main.py

# Code.py for Auli Cato, Driver
# Finn Biggs - finn@auli.tech
# 17-Nov-2022

from utils import config
from Cato import Cato, Events

import microcontroller as mc
from microcontroller import watchdog as w
from watchdog import WatchDogMode
import gc

import asyncio

from imu import LSM6DS3TRC

from StrUUIDService import DebugStream as DBS
import storage

batt_ev = asyncio.Event()
# Beginning code proper


def mem( loc = "" ):
    print(f"Free Memory at {loc}: \n\t{gc.mem_free()}")

async def control_loop(c : Cato):
    """Control loop for Cato standard operation (MODE 0)"""
    while True:
        print("@ control_loop")
        await Events.control_loop.wait() #await permission to start
        Events.control_loop.clear()

        await c.block_on( c._move_mouse )
        Events.mouse_event.set()


async def main():
    try:
        with open("gesture.cato",'r') as g:
            pass
        with open("gesture.cato",'a') as g:
            pass
        
        print("Unplug Cato for gesture recording session")
        mc.nvm[2] = True

    except OSError as ose:
        print(ose)
        if(ose.errno == 30):
            print("Rebooting for Gesture Training")
            mc.nvm[0] = False
            mc.reset()
    
    
    '''
    ##once remount process is confirmed to work consistently, only try/except is necessary
    if(mc.nvm[1]):
        try:
            storage.remount('/', False)
            mc.nvm[1] = False
            DBS.println("Successful remount RO")
        except RuntimeError as re:
            DBS.println("COM port detected")
    else:
        DBS.println("No remount necessary")
    '''

    c = Cato( bt = True, do_calib = True)
    Cato.imu.imu_enable.set()
    tasks = {}
    if((config["operation_mode"] == "gesture_mouse") and not Events.gesture_collecting.is_set()):
        tasks = {
            "control_loop"  : asyncio.create_task(control_loop( c )),
        }

    tasks.update(c.tasks)
    await asyncio.sleep(0.3)
    Cato.imu.reorient()
    Cato.imu.imu_enable.set()
    Events.control_loop.set()
    try:
        await asyncio.gather(*tasks.values())
    except Exception as ex:
        import traceback
        with open("ErrorLog.txt",'w') as el: 
            el.write(traceback.format_exception(ex))

asyncio.run(main())