Check Strapping Pins before Flashing P0

rosys/hardware/__init__.py

@@ -4,7 +4,6 @@
 from .bumper import Bumper, BumperHardware, BumperSimulation
 from .can import CanHardware
 from .communication import Communication, SerialCommunication, WebCommunication
-from .esp_pins import EspPins
 from .estop import EStop, EStopHardware, EStopSimulation
 from .expander import ExpanderHardware
 from .gnss import Gnss, GnssHardware, GnssMeasurement, GnssSimulation
@@ -29,7 +28,6 @@
     'EStop',
     'EStopHardware',
     'EStopSimulation',
-    'EspPins',
     'ExpanderHardware',
     'Gnss',
     'GnssHardware',

rosys/hardware/esp_pins.py

@@ -72,9 +72,20 @@ async def update_all(self) -> None:
         for pin in self._pins.values():
             await self.update_pin(pin)
 
+    async def get_pin_level(self, pin_id: int) -> bool:
+        await self.update_pin(self._pins[pin_id])
+        return self._pins[pin_id].level
+
     async def set_pin_level(self, pin: GpioPin, level: bool) -> None:
         await self.robot_brain.send(f'{self.name}.set_pin_level({pin.gpio}, {1 if level else 0})')
 
+    async def get_strapping_pins(self) -> list[bool]:
+        """Get the state of the strapping pins.
+
+        See https://github.com/zauberzeug/lizard/issues/75 and https://github.com/zauberzeug/lizard/pull/95.
+        """
+        return [await self.get_pin_level(number) for number in [0, 2, 12]]
+
     def developer_ui(self) -> None:
         with ui.column():
             with ui.row().classes('w-full'):

rosys/hardware/lizard_firmware.py

@@ -115,6 +115,9 @@ def download(self) -> None:
     async def flash_core(self) -> None:
         assert isinstance(self.robot_brain.communication, SerialCommunication)
         rosys.notify(f'Flashing Lizard firmware {self.local_version} to Core...')
+        if any(await self.robot_brain.esp_pins_p0.get_strapping_pins()):
+            rosys.notify('Flashing Core failed. Check strapping pins.', 'negative')
+            return
         self.robot_brain.communication.disconnect()
         await rosys.sleep(0.3)
         output = await rosys.run.sh(['sudo', './flash.py', *self.flash_params], timeout=None, working_dir=self.PATH)
@@ -125,6 +128,9 @@ async def flash_core(self) -> None:
 
     async def flash_p0(self, timeout: float = 120) -> None:
         rosys.notify(f'Flashing Lizard firmware {self.core_version} to P0...')
+        if any(await self.robot_brain.esp_pins_p0.get_strapping_pins()):
+            rosys.notify('Flashing P0 failed. Check strapping pins.', 'negative')
+            return
         await self.robot_brain.send('p0.flash()')
         start = rosys.time()
         deadline = start + timeout

rosys/hardware/robot_brain.py

@@ -6,6 +6,7 @@
 from .. import rosys
 from ..event import Event
 from .communication import Communication
+from .esp_pins import EspPins
 from .lizard_firmware import LizardFirmware
 
 CLOCK_OFFSET_HISTORY_LENGTH = 100
@@ -41,6 +42,9 @@ def __init__(self, communication: Communication, *, enable_esp_on_startup: bool
         if enable_esp_on_startup:
             rosys.on_startup(self.enable_esp)
 
+        self.esp_pins_core = EspPins(name='core', robot_brain=self)
+        self.esp_pins_p0 = EspPins(name='p0', robot_brain=self)
+
     @property
     def clock_offset(self) -> float | None:
         return self._clock_offset
@@ -103,10 +107,21 @@ def update_visibility() -> None:
                 with ui.menu() as menu:
                     ui.menu_item('Download', on_click=self.lizard_firmware.download) \
                         .tooltip('Download the latest Lizard firmware from GitHub')
+
+                    async def check_strapping_pins_core():
+                        ui.notify(await self.esp_pins_core.get_strapping_pins())
+                    ui.menu_item('Check Core Strapping Pins', on_click=check_strapping_pins_core) \
+                        .tooltip('Check if the Core strapping pins are in the correct state for flashing.')
                     ui.menu_item('Flash Core', on_click=self.lizard_firmware.flash_core) \
                         .tooltip('Flash the downloaded Lizard firmware to the Core microcontroller')
+
+                    async def check_strapping_pins_p0():
+                        ui.notify(await self.esp_pins_p0.get_strapping_pins())
+                    ui.menu_item('Check P0 Strapping Pins', on_click=check_strapping_pins_p0) \
+                        .tooltip('Check if the P0 strapping pins are in the correct state for flashing.')
                     ui.menu_item('Flash P0', on_click=self.lizard_firmware.flash_p0) \
                         .tooltip('Flash the downloaded Lizard firmware to the P0 microcontroller')
+
                     ui.menu_item('Enable', on_click=self.enable_esp) \
                         .tooltip('Enable the microcontroller module (will later be done automatically)')
                     ui.menu_item('Configure', on_click=self.configure) \