Merge pull request #252 from Open-STEM/JacobNanoXRP

Add NanoXRP robot support with firmware detection and battery threshold

Author: kcq888

src/components/blockly/xrp_blocks.js

@@ -308,6 +308,17 @@ Blockly.Blocks['xrp_r_refl'] = {
   }
 };
 
+Blockly.Blocks['xrp_m_refl'] = {
+  init: function () {
+    this.appendDummyInput()
+      .appendField("Middle reflectance");
+    this.setOutput(true, null);
+    this.setColour(90); // soft green
+    this.setTooltip("");
+    this.setHelpUrl("");
+  }
+};
+
 //Sensors - Gyro
 Blockly.Blocks['xrp_yaw'] = {
   init: function () {

src/components/blockly/xrp_blocks_python.js

@@ -174,6 +174,14 @@ pythonGenerator.forBlock['xrp_r_refl'] = function (block) {
   return [code, pythonGenerator.ORDER_NONE];
 };
 
+// NanoXRP only - middle reflectance sensor
+pythonGenerator.forBlock['xrp_m_refl'] = function (block) {
+  pythonGenerator.definitions_['import_reflectance'] = 'from XRPLib.reflectance import Reflectance';
+  pythonGenerator.definitions_[`reflectance_setup`] = `reflectance = Reflectance.get_default_reflectance()`;
+  var code = `reflectance.get_middle()`;
+  return [code, pythonGenerator.ORDER_NONE];
+};
+
 //Gyro
 pythonGenerator.forBlock['xrp_yaw'] = function (block) {
   pythonGenerator.definitions_['import_imu'] = 'from XRPLib.imu import IMU';

src/components/navbar.tsx

@@ -411,10 +411,7 @@ function NavBar({ layoutref }: NavBarProps) {
             // await CommandToXRPMgr.getInstance().updateMicroPython(dirHandle);
             const fileHandle = await dirHandle?.getFileHandle('firmware.uf2', { create: true });
             writable = await fileHandle!.createWritable();
-            const firmwareFilename =
-                CommandToXRPMgr.getInstance().getXRPDrive() === Constants.XRP_PROCESSOR_BETA
-                    ? 'firmware2040.uf2'
-                    : 'firmware2350.uf2';
+            const firmwareFilename = CommandToXRPMgr.getInstance().getFirmwareFilename();
             AppMgr.getInstance().emit(EventType.EVENT_PROGRESS, '10');
             const data = await (await fetch('micropython/' + firmwareFilename)).arrayBuffer();
             await writable.write(data);
@@ -1109,7 +1106,7 @@ function NavBar({ layoutref }: NavBarProps) {
                     };
 
                     if (connectionType === ConnectionType.USB) {
-                        if (voltage < 0.45) {
+                        if (voltage < 0.45 && !CommandToXRPMgr.getInstance().isNanoXRP()) {
                             // display a confirmation message to ask the user to turn on the power switch
                             const powerswitchImage =
                                 CommandToXRPMgr.getInstance().getXRPDrive() ===
@@ -1128,7 +1125,7 @@ function NavBar({ layoutref }: NavBarProps) {
                             beginExecution();
                         }
                     } else if (connectionType === ConnectionType.BLUETOOTH) {
-                        if (voltage < 0.45) {
+                        if (voltage < 0.45 && !CommandToXRPMgr.getInstance().isNanoXRP()) {
                             // display a confirmation message to ask the user to turn on the power switch
                             //this one will only happen if they are using a power device plugged into the USB port and the power switch is off.
                             setDialogContent(
@@ -1138,7 +1135,7 @@ function NavBar({ layoutref }: NavBarProps) {
                                 />,
                             );
                             toggleDialog();
-                        } else if (voltage < 5.0) {
+                        } else if (voltage < (CommandToXRPMgr.getInstance().isNanoXRP() ? 3.6 : 5.0)) {
                             setDialogContent(<BatteryBadDlg cancelCallback={toggleDialog} />);
                             toggleDialog();
                         } else {

src/connections/connection.ts

@@ -67,6 +67,12 @@ abstract class Connection {
     abstract disconnect(): Promise<void>;
     abstract isConnected(): boolean;
 
+    private _isNanoXRP: boolean = false;
+
+    isNanoXRP(): boolean { return this._isNanoXRP; }
+
+    setNanoXRP(val: boolean): void { this._isNanoXRP = val; }
+
     /**
      * HandleEsc 
      * @param value 

src/managers/commandstoxrpmgr.ts

@@ -41,6 +41,7 @@ export class CommandToXRPMgr {
     private DEBUG_CONSOLE_ON: boolean = true;
     private HAS_MICROPYTHON: boolean = false;
     private is_XRP_MP: boolean = false;
+    private is_NanoXRP: boolean = false;
 
     private latestLibraryVersion: string = "";
 
@@ -226,6 +227,8 @@ export class CommandToXRPMgr {
                         this.PROCESSOR = 2350;
                     } else if (hiddenLines[1].includes('RP2040')) {
                         this.PROCESSOR = 2040;
+                        this.is_NanoXRP = hiddenLines[1].includes('NanoXRP');
+                        this.connection?.setNanoXRP(this.is_NanoXRP);
                     }
                 }
                 if(hiddenLines[1].includes('XRP')){ //is this an XRP version of microPython?
@@ -250,7 +253,9 @@ export class CommandToXRPMgr {
         this.XRPId = undefined;
         this.lastRun = undefined;
         this.HAS_MICROPYTHON = true;    // this is set after connection is successful
-        
+        this.is_NanoXRP = false;
+        this.connection?.setNanoXRP(false);
+
         //get version information from the XRP
         const info = await this.getVersionInfo();
 
@@ -1031,6 +1036,20 @@ export class CommandToXRPMgr {
         return (this.PROCESSOR! === 2350) ? "RP2350" : "RPI-RP2";
     }
 
+    /**
+     * getFirmwareFilename
+     * @returns the firmware filename for the connected robot
+     */
+    getFirmwareFilename(): string {
+        if (this.PROCESSOR === 2350) return 'firmware2350.uf2';
+        if (this.is_NanoXRP) return 'firnware2040nanoxrp.uf2';
+        return 'firmware2040.uf2';
+    }
+
+    isNanoXRP(): boolean {
+        return this.is_NanoXRP;
+    }
+
     /**
      * getMPFilename
      * @returns the MicroPython filename

src/managers/pluginmgr.ts

@@ -47,13 +47,19 @@ export default class PluginMgr {
     // --- Public Methods ---
     public async pluginCheck(): Promise<void> {
         let needsUpdate = false;
-        
+
         // Check for RP2350 board special case
         if (this.cmdToXRPMgr.getXRPDrive() === "RP2350") {
             await this.configNonBeta();
             needsUpdate = true;
         }
 
+        // Add NanoXRP-specific blocks
+        if (this.cmdToXRPMgr.isNanoXRP()) {
+            this.configNanoXRP();
+            needsUpdate = true;
+        }
+
         // Load and process plugins from plugin.json
         await this.loadPlugins();
 
@@ -229,6 +235,33 @@ export default class PluginMgr {
     }
 
 
+    /**
+     * Add NanoXRP-specific blocks to the toolbox (middle reflectance sensor)
+     */
+    private configNanoXRP(): void {
+        const toolbox = BlocklyConfigs.ToolboxJson;
+        // eslint-disable-next-line @typescript-eslint/no-explicit-any
+        const contents = toolbox.contents as any[];
+
+        const sensorsCategory = contents.find(cat =>
+            cat.kind === "CATEGORY" && cat.name === "Sensors"
+        );
+
+        if (sensorsCategory) {
+            // eslint-disable-next-line @typescript-eslint/no-explicit-any
+            const reflectanceCategory = sensorsCategory.contents.find((cat: any) =>
+                cat.kind === "CATEGORY" && cat.name === "Reflectance"
+            );
+
+            if (reflectanceCategory) {
+                reflectanceCategory.contents.push({
+                    "kind": "BLOCK",
+                    "type": "xrp_m_refl"
+                });
+            }
+        }
+    }
+
     /**
      * Configure non-beta blocks for RP2350 board
      */