Enhance Hexpansion Manager, add BLE logging, and improve HexDrive support

.gitignore

@@ -6,4 +6,7 @@ BadgeBot.code-workspace
 .editorconfig
 .venv/
 .venv-wsl*/
-
+# minify.py build artefacts
+vendor/**/*.min.py
+vendor/**/*.renamed.py
+EEPROM/*.renamed.py

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "vendor/HexDrive2"]
+	path = vendor/HexDrive2
+	url = https://github.com/TeamRobotmad/HexDrive2.git

.vscode/settings.json

@@ -1,26 +1,7 @@
 {
-    // Force pylint to use the shared project config in pyproject.toml.
+    // Force pylint to use the shared sim/apps config.
     // This keeps CLI runs and VS Code diagnostics aligned.
     "pylint.args": [
-        "--rcfile=${workspaceFolder}/pyproject.toml"
-    ],
-
-    // Pylance diagnostics are separate from pylint.
-    // We disable missing-import noise for BadgeOS/MicroPython modules that
-    // only exist on-device, while keeping other analysis enabled.
-    "python.analysis.diagnosticSeverityOverrides": {
-        "reportMissingModuleSource": "none",
-        "reportMissingImports": "none"
-    },
-
-    // Point Pylance at local .pyi stubs for BadgeOS and MicroPython APIs.
-    // See typings/README.md for rationale and maintenance notes.
-    "python.analysis.stubPath": "typings",
-
-    // No additional import roots are needed because stubs are provided via
-    // python.analysis.stubPath and project files resolve from workspace root.
-    "python.analysis.extraPaths": [],
-
-    // Keep analysis enabled for all project files by default.
-    "python.analysis.ignore": []
-}
+        "--rcfile=${workspaceFolder}/../pyproject.toml"
+    ]
+}

EEPROM/gps.py

@@ -12,22 +12,25 @@
 
 # Minimal length method names to make the mpy file as small as possible so it might fit in the 2k hexpansion EEPROM.
 # Minimal functionality to get a GPS fix
-# This version is NOT for the App Store
 
-VERSION = 1
 
 # Hardware defintions:
 TX_PIN  = 1    # HS_G for TX
 RX_PIN  = 0    # HS_F for RX
 RESET_PIN = 2  # HS_H for reset
 PPS_PIN = 3    # HS_I for PPS
 
+GREEN_LED_PIN = 2   # LS_C for green LED control
+RED_LED_PIN   = 3   # LS_D for red LED control
+
 ###JUST FOR USE WITH MY PROTOTYPE BOARD
 ENABLE_PIN  = 0  # First LS pin used to enable the SMPSU
 ###JUST FOR USE WITH MY PROTOTYPE BOARD
 
 class GPSApp(app.App):         # pylint: disable=no-member
     """ App to get GPS data from a GPS module connected to the hexpansion and display it on the badge. """
+    VERSION = 1         # Increment this when making changes to the app that require the hexpansion app to be re-flashed with the new code.
+
     def __init__(self, config: HexpansionConfig | None = None):
         super().__init__()
         # If run from EEPROM on the hexpansion, the config will be passed in with the correct pin objects
@@ -68,11 +71,6 @@ def deinit(self):
         self.power_control.value(0)  # Cut power to the GPS to save power when not in use
 
 
-    def get_version(self) -> int:
-        """ Get the version of the app - this is used to determine if an upgrade is required. """
-        return VERSION
-
-
     async def s(self, event: RequestStopAppEvent):
         """ Handle the RequestStopAppEvent so that we can release resources """
         if event.app == self:

README.md

@@ -1,6 +1,6 @@
 # BadgeBot app
 
-Companion app for the HexDrive hexpansion. Supports 2 brushed DC motors, 4 RC servos, 1 motor + 2 servos. Features Logo-style motor programming, PID line following with automatic gain tuning, I²C sensor testing, servo test mode, and persistent settings management.
+Companion app for the HexDrive hexpansion. Supports 2 brushed DC motors, 4 RC servos (2 for HexDrive2), 1 motor + 2 servos (1 for HexDrive2). Features Logo-style motor programming, PID line following with automatic gain tuning, I²C sensor testing, servo test mode, and persistent settings management.
 
 This guide is current for BadgeBot version 1.5
 
@@ -16,10 +16,9 @@ If your HexDrive software (stored on the EEPROM on the hexpansion) is not the la
 - 1 Motor and 2 Servos
 - Unknown
 
-The board can drive 2 brushed DC motors, 4 RC servos, 1 DC motor and 2 servos.
 Once you have selected the desired 'flavour' - please confirm by pressing the "C" (confirm) button.
- 
-There must be a HexDrive board plugged in and running the latest software to use the BadgeBot app. If this is not the case then you will see a warning that you need a HexDrive with a reference to this repo. 
+
+There must be a HexDrive board plugged in and running the latest software to use the BadgeBot app. If this is not the case then you will see a warning that you need a HexDrive with a reference to this repo.
 
 ### Main Menu ###
 
@@ -71,9 +70,9 @@ When running from badge power the current available is limited - the best way to
 
 The maximum allowed servo range is VERY WIDE - most Servos will not be able to cope with this, so you probably want to reduce the ```servo_range``` setting to suit your servos.
 
-Each Servo or Motor driver requires a PWM signals to control it, so a single HexDrive takes up four PWM resources on the ESP32.  As there are 8 such resources, the 'flavour' of your HexDrives will determine how many you can run simultaneously as long as you don't have any other hexpansions or applications using PWM resources. Two '4 Servo' or 'Unknown' flavour HexDrives will use up all the available PWM channels, whereas you can run up to 4 HexDrives in '2 Motor' flavour. (While each motor driver does actually require two PWM signals we have been able to reduce this to one by swapping it between the active signal when the motor direction changes.)
+Each Servo or Motor driver requires a PWM signal to control it, so a single HexDrive can take upto four PWM resources on the ESP32.  As there are 8 such resources, the 'flavour' of your HexDrives will determine how many you can run simultaneously as long as you don't have any other hexpansions or applications using PWM resources. Two '4 Servo' flavour HexDrives will use up all the available PWM channels, whereas you can run up to 4 HexDrives in '2 Motor' flavour. (While each motor driver does actually require two PWM signals we have been able to reduce this to one by swapping it between the active signal when the motor direction changes.)
 
-If you unplug a HexDrive the PWM resources will be released immediately so you can move them around the badge easily. 
+If you unplug a HexDrive the PWM resources will be released immediately so you can move them around the badge easily.
 
 
 ### Install guide
@@ -85,6 +84,7 @@ This repo contains lots of files that you don't need on your badge to use a HexD
 + metadata.json
 + app.py or app.mpy
 + EEPROM/hexdrive.mpy
++ EEPROM/hexdrive2.mpy
 + utils.mpy
 + hexpansion_mgr.mpy
 + motor_controller.mpy
@@ -100,18 +100,15 @@ This repo contains lots of files that you don't need on your badge to use a HexD
 + sensors/__init__.mpy
 + sensors/sensor_base.mpy
 + sensors/vl53l0x.mpy
-+ sensors/vl6180x.mpy
-+ sensors/tcs3472.mpy
-+ sensors/tcs3430.mpy
-+ sensors/opt4048.mpy
++ sensors/opt4060.mpy
 
 
 ### Hexpansion Recovery ###
 
 If you have issues with a HexDrive, or for that matter any hexpansion fitted with an EEPROM, e.g. a software incompatibility with a particular badge software version, you can reset the EEPROM back to blank as follows:
 1) Plug in the hexpansion to Slot 1 (will work with any slot but you have to change the "1" below to the slot number.
 2) Connect your favourite Terminal program to the COM port presented by the Badge over USB.
-3) Press "Ctrl" & "C" simultaneously. i.e. "Ctrl-C" 
+3) Press "Ctrl" & "C" simultaneously. i.e. "Ctrl-C"
 4) You should now be presented with a prompt ">>>" which is called the python REPL. At this type in the following lines (the HexDrive EEPROM is 8kbytes so requires 16 bit addressing, hence the ```addrsize=16``` other hexpansions may use smaller EEPROMS where this is not required):
    ```
 		from machine import I2C
@@ -214,6 +211,38 @@ PYTHONPATH=/path/to/badge-2024-software ../.venv-wsl310/bin/python -m pytest tes
 ### Best practise
 Run `isort` on in-app python files. Check `pylint` for linting errors.
 
+### Minification
+
+Hexpansion apps stored on EEPROM are minified before being compiled to `.mpy` to reduce their on-badge footprint.  The following files are minified:
+
+| Source | Artifact |
+|--------|----------|
+| `vendor/HexDrive2/hexdrive2.py` | `EEPROM/hexdrive2.mpy` |
+| `EEPROM/hexdrive.py` | `EEPROM/hexdrive.mpy` |
+
+The pipeline uses `dev/minify.py` which:
+1. Renames internal `self.*` attributes to short names via an AST transform (source stays readable)
+2. Strips docstrings with `python-minifier`
+3. Compiles with `mpy-cross -O2`
+
+Typical savings are ~5% compared with compiling from source directly.
+
+The minifier is invoked **automatically** by `dev/download_to_device.py` for any `ModuleSpec` that has `minify=True`.  You do not need to run it manually during normal development.
+
+To run it standalone and see a before/after size comparison for all minified modules:
+```
+python dev/minify.py
+```
+
+Or to minify a single file (as `download_to_device.py` does):
+```
+python dev/minify.py --source EEPROM/hexdrive.py --artifact EEPROM/hexdrive.mpy
+```
+
+`python-minifier` is listed in `dev/dev_requirements.txt` and is installed as part of the standard dev-environment setup.
+
+Intermediate build artefacts (`*.min.py`, `*.renamed.py`) are listed in `.gitignore` and should not be committed.
+
 ### Regenerating QR Code
 QR generation is a development-time task and is intentionally kept out of normal
 runtime loading for the app.