first attempt at async driver (with errors!)

mil_common/drivers/electrical_protocol/CMakeLists.txt

@@ -3,7 +3,9 @@ project(electrical_protocol)
 find_package(catkin REQUIRED COMPONENTS
   rospy
   serial
+  axros
 )
+
 catkin_python_setup()
 catkin_package()
 

mil_common/drivers/electrical_protocol/electrical_protocol/Async_readme.txt

@@ -0,0 +1,26 @@
+Everything currently labelled async is unifinished
+and not fully working.
+
+The last issue I had was the simulated device not
+being able to connect to the test, all async files are
+commented out.
+
+You can run the async test with the following command:
+"rostest --text electrical_protocol async_simulated.test"
+
+If you have any questions or confusion about the mess
+I've made here feel free to reach out: [email protected]
+
+ps: when starting you will most likely have to make
+async_test_simulated_basic.py / async_driver.py executable
+example: chmod +x async_test_simulated_basic.py (makes it executable)
+
+some helpful sites:
+axros examples
+https://mil.ufl.edu/docs/reference/axros/examples.html
+
+axros reference
+https://mil.ufl.edu/docs/reference/axros/api.html#service
+
+asyncio reference
+https://docs.python.org/3/library/asyncio.html

mil_common/drivers/electrical_protocol/electrical_protocol/__init__.py

@@ -11,5 +11,6 @@
 class can be used, which supports packets built through this library.
 """
 
+from .async_driver import AsyncSerialDevice
 from .driver import ROSSerialDevice
 from .packet import AckPacket, ChecksumException, NackPacket, Packet

mil_common/drivers/electrical_protocol/electrical_protocol/async_driver.py

@@ -1,3 +1,4 @@
+'''
 from __future__ import annotations
 
 import abc
@@ -6,7 +7,8 @@
 from typing import Any, Generic, TypeVar, Union, cast, get_args, get_origin
 
 import axros
-import rospy
+
+# import rospy
 import serial
 import serial_asyncio
 
@@ -23,13 +25,17 @@ def __init__(self, device: AsyncSerialDevice):
         self.byte_count = 0
         self.buffer = b""
         self.expected_count = None
+        print("in init?")
 
     def connection_made(self, transport: asyncio.BaseTransport) -> None:
         self.transport = transport
+
+        print("port opened", transport)
         self.transport.serial.reset_input_buffer()  # type: ignore
         self.transport.serial.reset_output_buffer()  # type: ignore
 
     def data_received(self, data: bytes) -> None:
+        print("data received?")
         # Either wait to hear the next start byte, or keep accumulating bytes
         # for the next packet
         if self.expected_count is None:
@@ -114,7 +120,7 @@ def __init_subclass__(cls) -> None:
         cls._send_T = get_args(cls.__orig_bases__[0])[0]  # type: ignore
         cls._recv_T = get_args(cls.__orig_bases__[0])[1]  # type: ignore
 
-    async def connect(self, port: str, baudrate: int) -> None:
+    async def connect(self, port: str, baudrate: int, loop) -> None:
         """
         Connects to the port with the given baudrate. If the device is already
         connected, the input and output buffers will be flushed.
@@ -123,34 +129,40 @@ async def connect(self, port: str, baudrate: int) -> None:
             port (str): The serial port to connect to.
             baudrate (int): The baudrate to connect with.
         """
+        print("3")
         self.port = port
         self.baudrate = baudrate
-        if self.transport:
-            raise RuntimeError("Device is already connected.")
+
+        # if self.transport:
+        #    raise RuntimeError("Device is already connected.")
+        print("the serial connection runs after this?")
         self.transport, self.protocol = await serial_asyncio.create_serial_connection(
-            asyncio.get_event_loop(),
+            loop,
             DeviceProtocol,
             port,
             baudrate=baudrate,
         )
 
-    def close(self) -> None:
+        print("the serial connection creator finished?")
+
+    async def close(self) -> None:
         """
         Closes the serial device.
         """
-        rospy.loginfo("Closing serial device...")
+        print("Closing serial device...")
         if not self.transport:
             raise RuntimeError("Device is not connected.")
         else:
             with contextlib.suppress(OSError):
                 if self.transport.serial.in_waiting:  # type: ignore
-                    rospy.logwarn(
+                    print(
                         "Shutting down device, but packets were left in buffer...",
                     )
             self.transport.close()
+
             self.transport = None
 
-    def write(self, data: bytes) -> None:
+    async def write(self, data: bytes) -> None:
         """
         Writes a series of raw bytes to the device. This method should rarely be
         used; using :meth:`~.send_packet` is preferred because of the guarantees
@@ -164,21 +176,22 @@ def write(self, data: bytes) -> None:
         self.transport.write(data)
 
     def send_packet(self, packet: SendPackets) -> None:
+        print("4")
         """
         Sends a given packet to the device.
 
         Arguments:
             packet (:class:`~.Packet`): The packet to send.
         """
-        self.write(bytes(packet))
+        asyncio.create_task(self.write(bytes(packet)))
 
-    def _read_from_stream(self) -> bytes:
+    async def _read_from_stream(self) -> bytes:
         # Read until SOF is encourntered in case buffer contains the end of a previous packet
-        if not self.device:
+        if not self.transport:
             raise RuntimeError("Device is not connected.")
         sof = None
         for _ in range(10):
-            sof = self.device.read(1)
+            sof = self.transport.serial.read(1)
             if not len(sof):
                 continue
             sof_int = int.from_bytes(sof, byteorder="big")
@@ -188,13 +201,13 @@ def _read_from_stream(self) -> bytes:
             raise TimeoutError("No SOF received in one second.")
         sof_int = int.from_bytes(sof, byteorder="big")
         if sof_int != SYNC_CHAR_1:
-            rospy.logerr("Where da start char at?")
+            print("Where da start char at?")
         data = sof
         # Read sync char 2, msg ID, subclass ID
-        data += self.device.read(3)
-        length = self.device.read(2)  # read payload length
+        data += self.transport.serial.read(3)
+        length = self.transport.serial.read(2)  # read payload length
         data += length
-        data += self.device.read(
+        data += self.transport.serial.read(
             int.from_bytes(length, byteorder="little") + 2,
         )  # read data and checksum
         return data
@@ -208,14 +221,14 @@ def _correct_type(self, provided: Any) -> bool:
         else:
             return isinstance(provided, self._recv_T)
 
-    def _read_packet(self) -> bool:
+    async def _read_packet(self) -> bool:
         if not self.device:
             raise RuntimeError("Device is not connected.")
         try:
             if not self.is_open() or self.device.in_waiting == 0:
                 return False
             if self.device.in_waiting > 200:
-                rospy.logwarn_throttle(
+                print(
                     0.5,
                     "Packets are coming in much quicker than expected, upping rate...",
                 )
@@ -224,33 +237,33 @@ def _read_packet(self) -> bool:
             assert isinstance(packed_packet, bytes)
             packet = Packet.from_bytes(packed_packet)
         except serial.SerialException as e:
-            rospy.logerr(f"Error reading packet: {e}")
+            print(f"Error reading packet: {e}")
             return False
         except OSError:
-            rospy.logerr_throttle(1, "Cannot read from serial device.")
+            print(1, "Cannot read from serial device.")
             return False
         if not self._correct_type(packet):
-            rospy.logerr(
+            print(
                 f"Received unexpected packet: {packet} (expected: {self._recv_T})",
             )
             return False
         packet = cast(RecvPackets, packet)
-        self.on_packet_received(packet)
+        await self.on_packet_received(packet)
         return True
 
-    def _process_buffer(self, _: rospy.timer.TimerEvent) -> None:
+    async def _process_buffer(self, _: rospy.timer.TimerEvent) -> None:
         if not self.is_open():
             return
         try:
-            self._read_packet()
+            await self._read_packet()
         except Exception as e:
-            rospy.logerr(f"Error reading recent packet: {e}")
+            print(f"Error reading recent packet: {e}")
             import traceback
 
             traceback.print_exc()
 
     @abc.abstractmethod
-    def on_packet_received(self, packet: RecvPackets) -> None:
+    async def on_packet_received(self, packet: RecvPackets) -> None:
         """
         Abstract method to be implemented by subclasses for handling packets
         sent by the physical electrical board.
@@ -259,3 +272,4 @@ def on_packet_received(self, packet: RecvPackets) -> None:
             packet (:class:`~.Packet`): The packet that is received.
         """
         pass
+'''

mil_common/drivers/electrical_protocol/electrical_protocol/driver.py

@@ -75,6 +75,7 @@ def connect(self, port: str, baudrate: int) -> None:
             port (str): The serial port to connect to.
             baudrate (int): The baudrate to connect with.
         """
+        rospy.loginfo("3")
         self.port = port
         self.baudrate = baudrate
         self.device = serial.Serial(port, baudrate, timeout=0.1)
@@ -113,6 +114,7 @@ def write(self, data: bytes) -> None:
         self.device.write(data)
 
     def send_packet(self, packet: SendPackets) -> None:
+        rospy.loginfo("4")
         """
         Sends a given packet to the device.
 

mil_common/drivers/electrical_protocol/package.xml

@@ -6,6 +6,7 @@
   <maintainer email="[email protected]">cameron.brown</maintainer>
   <license>MIT</license>
   <buildtool_depend>catkin</buildtool_depend>
+  <exec_depend>axros</exec_depend>
   <exec_depend>rospy</exec_depend>
   <exec_depend>serial</exec_depend>
 </package>

mil_common/drivers/electrical_protocol/test/async_calculator_device.py

@@ -0,0 +1,104 @@
+#!/usr/bin/env python3
+"""
+from __future__ import annotations
+
+import asyncio
+from dataclasses import dataclass
+
+# from threading import Event, Thread
+from typing import Union
+
+import uvloop
+from axros import NodeHandle
+from electrical_protocol import AsyncSerialDevice, Packet
+from std_msgs.msg import Float32, String
+from std_srvs.srv import Empty, EmptyRequest, EmptyResponse
+
+
+@dataclass
+class RequestAddPacket(Packet, class_id=0x37, subclass_id=0x00, payload_format="<ff"):
+    number_one: float
+    number_two: float
+
+
+@dataclass
+class RequestSubPacket(Packet, class_id=0x37, subclass_id=0x01, payload_format="<ff"):
+    start: float
+    minus: float
+
+
+@dataclass
+class AnswerPacket(Packet, class_id=0x37, subclass_id=0x02, payload_format="<f"):
+    result: float
+
+
+class AsyncCalculatorDevice(
+    AsyncSerialDevice[Union[RequestAddPacket, RequestSubPacket], AnswerPacket],
+):
+    def __init__(self, nh: NodeHandle):
+        self.nh = nh
+        print("1")
+
+        # await asyncio.gather(self.port_topic.setup(), self.start_service.setup(), self.answer_topic.setup())
+
+    async def setup(self):
+        # Move the async setup logic to a separate method
+        print("Setting up AsyncCalculatorDevice...")
+
+        # Create subscriber, service, and publisher
+        self.port_topic = self.nh.subscribe("~port", String, self.port_callback)
+        await self.port_topic.setup()
+        print(f"Port topic: {self.port_topic.is_running}")
+        self.start_service = self.nh.advertise_service("~trigger", Empty, self.trigger)
+        await self.start_service.setup()
+        print(f"Start service: {self.start_service.is_running}")
+        self.answer_topic = self.nh.advertise("~answer", Float32, latching=True)
+        print(f"Answer topic: {self.start_service.is_running}")
+        await self.answer_topic.setup()
+        # Set up the subscriber, publisher, and service asynchronously
+
+        print("AsyncCalculatorDevice setup complete.")
+
+        self.next_packet = asyncio.Event()
+        self.i = 0
+
+        self.transport = None
+        self.protocol = None
+
+    def port_callback(self, msg: String):
+        print("2")
+        if self.loop.is_running:
+            print("why are you running, but good")
+        self.connect(msg.data, 115200, self.loop)
+
+    async def trigger(self, _: EmptyRequest) -> EmptyResponse:
+        if self.transport == None:
+            print("transport is not with us")
+        print("4")
+        self.num_one, self.num_two = self.i, 1000 - self.i
+        self.i += 1
+        self.send_packet(
+            RequestAddPacket(number_one=self.num_one, number_two=self.num_two),
+        )
+        return EmptyResponse()
+
+    def on_packet_received(self, packet) -> None:
+        self.answer_topic.publish(Float32(data=packet.result))
+        self.next_packet.set()
+
+
+async def main():
+    nh, remaining_args = NodeHandle.from_argv_with_remaining(
+        "async_calculator_device", anonymous=True,
+    )
+    async with nh:
+        print("Starting AsyncCalculatorDevice...")
+        device = AsyncCalculatorDevice(nh)
+
+        await device.setup()
+
+
+if __name__ == "__main__":
+    uvloop.install()
+    asyncio.run(main())
+"""

mil_common/drivers/electrical_protocol/test/async_simulated.test

@@ -0,0 +1,7 @@
+
+<!-- <?xml version="1.0" encoding="UTF-8"?>
+<launch>
+    <param name="/is_simulation" value="True" />
+    <node pkg="electrical_protocol" type="async_calculator_device.py" name="async_calculator_device" output="screen" />
+    <test pkg="electrical_protocol" test-name="async_test_simulated_basic" type="async_test_simulated_basic.py" />
+</launch> -->