terminal.py
@@ -3,6 +3,7 @@
 import time
 
 import click
+import sys
 
 import pros.conductor as c
 import pros.serial.devices as devices
@@ -29,6 +30,8 @@ def terminal_cli():
               help='Specify 2 ports for the "share" backend. The default option deterministically selects ports '
                    'based on the serial port name')
 @click.option('--banner/--no-banner', 'request_banner', default=True)
+@click.option('--output', nargs = 1, type=str, is_eager = True, help='Redirect terminal output to a file', default=None)
+
 def terminal(port: str, backend: str, **kwargs):
     """
     Open a terminal to a serial port
@@ -39,7 +42,7 @@ def terminal(port: str, backend: str, **kwargs):
     may be preferred when "share" doesn't perform adequately.
 
     Note: share backend is not yet implemented.
-    """
+    """       
     analytics.send("terminal")
     from pros.serial.devices.vex.v5_user_device import V5UserDevice
     from pros.serial.terminal import Terminal
@@ -82,9 +85,34 @@ def terminal(port: str, backend: str, **kwargs):
         device = devices.vex.V5UserDevice(ser)
     term = Terminal(device, request_banner=kwargs.pop('request_banner', True))
 
+    class TerminalOutput(object):
+        def __init__(self, file):
+            self.terminal = sys.stdout
+            self.log = open(file, 'a')
+        def write(self, data):
+            self.terminal.write(data)
+            self.log.write(data) 
+        def flush(self):
+            pass
+        def end(self):
+            self.log.close()
+
+    output = None
+    if kwargs.get('output', None):
+        output_file = kwargs['output']
+        output = TerminalOutput(f'{output_file}')
+        term.console.output = output
+        sys.stdout = output
+        logger(__name__).info(f'Redirecting Terminal Output to File: {output_file}')
+    else:
+        sys.stdout = sys.__stdout__
+
     signal.signal(signal.SIGINT, term.stop)
     term.start()
     while not term.alive.is_set():
         time.sleep(0.005)
+    sys.stdout = sys.__stdout__
+    if output:
+        output.end()
     term.join()
     logger(__name__).info('CLI Main Thread Dying')
diff --git a/pros/cli/v5_utils.py b/pros/cli/v5_utils.py
@@ -290,3 +290,34 @@ def capture(file_name: str, port: str, force: bool = False):
         w.write(file_, i_data)
 
     print(f'Saved screen capture to {file_name}')
+
+@v5.command(aliases=['sv', 'set'], short_help='Set a kernel variable on a connected V5 device')
+@click.argument('variable', type=click.Choice(['teamnumber', 'robotname']), required=True)
+@click.argument('value', required=True, type=click.STRING, nargs=1)
+@default_options
+def set_variable(variable, value):
+    import pros.serial.devices.vex as vex
+    from pros.serial.ports import DirectPort
+
+    # Get the connected v5 device
+    port = resolve_v5_port(None, 'system')[0]
+    if port == None:
+        return
+    device = vex.V5Device(DirectPort(port))
+    actual_value = device.kv_write(variable, value).decode()
+    print(f'Value of \'{variable}\' set to : {actual_value}')
+
+@v5.command(aliases=['rv', 'get'], short_help='Read a kernel variable from a connected V5 device')
+@click.argument('variable', type=click.Choice(['teamnumber', 'robotname']), required=True)
+@default_options
+def read_variable(variable):
+    import pros.serial.devices.vex as vex
+    from pros.serial.ports import DirectPort
+
+    # Get the connected v5 device
+    port = resolve_v5_port(None, 'system')[0]
+    if port == None:
+        return
+    device = vex.V5Device(DirectPort(port))
+    value = device.kv_read(variable).decode()
+    print(f'Value of \'{variable}\' is : {value}')
diff --git a/pros/serial/devices/vex/v5_device.py b/pros/serial/devices/vex/v5_device.py
@@ -892,6 +892,36 @@ def sc_init(self) -> None:
         self._txrx_ext_struct(0x28, [], '')
         logger(__name__).debug('Completed ext 0x28 command')
 
+    @retries
+    def kv_read(self, kv: str) -> bytearray:
+        logger(__name__).debug('Sending ext 0x2e command')
+        encoded_kv = f'{kv}\0'.encode(encoding='ascii')
+        tx_payload = struct.pack(f'<{len(encoded_kv)}s', encoded_kv)
+        # Because the length of the kernel variables is not known, use None to indicate we are recieving an unknown length.
+        ret = self._txrx_ext_packet(0x2e, tx_payload, 1, check_length=False, check_ack=True)
+        logger(__name__).debug('Completed ext 0x2e command')
+        return ret
+
+    @retries
+    def kv_write(self, kv: str, payload: Union[Iterable, bytes, bytearray, str]):
+        logger(__name__).debug('Sending ext 0x2f command')
+        encoded_kv = f'{kv}\0'.encode(encoding='ascii')
+        kv_to_max_bytes = {
+            'teamnumber': 7,
+            'robotname': 16
+        }
+        if len(payload) > kv_to_max_bytes.get(kv, 254):
+            print(f'Truncating input to meet maximum value length ({kv_to_max_bytes[kv]} characters).')
+        # Trim down size of payload to fit within the 255 byte limit and add null terminator.
+        payload = payload[:kv_to_max_bytes.get(kv, 254)] + "\0"
+        if isinstance(payload, str):
+            payload = payload.encode(encoding='ascii')
+        tx_fmt =f'<{len(encoded_kv)}s{len(payload)}s'
+        tx_payload = struct.pack(tx_fmt, encoded_kv, payload)
+        ret = self._txrx_ext_packet(0x2f, tx_payload, 1, check_length=False, check_ack=True)
+        logger(__name__).debug('Completed ext 0x2f command')
+        return payload
+
     def _txrx_ext_struct(self, command: int, tx_data: Union[Iterable, bytes, bytearray],
                          unpack_fmt: str, check_length: bool = True, check_ack: bool = True,
                          timeout: Optional[float] = None) -> Tuple: