Added sensor locking, stop_programs, shutdown, reboot, made run_program async
Sensor locking: This fixes the iteration errors that occured during polling in case of subscrive/unsubscribe events. Pipes for shutdown, reboot. Pipe to stop all botball programs. run_program blocked all further communication during program runtime, fixed now.
This commit is contained in:
Philip Trauner
parent
e9f34ae3b0
commit
f9ccbd9ae2
1 changed files with 44 additions and 60 deletions
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@ -10,6 +10,7 @@ import sys
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import subprocess
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from random import randint
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from _thread import start_new_thread
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import threading
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CHANNEL = 2
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IS_WALLABY = Utils.is_wallaby()
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@ -42,6 +43,7 @@ class SensorReadout:
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def __init__(self, handler, poll_rate=0.2):
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self.poll_rate = poll_rate
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self.handler = handler
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self.peer_lock = threading.Lock()
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self.peers = {}
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self.readout_required = {SensorReadout.ANALOG : [],
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SensorReadout.DIGITAL : []}
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@ -69,32 +71,40 @@ class SensorReadout:
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if port not in self.readout_required[mode]:
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self.readout_required[mode].append(port)
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if not peer in self.peers:
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self.peer_lock.acquire()
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self.peers[peer] = {SensorReadout.ANALOG : [],
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SensorReadout.DIGITAL : []}
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self.peer_lock.release()
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self.peers[peer][mode].append(port)
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def unsubscribe(self, port, mode, peer):
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if peer in self.peers:
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if port in self.peers[peer][mode]:
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self.peer_lock.acquire()
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del self.peers[peer][mode][self.peers[peer][mode].index(port)]
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self.peer_lock.release()
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self.determine_required_readouts()
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def determine_required_readouts(self):
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readout_required = {SensorReadout.ANALOG : [],
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SensorReadout.DIGITAL : []}
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self.peer_lock.acquire()
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for peer in self.peers:
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for mode in (SensorReadout.ANALOG, SensorReadout.DIGITAL):
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for port in self.peers[peer][mode]:
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if not port in readout_required[mode]:
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readout_required[mode].append(port)
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self.peer_lock.release()
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self.readout_required = readout_required
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def unsubscribe_all(self, peer):
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if peer in self.peers:
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self.peer_lock.acquire()
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del self.peers[peer]
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self.peer_lock.release()
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self.determine_required_readouts()
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@ -120,6 +130,7 @@ class SensorReadout:
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for mode in SensorReadout.MODES:
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for port in self.readout_required[mode]:
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current_values[mode][port] = self.get_sensor_value(port, mode)
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self.peer_lock.acquire()
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for peer in self.peers:
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readouts = 0
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response = {"analog" : {}, "digital" : {}}
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@ -129,6 +140,7 @@ class SensorReadout:
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readouts += 1
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if readouts != 0:
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self.handler.pipe(response, "sensor", peer)
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self.peer_lock.release()
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time.sleep(self.poll_rate)
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@staticmethod
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@ -160,6 +172,14 @@ class ListPrograms(Pipe):
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handler.pipe(programs, handler.reverse_routes[self], peer)
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class StopPrograms(Pipe):
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def run(self, data, peer, handler):
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if handler.debug:
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Logging.info("Stopping all botball programs.")
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output = subprocess.call(["killall", "botball_user_program"],
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stdout=subprocess.DEVNULL, stderr=subprocess.STDOUT)
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class RunProgram(Pipe):
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def __init__(self, output_unbuffer):
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self.command = [output_unbuffer, "-i0", "-o0", "-e0"]
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@ -173,17 +193,18 @@ class RunProgram(Pipe):
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if os.path.isfile(path):
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program = subprocess.Popen(self.command + [path],
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stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
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start_new_thread(self.stream_stdout, (program, peer, handler))
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else:
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if handler.debug:
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Logging.warning("Program '%s' not found." % data[:-1])
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def stream_stdout(self, program, peer, handler):
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# Poll process for new output until finished
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for line in iter(program.stdout.readline, b""):
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handler.pipe(line.decode(), "std_stream", peer)
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else:
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if handler.debug:
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Logging.warning("Program '%s' not found." % data)
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class StopProgram(Pipe):
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def run(self, data, peer, handler):
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pass
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program.wait()
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exit_code = program.returncode if type(program.returncode) is int else -1
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handler.pipe({"exit_code" : exit_code}, "std_stream", peer)
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class Sensor(Pipe):
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@ -225,59 +246,20 @@ class Sensor(Pipe):
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self.sensor_readout = SensorReadout(handler)
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class WallabyControl(Route):
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def __init__(self, output_unbuffer):
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self.output_unbuffer = output_unbuffer
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self.actions_with_params = {"run" : self.run_program}
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self.actions_without_params = {"disconnect" : self.disconnect,
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"reboot" : self.reboot, "shutdown" : self.shutdown, "stop" : self.stop}
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self.currently_running_program = None
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def run(self, data, handler):
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if type(data) is str:
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if data in self.actions_without_params.keys():
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self.actions_without_params[data](handler)
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elif type(data) is dict:
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for action in data:
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if action in self.actions_with_params.keys():
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_thread.start_new_thread(self.actions_with_params[action], (handler, data[action]))
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class Shutdown(Pipe):
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def run(self, data, peer, handler):
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try:
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subprocess.check_output(["shutdown", "now"])
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except subprocess.CalledProcessError:
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Logging.warning("Shutdown could not be initiated.")
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def run_program(self, handler, program):
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command = [self.output_unbuffer, "-i0", "-o0", "-e0"]
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command.append("%s%s/botball_user_program" % (handler.sync.folder, program))
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self.currently_running_program = subprocess.Popen(command, stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
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# Poll process for new output until finished
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for line in iter(self.currently_running_program.stdout.readline, b""):
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handler.sock.send(line.decode(), "std_stream")
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self.currently_running_program.wait()
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handler.sock.send({"return_code" : self.currently_running_program.returncode}, "std_stream")
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self.currently_running_program = None
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def stop(self, handler):
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if self.currently_running_program != None:
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Logging.info("Killing currently running programm.")
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self.currently_running_program.kill()
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else:
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Logging.info("No program started by fl0w.")
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def reboot(self, handler):
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self.disconnect(handler)
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os.system("reboot")
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exit(0)
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def shutdown(self, handler):
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self.disconnect(handler)
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os.system("shutdown -h 0")
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def disconnect(self, handler):
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self.stop(handler)
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handler.sock.close()
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class Reboot(Pipe):
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def run(self, data, peer, handler):
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try:
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subprocess.check_output(["reboot"])
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except subprocess.CalledProcessError:
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Logging.warning("Reboot could not be initiated.")
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class Subscribe(Route):
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@ -348,7 +330,9 @@ try:
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ws.setup({"subscribe" : Subscribe(), "hostname" : Hostname(),
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"processes" : Processes(), "sensor" : Sensor(),
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"identify" : Identify(), "list_programs" : ListPrograms(),
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"whoami" : WhoAmI(), "run_program" : RunProgram(config.output_unbuffer)},
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"whoami" : WhoAmI(), "run_program" : RunProgram(config.output_unbuffer),
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"stop_programs" : StopPrograms(), "shutdown" : Shutdown(),
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"reboot" : Reboot()},
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debug=config.debug)
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ws.connect()
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ws.run_forever()
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