changelog.md

Changelog

note: earlier versions of VecTrix (named VectorDiag) are available here: https://gist.github.com/acidzebra/74d7b288b267d7fcea8c33358d4c2e78

0.9.9-beta.1

• added some extra guard rails and checks to functions throughout
• moved some duplicated code to separate functions (robot_random_turn and robot_check_free space)
• polished up some reanimator stuff
• additional keyboard switches, I for infinite/endless reanimator, volume controls, maybe others? (press H for help)
• removed color customization from main config switches (as now integrated in themes)

0.9.8-beta.4

• The Great Variable Rewrite: rewrote a bunch of variables as proper booleans to improve legibility and my sanity
• moved some function blocks around for consistency
• improved program exit routine for all cases (escape key, CTRL+C, SIGTERM)

0.9.8-beta.3

• fixes and cleanup

0.9.8-beta.2

• added voice_debug switch for lazy behavior monitoring/debugging (Vector will announce reanimator actions)
• minor routine optimizations, fixes
• untangled exceptions vs normal debug statements
• keyboard input (optional, needs library sshkeyboard installed), press H while program is running for help
• currently keyboard input allows: remote control of robot, running all reanimator routines, leaving/returning to charger, changing UI color schemes

0.9.8-beta.1

• added pop wheelie and lift+move cube behaviors to reanimator (WIP)
• minor fixes
• logging improvements (mostly for debug purposes)
• reduced calculation/formatting of display values when they are identical to last measurement

0.9.7-beta.3

• MQTT and CSV logging moved to logging thread
• code cleanup

0.9.7-beta.2

• (minor) more error logging
• (minor) use of room presence (advanced users, not documented, if you have some method of determining room presence that you can access from python you can send Vector off charger only when the room is occupied)
• (minor) cleanup, fixes, and cosmetics

0.9.7-beta.1

• (minor) reworked some calculated values (extended rangefinder bar to 400mm)
• (minor) fixes for faces+recency, dreaming routines
• (minor) MQTT logging (for advanced users, not documented, if you know what MQTT is and use it, it's available, look in the code for the format. If you don't it's an irrelevant feature)
• (minor) start work on graceful SIGTERM handling (mostly for headless mode)
• (minor) cleanup, fixes, and cosmetics

0.9.6

• (minor) cleanup/formatting of log messages, extra formatting for Discord
• (minor) added passive_monitoring_only and reduced_logging switches, the first disables all file/discord logging, reanimator, and continuous cycles (no matter what options set), the second modifies other logging options set to only include more significant messages
• (minor) robot stuck detection (under some circumstances)
• (minor) robot dreams
• (minor) repeat event delay timers on some frequent events to reduce logspam (faces, cubes, ciffs, wake words, pickup)
• (minor) started work on "recency" which remembers recent actions and messages in order to reduce log spam and maybe spawn more diverse behaviors (WIP)
• (minor) behavior override option added to robot_control_request
• (minor) cleanup, fixes, and cosmetics

0.9.5

• renamed VectorDiag to VecTrix as it's grown far beyond just diagnostics.
• (minor) new switch rainbow_eyes - will turn eyes blue when VecTrix is active, yellow in case of error (color will revert to normal when VecTrix is not active)
• (minor) new routines for driving to random pose and looking around
• (minor) reanimator cleanup
• (minor) new vector_name variable - will turn log entries into a more personalized version
• (minor) added Discord logging option
• (minor) reworked log messages to incorporate changes above
• (minor) added timer doubling on reconnect (30 sec, 1 min, 2 min, 4 min... up to 1 hour) to reduce logspam when Vector goes offline due to running out of battery

0.9.4

• (minor) moved logging function to its own thread and implemented logging queue
• (minor) new config option to log battery voltage to separate CSV file for battery performance profiling
• (minor) cube powersaver will disconnect from cube whenever it connects (about every 2 mins when Vector is in freeplay) (this doesn't really work I think)
• (minor) cleanup, fixes, and cosmetics

0.9.3

• (minor) UI buttons now indicate Vector connection status when not connected, orange=connecting, red=error
• (minor) moar switches and config options
• (minor) reanimator: control/release requests now in separate function (minor) fixes and cleanup

0.9.2

• (minor) refactored reanimator, split off animate/drive/cube code into functions
• (minor) improved calculated value/UI code
• (minor) additional thread safety measures
• (minor) cleanup, cosmetics, fixes
• (minor) cube events now working correctly (requires powered cube)

0.9.1

• (minor) added scheduling function to continuous cycle
• (minor) touch detection fix
• (minor) added roll cube action to reanimator
• (minor) (dis)connect resilience and speed improvements
• (minor) moved all calculations and variable declarations out of UI thread (minor) cleanup, cosmetics, fixes

0.9.0

• (major) REANIMATOR will mix random animations when Vector has been idle off-charger (major) added wheel speed graphs to UI (major) implemented full threading for VecTrix, significant performance improvement
• (major) added headless mode, disables UI but runs all other functions
• (major) VecTrix now uses passive event monitoring to get telemetry reducing active calls to robot
• (major) startup resilience and graceful exit improvements (minor) UI color schemes
• (minor) cleanup, fixes, and cosmetic improvements throughout
• (minor) re-licensed to MIT

0.8.0

• (major) reduced number of calls to robot for data gathering by ~50%
• (major) reorganized code into more well-defined sections (prep for asyncio/future implementation)
• (minor) small fixes and cosmetics throughout

0.7.6

• (minor) I am DONE with drive_off_charger and DONE with yeetbot() ,I will just tell the robot to roll forward using set_wheel_motors. I give up. drive_off_charger is unreliable, sometimes it won't execute no matter the priority level, sometimes it will hang forever, who knows.

0.7.5

• (minor) improvements to accel/gyro and logging of same
• (minor) more work on yeetbot()... drive_off_charger seems to be reliable only 70% of the time :(

0.7.4

• (minor) clean up of accel/gyro/head/lift code
• (minor) cleanup and cosmetic fixes
• (minor) did I say I was done with yeetbot()? I lied. (minor) new dock miss detection

0.7.3

• (minor) okay, think I'm done tinkering with yeetrobot(), not perfect but it'll do... for now

0.7.2

• (minor) continued tinkering with yeetrobot()
• (minor) fixes and safety rails

0.7.1

• (minor) fiddling with yeetrobot() to make continuous_cycle more robust (still crappy)
• (minor) cosmetic fixes
• (minor) battery display improvements

0.7.0

• (major) continuous accelerometer recalibration (when robot is still)
• (minor) consistency & cosmetic fixes
• (minor) bugfixes on counters and battery display

0.6.2

• (minor) file logging is now on by default it's quite useful in long runs
• (minor) switch naming consistency
• (minor) added motion_logging and bundled all motion-related stuff there
• (minor) small bugfixes

0.6.1

• (minor) moar switches and config options
• (minor) some cleanup & cosmetic stuff

0.6.0

• (major) rewrote continuous_cycle to use threads - this still fails sometimes but at least doesn't hang the whole program (but leaves some fun threads hanging)
• (major) exciting new switches! (minor) added categories to log entries

0.5.4

• (minor) added calmpower/sleep to logging
• (minor) disabled new dock miss detection due to false positives

0.5.3

• (minor) restructured program sections to be more cohesive/consistent, added comments

0.5.2

• (minor) additional charger dock attempt miss detection
• (minor) re-grouped and expanded switches
• (minor) raw accelerometer/gyro logging
• (minor) configurable offset for accelerometer

0.5.1

• (minor) cosmetic cleanup
• (minor) some additional exception handling

0.5.0

• (major) rewrote logging as a function because things were getting out of hand
• (major) added failed docking attempt detection
• (minor) more fiddling with gyro and accelerometer graphs

0.4.2

• (minor) log improvements

0.4.1

• (minor) extra info on program exit
• (minor) pedantic case changes while going through code
• (minor) voltage graph minor improvements, still crappy
• (minor) small cosmetic stuff and touchups

0.4.0

• (major) UI design changes, reorganized bar layout. path/drive/move/anim moved to same bar and changed to a graph instead of button, swapped some buttons

0.3.3

• (minor) still tinkering with accell graphs
• (minor) added detection for starting VecTrix off dock
• (minor) moar code comments
• (minor) reduced log time precision, don't need microsecond precision

0.3.2

• (minor) small fixes and cosmetics throughout
• (minor) improved accel/gyro/head/lift graphs a little. accelx seems a bit off with the same calculations used for accely and accelz, I wonder if that is just my Vector? I adjusted it so I hope it's all Vectors lol

0.3.1

• (minor) logging fixes

0.3.0

• (major) crappy charging meter implemented
• (major) new switches implemented
• (major) attempting to reduce logspam
• (minor) more detailed object logging
• (minor) work on faceID/names

0.2.0

• (major) added charge/discharge cycle times to logging
• (major) some new optional switches

0.1.0

• (major) initial release, hurray!