Code exit function

Programming Support VEXcode Pro V5 Text Tech Support
1

Continuing the discussion from Run code on exit:

Is there any update as to this functionality? Given that I have a jetson nano on a VEX V5 robot, there is a fool-proof way to start the nano (via sending a serial connection to it upon robot code run). However, I do not have a fool-proof way to send a quick shut-down message when the red button is held on the controller.

Perhaps I can do a “hey are you there” message every x seconds to the nano but like what if I need the V5 Brain to manage certain components (like close a lid or set pneumatic state beforehand)?

2

Not much has changed. The user program can request it is stopped using brain.program_stop(), but there is no way to detect that the program is being stopped by vexos.

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3

Sylib has a piece of code running in a daemon to detect when the center button is pressed to exit the program and turns off the LEDs. I haven’t found this to be completely reliable but maybe something similar will work in your case. code below can be found here, lines 162-179.

            if (frameCount % 5 == 0) {
                mutex_lock _lock{sylib_controller_mutexes[0]};
                if (vexControllerGet(kControllerMaster, static_cast<V5_ControllerIndex>(18))) {
                    if (!controllerCenterButtonPressDetected) {
                        centerControllerPressStartTime = systemTime;
                        controllerCenterButtonPressDetected = true;
                    }
                    if (systemTime > centerControllerPressStartTime + 500) {
                        sylib::Addrled::addrled_enabled = false;
                    }
                    lastCenterControllerPressTime = systemTime;
                } else {
                    controllerCenterButtonPressDetected = false;
                    if (systemTime > lastCenterControllerPressTime + 2500) {
                        sylib::Addrled::addrled_enabled = true;
                    }
                }
            }
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4

Yes, there’s probably a way to detect center button press in VEXcode as well, but that doesn’t help if the program is stopped on the brain or remotely.

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5

Thank you for your time, it means a lot. Does the V5 Brain emit a certain serial through micro USB when a program stops, since you can start and stop programs via the VSCode extension?

6

Not sure this is the route you want to go down, but…

  • The serial protocol used by the brain and controller does have a packet for programatically starting/stopping files loaded to flash (programs), but there’s no packet sent by the brain for when a program has been stopped by the user, so what you’re specifically asking about doesn’t exist, no.
  • That being said, you could monitor the currently running program over USB and detect when that value changes by polling it. I don’t think that would be of any use to you if you’re attempting to stop a solenoid through user code though, since the program would have already exited.
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7

Even if the user program were to change pneumatics on exit, vexos will reset all three wire ports to analog input as well.

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