From a4a3523e16fb517716b4ef228d559c091f1a4c35 Mon Sep 17 00:00:00 2001
From: Johannes Ringler <johannesringler@gmail.com>
Date: Tue, 2 Jan 2024 20:13:18 +0100
Subject: [PATCH] Fix error with new pybricks firmware due to reliance on
 DCMotor (#174)

---
 CHANGELOG.md                                 |  1 +
 ble-server/hub_programs/layout_controller.py | 12 +++++++++---
 ble-server/hub_programs/smart_train.py       |  7 +++++--
 brickrail-gui/brickrail-layouts/ble_test.brl |  4 ++--
 4 files changed, 17 insertions(+), 7 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index d375c8c..a97f194 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -11,6 +11,7 @@
 
 ### Fixed
 
+- Fix pybricks error with motors with rotation encoders in pybricks 3.3-stable (https://github.com/Novakasa/brickrail/issues/174).
 - Don't allow adding train to occupied block. This previously created invalid state.
 - Fixed Switches and Crossing motors invalidated port when renaming a hub (https://github.com/Novakasa/brickrail/issues/163)
 
diff --git a/ble-server/hub_programs/layout_controller.py b/ble-server/hub_programs/layout_controller.py
index ae7bb2d..080731a 100644
--- a/ble-server/hub_programs/layout_controller.py
+++ b/ble-server/hub_programs/layout_controller.py
@@ -3,7 +3,7 @@
 from uselect import poll
 from usys import stdin
 
-from pybricks.pupdevices import DCMotor
+from pybricks.pupdevices import DCMotor, Motor
 from pybricks.parameters import Port
 from pybricks.tools import wait, StopWatch
 
@@ -51,7 +51,10 @@ def get_port(index):
 
 class Crossing:
     def __init__(self, port):
-        self. motor = DCMotor(get_port(port))
+        try:
+            self.motor = DCMotor(get_port(port))
+        except OSError:
+            self.motor = Motor(get_port(port))
         self.position = _CROSSING_POS_UP
         self.port = port
         self.stopwatch = StopWatch()
@@ -82,7 +85,10 @@ def execute(self, data):
 
 class Switch:
     def __init__(self, port, pulse_duration = 600):
-        self.motor = DCMotor(get_port(port))
+        try:
+            self.motor = DCMotor(get_port(port))
+        except OSError:
+            self.motor = Motor(get_port(port))
         self.position = _SWITCH_POS_NONE
         self.port = port
         self.pulse_duration = pulse_duration
diff --git a/ble-server/hub_programs/smart_train.py b/ble-server/hub_programs/smart_train.py
index 053eac5..a03a51d 100644
--- a/ble-server/hub_programs/smart_train.py
+++ b/ble-server/hub_programs/smart_train.py
@@ -1,7 +1,7 @@
 from micropython import const
 from ustruct import pack, pack_into
 
-from pybricks.pupdevices import ColorDistanceSensor, DCMotor
+from pybricks.pupdevices import ColorDistanceSensor, DCMotor, Motor
 from pybricks.parameters import Port
 
 from io_hub_unfrozen import IOHub, VERSION
@@ -112,7 +112,10 @@ class TrainMotor:
     def __init__(self):
         self.speed = 0
         self.target_speed = 0
-        self.motor = DCMotor(Port.A)
+        try:
+            self.motor = DCMotor(Port.A)
+        except OSError:
+            self.motor = Motor(Port.A)
         self.direction = 1
     
     def flip_direction(self):
diff --git a/brickrail-gui/brickrail-layouts/ble_test.brl b/brickrail-gui/brickrail-layouts/ble_test.brl
index b3a90a0..8d4b0d5 100644
--- a/brickrail-gui/brickrail-layouts/ble_test.brl
+++ b/brickrail-gui/brickrail-layouts/ble_test.brl
@@ -3,7 +3,7 @@
 	"devices": {
 		"trains": [
 			{
-				"name": "city-blue",
+				"name": "city_hub",
 				"storage": {
 					"0": 3500,
 					"1": 40,
@@ -881,7 +881,7 @@
 				"random_targets": true,
 				"block_id": "block2",
 				"blockindex": 0,
-				"ble_train": "city-blue"
+				"ble_train": "city_hub"
 			}
 		]
 	}