Add list files cmd

cri_lib/cri_controller.py

@@ -37,6 +37,9 @@ class CRIController:
     def __init__(self) -> None:
         self.robot_state: RobotState = RobotState()
         self.robot_state_lock = threading.Lock()
+
+        self.program_list: list = []
+        self.program_list_lock: Lock = threading.Lock()
 
         self.parser = CRIProtocolParser(self.robot_state, self.robot_state_lock)
 
@@ -1514,6 +1517,36 @@ def get_motor_temperatures(
         else:
             return False
 
+    def list_flies(self, target_directory: str = "Programs" ) -> bool:
+        """request a list of all files in the directory, which is relative to the /Data/ directory.
+
+        Parameters
+        ----------
+        directory : str
+            directory on iRC `/Data/<target_directory>` in which files are located, e.g. `Programs` for normal robot programs
+
+        Returns
+        -------
+        a list of files?
+        """
+
+        command = f"CMD ListFiles {target_directory}"
+
+        if (
+            self._send_command(command=command, register_answer=True, fixed_answer_name="info_flielist")
+            is not None
+        ):
+            if (
+                error_msg := self._wait_for_answer(
+                    "info_flielist", timeout=self.DEFAULT_ANSWER_TIMEOUT
+                )
+            ) is not None:
+                logger.debug("Error in GetBoardTemp command: %s", error_msg)
+                return False
+            else:
+                return True
+        else:
+            return False
 
 # Monkey patch to maintain backward compatibility
 CRIController.MotionType = MotionType  # type: ignore

cri_lib/cri_protocol_parser.py

@@ -25,9 +25,11 @@
 class CRIProtocolParser:
     """Class handling the parsing of CRI messages to the robot state."""
 
-    def __init__(self, robot_state: RobotState, robot_state_lock: Lock):
+    def __init__(self, robot_state: RobotState, robot_state_lock: Lock, program_list : list, program_list_lock: Lock):
         self.robot_state = robot_state
         self.robot_state_lock = robot_state_lock
+        self.program_list = program_list
+        self.program_list_lock = program_list_lock
 
     def parse_message(
         self, message: str
@@ -598,6 +600,13 @@ def _parse_info(self, parameters: list[str]) -> str | None:
                 self.robot_state.motor_temps = temperatures
 
             return "info_motortemp"
+        elif parameters[0] == "FileList":
+            with self.program_list_lock:
+                self.program_list.clear() # direct point to parameters[] will break the shared reference
+                self.program_list.extend(parameters[2:]) # first element is the target_folder
+                print(self.program_list)
+            return "info_flielist"
+
         else:
             return None