diff --git a/Sublime/fl0w/fl0w.py b/Sublime/fl0w/fl0w.py
index ef24868..21aecab 100644
--- a/Sublime/fl0w/fl0w.py
+++ b/Sublime/fl0w/fl0w.py
@@ -22,6 +22,7 @@ from SublimeMenu import *
import Logging
import webbrowser
+import threading
from time import sleep
import os
@@ -44,12 +45,19 @@ ERROR_OPEN = ""
ERROR_CLOSE = ""
windows = []
+views = []
sensor_phantoms = []
def set_status(status, window):
window.active_view().set_status(FL0W_STATUS,
"fl0w: %s" % status)
+class Target:
+ def __init__(self, id_, name):
+ self.id = id_
+ self.name = name
+
+
class Fl0wClient(Client):
def setup(self, routes, fl0w, debug=False):
super().setup(routes, debug=debug)
@@ -67,13 +75,15 @@ class Fl0wClient(Client):
def closed(self, code, reason):
- self.fl0w.connected = False
+ self.fl0w.invoke_disconnect()
if self.fl0w.debug:
Logging.info("Connection closed: %s (%s)" % (reason, code))
def peer_unavaliable(self, peer):
sublime.error_message("The specifed controller is not connected anymore.")
+ if self.fl0w.target.id == peer:
+ self.fl0w.target = None
class Info(Route):
@@ -87,8 +97,10 @@ class Fl0wClient(Client):
class Sensor(Pipe):
def run(self, data, peer, handler):
+ handler.fl0w.subscriptions_lock.acquire()
for sensor_phantom in handler.fl0w.subscriptions:
sensor_phantom.update_sensor_values(data)
+ handler.fl0w.subscriptions_lock.release()
class Peers(Route):
@@ -97,38 +109,61 @@ class Fl0wClient(Client):
def run(self, data, handler):
handler.fl0w.controller_menu.clear()
+ if handler.fl0w.target != None:
+ if not handler.fl0w.target.id in data:
+ handler.fl0w.target = None
for id_ in data:
action_menu = Menu()
+ power_menu = Menu()
+ utilities_menu = Menu()
action_menu.id_ = id_
+ action_menu.name = data[id_]["name"]
action_menu += Entry("Set Target",
- "Set controller as target for program execution and sensor readouts.",
- action=partial(lambda handler, id_: self.set_target(handler, id_),
- handler, id_))
- action_menu += Entry("Programs",
- "Lists all executable programs on the controller.",
+ "Set controller as target for program execution and sensor readouts",
+ action=partial(self.set_target,
+ handler, id_, data[id_]["name"]))
+ action_menu += Entry("Run program",
+ "Run a botball program on the controller",
action=partial(lambda handler, id_: handler.pipe(None, "list_programs", id_),
+ handler, id_))
+ action_menu += Entry("Stop programs",
+ "Stop all currently running botball programs",
+ action=partial(lambda handler, id_: handler.pipe(None, "stop_programs", id_),
handler, id_))
- action_menu += Entry("Set Name",
+ utilities_menu += Entry("Set Name",
"Sets the hostname of the selected controller",
- action=partial(lambda handler, id_: Input("New Hostname:", initial_text=data[id_]["name"],
+ action=partial(lambda handler, id_: Input("New Hostname:",
+ initial_text=data[id_]["name"],
on_done=lambda hostname: handler.pipe(
- {"set" : hostname}, "hostname", id_)).invoke(handler.fl0w.window), handler, id_))
- action_menu += Entry("Processes",
- "Lists processes currently running on controller.",
+ {"set" : hostname},
+ "hostname", id_)).invoke(handler.fl0w.window), handler, id_))
+ utilities_menu += Entry("Processes",
+ "Lists processes currently running on controller",
action=partial(lambda handler, id_: handler.pipe(None, "processes", id_),
handler, id_))
- action_menu += Entry("Identify",
+ utilities_menu += Entry("Identify",
"Plays an identification sound on the controller.",
action=partial(lambda handler, id_: handler.pipe(None, "identify", id_),
handler, id_))
+ action_menu += Entry("Utilities", "Stuff you might need but probably won't",
+ sub_menu=utilities_menu)
+ power_menu += Entry("Shutdown",
+ "Shutdown the controller",
+ action=partial(lambda handler, id_: handler.pipe(None, "shutdown", id_),
+ handler, id_))
+ power_menu += Entry("Reboot",
+ "Reboot the controller",
+ action=partial(lambda handler, id_: handler.pipe(None, "reboot", id_),
+ handler, id_))
+ action_menu += Entry("Power", "Power related actions", sub_menu=power_menu)
action_menu.back = handler.fl0w.controller_menu
handler.fl0w.controller_menu += Entry(data[id_]["name"], id_, sub_menu=action_menu,
action=self.set_selected_action_menu,
kwargs={"selected_action_menu" : action_menu})
- def set_target(self, handler, peer):
- handler.fl0w.target = peer
+ def set_target(self, handler, peer, name):
+ handler.fl0w.target = Target(peer, name)
if handler.fl0w.debug:
set_status("Target: %s" % peer, handler.fl0w.window)
@@ -152,18 +187,99 @@ class Fl0wClient(Client):
program_menu = Menu(subtitles=False)
for program in data:
program_menu += Entry(program,
- action=lambda handler: handler.pipe(program,
- "run_program",
- handler.routes["peers"].selected_action_menu.id_),
- kwargs={"handler" : handler})
+ action=partial(self.run_program,
+ handler, handler.routes["peers"].selected_action_menu.id_,
+ program))
program_menu.invoke(handler.fl0w.window,
back=handler.routes["peers"].selected_action_menu)
- class StdStream(Pipe):
- def run(data, peer, handler):
- pass
+ def run_program(self, handler, id_, program):
+ handler.pipe(program, "run_program", id_)
+ class StdStream(Pipe):
+ def start(self, handler):
+ self.output_panels = {}
+
+ self.lock = threading.Lock()
+ self.buffer = {}
+
+ self.handler = None
+
+ self.fetcher = self.Fetcher(self.buffer, self.write_to_panel,
+ self.lock)
+ self.fetcher.start()
+
+
+ def create_output_panel(self, window, peer):
+ view = window.create_output_panel(peer)
+ view.settings().set("draw_white_space", False)
+ view.settings().set("draw_indent_guides", False)
+ view.settings().set("gutter", False)
+ view.settings().set("line_numbers", False)
+ view.set_read_only(True)
+ return view
+
+
+ def run(self, data, peer, handler):
+ self.handler = handler
+ if type(data) is str:
+ self.lock.acquire()
+ # try/except is faster than an explicit if as long as the
+ # condition is not met
+ try:
+ self.buffer[peer].append(data)
+ except KeyError:
+ self.buffer[peer] = []
+ self.create_output_panel(handler.fl0w.window, peer)
+ self.output_panels[peer] = self.create_output_panel(handler.fl0w.window, peer)
+ self.buffer[peer].append(data)
+ self.lock.release()
+ """
+ elif type(data) is dict:
+ # Bad solution, should instead be treated seperately
+ # while still being timed correctly.
+ meta_text = ""
+ if "exit_code" in data:
+ meta_text += "Program finished with exit code: %d\n" % data["exit_code"]
+ self.lock.acquire()
+ self.buffer.append(meta_text)
+ self.lock.release()
+ """
+
+
+ def write_to_panel(self, text, peer):
+ self.output_panels[peer].set_read_only(False)
+ self.output_panels[peer].run_command("append", {"characters": text, "scroll_to_end" : True})
+ self.output_panels[peer].set_read_only(True)
+ self.handler.fl0w.window.run_command("show_panel", {"panel": "output.%s" % peer})
+
+
+ # Sublime gets quite overwhelmed when faced with typical
+ # "while (1) { printf(...)}" output.
+ # That's why instead of directly writing to the view all received text
+ # is bundled together after a fixed period of time.
+ class Fetcher(threading.Thread):
+ def __init__(self, buffer, write_to_panel, lock, push_rate=0.2):
+ threading.Thread.__init__(self)
+ self.buffer = buffer
+ self.write_to_panel = write_to_panel
+ self.lock = lock
+ self.push_rate = push_rate
+ self.daemon = True
+
+ def run(self):
+ while True:
+ self.lock.acquire()
+ for peer in self.buffer:
+ if len(self.buffer[peer]) > 0:
+ self.write_to_panel(
+ "".join(self.buffer[peer]),
+ peer)
+ self.buffer[peer] = []
+ self.lock.release()
+ sleep(self.push_rate)
+
class Fl0w:
def __init__(self, window, debug=False):
@@ -175,6 +291,7 @@ class Fl0w:
self.connected = False
self.subscriptions = {}
+ self.subscriptions_lock = threading.Lock()
self._combined_subscriptions = {"analog" : [], "digital" : []}
self._target = None
@@ -234,11 +351,14 @@ class Fl0w:
@target.setter
def target(self, target):
if self.target != None:
- self.ws.pipe("unsubscribe", "sensor", self.target)
+ self.ws.pipe("unsubscribe", "sensor", self.target.id)
self._target = target
- set_status("Set target: %s" % target, self.window)
- if self.combined_subscriptions != {"analog" : [], "digital" : []}:
- self.ws.pipe({"subscribe" : self.combined_subscriptions_}, "sensor", target)
+ if target != None:
+ set_status("Target: %s (%s)" % (target.name, target.id), self.window)
+ if self.combined_subscriptions != {"analog" : [], "digital" : []}:
+ self.ws.pipe({"subscribe" : self.combined_subscriptions}, "sensor", target.id)
+ else:
+ set_status("The target has become unavaliable.", self.window)
@property
@@ -262,6 +382,9 @@ class Fl0w:
set_status("Debug set to %s" % self._debug, self.window)
+ # Could be simplified because only one view can be active at any time.
+ # This would definetly lead to some major performace improvements on
+ # view switching and less unnecessary unsubscribes.
@property
def combined_subscriptions(self):
return self._combined_subscriptions
@@ -272,20 +395,25 @@ class Fl0w:
if self.combined_subscriptions != combined_subscriptions_:
self._combined_subscriptions = combined_subscriptions_
if self.connected and self.target != None:
- self.ws.pipe("unsubscribe", "sensor", self.target)
- self.ws.pipe({"subscribe" : combined_subscriptions_}, "sensor",
- self.target)
+ self.ws.pipe("unsubscribe", "sensor", self.target.id)
+ if combined_subscriptions_ != {"analog" : [], "digital" : []}:
+ self.ws.pipe({"subscribe" : combined_subscriptions_}, "sensor",
+ self.target.id)
def subscribe(self, sensor_phatom, subscriptions):
+ self.subscriptions_lock.acquire()
self.subscriptions[sensor_phatom] = subscriptions
+ self.subscriptions_lock.release()
self.make_subscriptions()
def unsubscribe(self, sensor_phantom):
if sensor_phantom in self.subscriptions:
+ self.subscriptions_lock.acquire()
del self.subscriptions[sensor_phantom]
+ self.subscriptions_lock.release()
self.make_subscriptions()
@@ -306,7 +434,12 @@ class Fl0w:
if os.path.isfile(self.folder + relpath):
if self.debug:
Logging.info("Running program '%s'" % relpath)
- self.ws.pipe(relpath, "run_program", self.target)
+ self.ws.pipe(relpath.rstrip(".c"), "run_program", self.target.id)
+
+
+ def stop_programs(self):
+ if self.connected and self.target != None:
+ self.ws.pipe(None, "stop_programs", self.target.id)
def invoke_start_menu(self):
@@ -328,7 +461,8 @@ class Fl0w:
self.ws = Fl0wClient('ws://%s' % connect_details)
self.ws.setup({"info" : Fl0wClient.Info(), "peers" : Fl0wClient.Peers(),
"processes" : Fl0wClient.Processes(),
- "list_programs" : Fl0wClient.ListPrograms(), "sensor" : Fl0wClient.Sensor()},
+ "list_programs" : Fl0wClient.ListPrograms(), "sensor" : Fl0wClient.Sensor(),
+ "std_stream" : Fl0wClient.StdStream()},
self, debug=True)
self.ws.connect()
sublime.set_timeout_async(self.ws.run_forever, 0)
@@ -349,6 +483,7 @@ class Fl0w:
for sensor_phantom in sensor_phantoms:
if sensor_phantom.window.id() == self.window.id():
sensor_phantom.enabled = False
+ self.target = None
self.ws.close()
set_status("Connection closed '%s'" % self.folder, self.window)
self.connected = False
@@ -407,47 +542,61 @@ class RunCommand(sublime_plugin.WindowCommand):
else:
sublime.error_message("fl0w is not running in your current window.")
+class StopCommand(sublime_plugin.WindowCommand):
+ def run(self):
+ if hasattr(self.window, "fl0w"):
+ if self.window.fl0w.connected:
+ if self.window.fl0w.target == None:
+ sublime.error_message("A target controller has to be set to "
+ "stop programs.")
+ else:
+ self.window.fl0w.stop_programs()
+ else:
+ sublime.error_message("fl0w is not connected.")
+ else:
+ sublime.error_message("fl0w is not running in your current window.")
+
class SensorCommand(sublime_plugin.WindowCommand):
- def __init__(self, window):
- super().__init__(window)
- self.enabled = False
-
-
def run(self):
- if not self.enabled:
- if hasattr(self.window, "fl0w"):
- if self.window.fl0w.connected:
- if self.window.fl0w.target == None:
- sublime.error_message("A target controller has to be set to "
- "enable inline sensor readouts.")
- else:
- self.enabled = not self.enabled
- for sensor_phantom in sensor_phantoms:
- if sensor_phantom.window.id() == self.window.id():
- sensor_phantom.enabled = self.enabled
- set_status("Enabled sensor phantoms.", self.window)
+ if hasattr(self.window, "fl0w"):
+ if self.window.fl0w.connected:
+ if self.window.fl0w.target == None:
+ sublime.error_message("A target controller has to be set to "
+ "enable inline sensor readouts.")
else:
- sublime.error_message("fl0w is not connected.")
+ view_id = self.window.active_view().id()
+ for view in views:
+ if view.id() == view_id:
+ view.sensor_phantom.enabled = not view.sensor_phantom.enabled
+ view_file_name = view.file_name()
+ if view_file_name == None:
+ view_file_name = "untitled"
+ set_status("%s sensor phantoms for '%s'." % (
+ "Enabled" if view.sensor_phantom.enabled else "Disabled",
+ view_file_name),
+ self.window)
else:
- sublime.error_message("fl0w is not running in your current window.")
+ sublime.error_message("fl0w is not connected.")
else:
- self.enabled = not self.enabled
- for sensor_phantom in sensor_phantoms:
- if sensor_phantom.window.id() == self.window.id():
- sensor_phantom.enabled = self.enabled
- set_status("Disabled sensor phantoms.", self.window)
+ sublime.error_message("fl0w is not running in your current window.")
+
class SensorPhantom(sublime_plugin.ViewEventListener):
def __init__(self, view):
self.view = view
+ self.view.sensor_phantom = self
+ if not view in views:
+ views.append(view)
self.window = view.window()
# Is patched by the fl0w instance that is in control of the same window
self.fl0w = None
self._enabled = False
+ self.previously_enabled = False
+
self._matches = {"analog" : [], "digital" : []}
self.timeout_scheduled = False
@@ -467,16 +616,17 @@ class SensorPhantom(sublime_plugin.ViewEventListener):
@enabled.setter
def enabled(self, enabled_):
- self._enabled = enabled_
if enabled_:
if self.fl0w != None:
self.find_matches()
self.fl0w.subscribe(self, self.subscriptions)
+ self._enabled = True
else:
if self.fl0w != None:
self.fl0w.unsubscribe(self)
for sensor_type in ("analog", "digital"):
- self.window.active_view().erase_phantoms(sensor_type)
+ self.view.erase_phantoms(sensor_type)
+ self._enabled = False
@property
@@ -547,6 +697,17 @@ class SensorPhantom(sublime_plugin.ViewEventListener):
self.find_matches()
+
+ def on_deactivated(self):
+ self.previously_enabled = self.enabled
+ if self.enabled:
+ self.enabled = False
+
+ def on_activated(self):
+ if not self.enabled and self.previously_enabled:
+ self.enabled = True
+
+
def __del__(self):
self.enabled = False
if self in sensor_phantoms: