Source code for ui.ui_debug

"""
Debug readout screen for the Romi robot UI.

Displays a single-shot snapshot of key sensor and system values over the
serial terminal whenever the debug option is selected from the main menu.
Outputs three sections: reflectance sensor bar graph with centroid, battery
voltage (corrected for the 4.7 kΩ / 10 kΩ voltage divider), and ultrasonic
distance.
"""
from pyb import ADC
from constants import BATT_ADC




def run(ui):
    """
    Print one debug snapshot to the serial terminal.

    Reads current values from the reflectance sensor array, the battery ADC,
    and the ultrasonic distance sensor, then formats and writes them to the
    serial port.  A single ``yield`` at the end makes this a generator so it
    integrates cleanly with the cooperative scheduler in ``task_user``.

    Args:
        ui: UI context object exposing:
            - ``_ser``: serial port for output.
            - ``_reflectanceSensor``: sensor object whose ``get_values()``
              returns ``(raw, calibrated, centroid, line_detected)``.
            - ``_ultrasonicDistance``: share/queue whose ``get()`` returns
              distance in cm.

    Yields:
        None: Once, after all output has been written.
    """
    ui._ser.write("DEBUG\r\n")

    ############################################
    # LINE SENSOR CENTROID VISUALIZATION
    ############################################
    raw, calibrated, value, found = ui._reflectanceSensor.get_values()
    ui._ser.write(f" RAW   CALIBRATED  \r\n")
    for i in range(len(raw)):
        ui._ser.write(f"{raw[i]:04d}")
        ui._ser.write('   ')
        for _ in range(int(calibrated[i]*10)):
            ui._ser.write('+')
        ui._ser.write("\r\n")

    ui._ser.write(f"Measured centroid: {value:.2f}\r\n")
    ui._ser.write(f"Line detected: {'TRUE' if found else 'FALSE'}\r\n\n")
    ############################################
    ############################################
    # BATTERY LEVEL
    ############################################
    # --- Scale value to account for battery droop
    adcVoltage = ADC(BATT_ADC).read() / 4096 * 3.3

    # Scale for 4.7k and 10k voltage divider.
    # (Slightly tweaked to account for actual VDD)
    battVoltage = adcVoltage / 0.305

    ui._ser.write(f"Battery voltage: {battVoltage:.2f}V\r\n\n")

    ############################################
    # BATTERY LEVEL
    ############################################
    distance = ui._ultrasonicDistance.get()
    ui._ser.write(f"Ultrasonic distance: {distance:.2f}cm\r\n")
    ############################################

    yield  # required to make this a generator