Merge pull request #167 from Luos-io/rc_2.2.6

Pyluos version 2.2.6

Author: JeromeGalan

pyluos/device.py

@@ -251,22 +251,22 @@ def _poll_and_up(self):
 
     # Update our model with the new state.
     def _update(self, new_state):
-        if 'dead_service' in new_state :
+        if 'dead_service' in new_state.keys() :
             #we have lost a service put a flag on this service
             alias = new_state['dead_service']
             if hasattr(self, alias):
                 getattr(self, alias)._kill()
-        if 'assert' in new_state :
+        if 'assert' in new_state.keys() :
             # A node assert, print assert informations
-            if (('node_id' in new_state['assert']) and ('file' in new_state['assert']) and ('line' in new_state['assert'])):
+            if (('node_id' in new_state.keys()['assert']) and ('file' in new_state.keys()['assert']) and ('line' in new_state.keys()['assert'])):
                 s = "************************* ASSERT *************************\n"
                 s += "*  Node " + str(new_state['assert']['node_id']) + " assert in file " + new_state['assert']['file'] + " line " + str(new_state['assert']['line'])
                 s += "\n**********************************************************"
                 print (s)
-        if 'services' not in new_state:
+        if 'services' not in new_state.keys():
             return
 
-        for alias, mod in new_state['services'].items():
+        for alias, mod in new_state.keys()['services'].items():
             if hasattr(self, alias):
                 getattr(self, alias)._update(mod)
 

pyluos/io/serial_io.py

@@ -26,6 +26,8 @@
 
 class Serial(IOHandler):
     poll_frequency = 200
+    period = 1 / poll_frequency
+    message_rate = 12000 # Max messages per seconds
 
     @classmethod
     def available_hosts(cls):
@@ -44,7 +46,7 @@ def __init__(self, host, baudrate=None):
         self._serial = _serial.Serial(host, baudrate)
         self._serial.flush()
 
-        self._msg = queue.Queue(500)
+        self._msg = queue.Queue(int((self.message_rate / self.period) / 1000))
         self._running = True
 
         self._poll_loop = Thread(target=self._poll)
@@ -112,22 +114,22 @@ def extract_line(s):
                             return extract_line(s[H+1:])
                         else:
                             # Footer is ok
-                            data =  s[data_start:data_end]
-                            if data == b'{}\n':
-                                # Datas are void
-                                return b'', s[data_end + 1:]
-                            else:
-                                # Datas are not void
-                                return data, s[data_end + 1:]
-
-        period = 1 / self.poll_frequency
+                            for _, search_void in enumerate(s[data_start:6]):
+                                if search_void == b'{}\n':
+                                    # Drop void datas
+                                    for index, search_header in enumerate(data):
+                                        if search_header == b'\x7E':
+                                            return extract_line(s[(data_start + index + 1):])
+                            # Return the data
+                            return s[data_start:data_end], s[data_end + 1:]
+
         buff = b''
 
         while self._running:
             to_read = self._serial.in_waiting
 
-            if to_read == 0:
-                time.sleep(period)
+            if (to_read == 0) and (len(buff) == 0):
+                time.sleep(self.period)
                 continue
 
             s = self._serial.read(to_read)

pyluos/services/angle.py

@@ -21,7 +21,7 @@ def rot_position(self, new_val):
 
     def _update(self, new_state):
         Service._update(self, new_state)
-        if 'rot_position' in new_state:
+        if 'rot_position' in new_state.keys():
             new_val = new_state['rot_position']
             if new_val != self._value:
                 self._pub_event('changed', self._value, new_val)

pyluos/services/distance.py

@@ -16,7 +16,7 @@ def distance(self):
 
     def _update(self, new_state):
         Service._update(self, new_state)
-        if 'trans_position' in new_state:
+        if 'trans_position' in new_state.keys():
             new_dist = new_state['trans_position']
             if new_dist != self._value:
                 self._pub_event('changed', self._value, new_dist)

pyluos/services/imu.py

@@ -184,27 +184,27 @@ def heading(self, enable):
 
     def _update(self, new_state):
         Service._update(self, new_state)
-        if 'quaternion' in new_state:
+        if 'quaternion' in new_state.keys():
             self._quaternion = new_state['quaternion']
-        if 'accel' in new_state:
+        if 'accel' in new_state.keys():
             self._acceleration = new_state['accel']
-        if 'gyro' in new_state:
+        if 'gyro' in new_state.keys():
             self._gyro = new_state['gyro']
-        if 'compass' in new_state:
+        if 'compass' in new_state.keys():
             self._compass = new_state['compass']
-        if 'euler' in new_state:
+        if 'euler' in new_state.keys():
             self._euler = new_state['euler']
-        if 'rotational_matrix' in new_state:
+        if 'rotational_matrix' in new_state.keys():
             self._rotational_matrix = new_state['rotational_matrix']
-        if 'pedometer' in new_state:
+        if 'pedometer' in new_state.keys():
             self._pedometer = new_state['pedometer']
-        if 'walk_time' in new_state:
+        if 'walk_time' in new_state.keys():
             self._walk_time = new_state['walk_time']
-        if 'linear_accel' in new_state:
+        if 'linear_accel' in new_state.keys():
             self._linear_acceleration = new_state['linear_accel']
-        if 'gravity_vector' in new_state:
+        if 'gravity_vector' in new_state.keys():
             self._gravity_vector = new_state['gravity_vector']
-        if 'heading' in new_state:
+        if 'heading' in new_state.keys():
             self._heading = new_state['heading']
 
     def control(self):

pyluos/services/light.py

@@ -16,7 +16,7 @@ def lux(self):
 
     def _update(self, new_state):
         Service._update(self, new_state)
-        if 'lux' in new_state:
+        if 'lux' in new_state.keys():
             new_light = new_state['lux']
             if new_light != self._value:
                 self._pub_event('changed', self._value, new_light)

pyluos/services/load.py

@@ -41,7 +41,7 @@ def scale(self, value):
 
     def _update(self, new_state):
         Service._update(self, new_state)
-        if 'force' in new_state:
+        if 'force' in new_state.keys():
             new_force = new_state['force']
             if new_force != self._value:
                 self._pub_event('changed', self._value, new_force)

pyluos/services/pressure.py

@@ -21,7 +21,7 @@ def pressure(self, new_val):
 
     def _update(self, new_state):
         Service._update(self, new_state)
-        if 'pressure' in new_state:
+        if 'pressure' in new_state.keys():
             new_val = new_state['pressure']
             if new_val != self._value:
                 self._pub_event('changed', self._value, new_val)

pyluos/services/service.py

@@ -41,7 +41,6 @@ def __init__(self,
         self._firmware_revision = "Unknown"
         self._luos_revision = "Unknown"
         self._robus_revision = "Unknown"
-        self._uuid = [0, 0, 0]
         self._killed = False
         self._last_update = time.time()
         self._luos_statistics = {}
@@ -55,13 +54,11 @@ def _update(self, new_state):
         if ((time.time() - self._last_update) != 0):
             self.refresh_freq = ((200.0 * self.refresh_freq) + (1.0 / (time.time() - self._last_update))) / 201.0
             self._last_update = time.time()
-        if 'revision' in new_state:
+        if 'revision' in new_state.keys():
             self._firmware_revision = new_state['revision']
-        if 'luos_revision' in new_state:
+        if 'luos_revision' in new_state.keys():
             self._luos_revision = new_state['luos_revision']
-        if 'uuid' in new_state:
-            self._uuid = new_state['uuid']
-        if 'luos_statistics' in new_state:
+        if 'luos_statistics' in new_state.keys():
             self._luos_statistics = new_state['luos_statistics']
             self._luos_statistics['alias'] = self.alias
 
@@ -107,16 +104,6 @@ def luos_revision(self):
         return self._luos_revision
 
     @property
-    def uuid(self):
-        self._uuid = None
-        self._push_value('uuid', "")
-
-        tick_start = time.time()
-        while time.time() - tick_start < READ_TIMEOUT and self._uuid is None:
-            time.sleep(0.01)
-
-        return self._uuid
-
     @property
     def luos_statistics(self):
         """Get service statistics with a timeout of 1 second."""

pyluos/services/servoMotor.py

@@ -499,17 +499,17 @@ def dxl_register(self, register, val):
 
     def _update(self, new_state):
         Service._update(self, new_state)
-        if 'rot_position' in new_state:
+        if 'rot_position' in new_state.keys():
             self._rot_position = new_state['rot_position']
-        if 'rot_speed' in new_state:
+        if 'rot_speed' in new_state.keys():
             self._rot_speed = new_state['rot_speed']
-        if 'trans_position' in new_state:
+        if 'trans_position' in new_state.keys():
             self._trans_position = new_state['trans_position']
-        if 'trans_speed' in new_state:
+        if 'trans_speed' in new_state.keys():
             self._trans_speed = new_state['trans_speed']
-        if 'current' in new_state:
+        if 'current' in new_state.keys():
             self._current = new_state['current']
-        if 'temperature' in new_state:
+        if 'temperature' in new_state.keys():
             self._temperature = new_state['temperature']
 
     def control(self):

pyluos/services/state.py

@@ -19,7 +19,7 @@ def state(self, new_val):
 
     def _update(self, new_state):
         Service._update(self, new_state)
-        if 'io_state' in new_state:
+        if 'io_state' in new_state.keys():
             new_state = new_state['io_state']
             if new_state != self._value:
                 self._pub_event('changed', self._value, new_state)

pyluos/services/unknown.py

@@ -32,7 +32,7 @@ def __init__(self, id, alias, device):
 
     def _update(self, new_state):
         Service._update(self, new_state)
-        if 'io_state' in new_state:
+        if 'io_state' in new_state.keys():
             val = new_state['io_state']
             if val != self._state:
                 self._pub_event('changed', self._state, val)
@@ -41,25 +41,25 @@ def _update(self, new_state):
                 self._pub_event(evt, self._state, val)
 
                 self._state = val
-        if 'rot_position' in new_state:
+        if 'rot_position' in new_state.keys():
             self._angular_position = new_state['rot_position']
-        if 'rot_speed' in new_state:
+        if 'rot_speed' in new_state.keys():
             self._angular_speed = new_state['rot_speed']
-        if 'trans_position' in new_state:
+        if 'trans_position' in new_state.keys():
             self._trans_position = new_state['trans_position']
-        if 'trans_speed' in new_state:
+        if 'trans_speed' in new_state.keys():
             self._trans_speed = new_state['trans_speed']
-        if 'current' in new_state:
+        if 'current' in new_state.keys():
             self._current = new_state['current']
-        if 'temperature' in new_state:
+        if 'temperature' in new_state.keys():
             self._temperature = new_state['temperature']
-        if 'pressure' in new_state:
+        if 'pressure' in new_state.keys():
             self._pressure = new_state['pressure']
-        if 'lux' in new_state:
+        if 'lux' in new_state.keys():
             self._lux = new_state['lux']
-        if 'force' in new_state:
+        if 'force' in new_state.keys():
             self._load = new_state['force']
-        if 'volt' in new_state:
+        if 'volt' in new_state.keys():
             self._volt = new_state['volt']
 
 

pyluos/services/voltage.py

@@ -21,7 +21,7 @@ def volt(self, new_val):
 
     def _update(self, new_state):
         Service._update(self, new_state)
-        if 'volt' in new_state:
+        if 'volt' in new_state.keys():
             new_val = new_state['volt']
             if new_val != self._value:
                 self._pub_event('changed', self._value, new_val)

pyluos/tools/bootloader.py

@@ -445,7 +445,7 @@ def luos_flash(args):
         try:
             args.port= serial_discover(os.getenv('LUOS_BAUDRATE', args.baudrate))[0]
         except:
-            sys.exit("Can't find any Gate interface")
+            sys.exit()
             return
 
     # state used to check each step
@@ -553,7 +553,7 @@ def luos_detect(args):
         try:
             args.port= serial_discover(os.getenv('LUOS_BAUDRATE', args.baudrate))[0]
         except:
-            sys.exit("Can't find any Gate interface")
+            sys.exit()
             return
 
     # detect network
@@ -577,7 +577,7 @@ def luos_reset(args):
         try:
             args.port= serial_discover(os.getenv('LUOS_BAUDRATE', args.baudrate))[0]
         except:
-            sys.exit("Can't find any Gate interface")
+            sys.exit()
             return
 
 

pyluos/tools/discover.py

@@ -14,28 +14,46 @@ def serial_discover(baudrate=1000000):
     available_serial = []
     print("Searching for a gate available")
     for serial_host in serial_hosts:
-        print("Testing " + str(serial_host))
+        print("Search a Gate on port " + str(serial_host))
         try:
-            port = serial.Serial(serial_host, baudrate, timeout=0.05)
+            port = serial.Serial(serial_host, baudrate, timeout=0.2)
+            time.sleep(0.1)
         except:
             continue
 
-        s = b'{}'
-        port.write(b'\x7E' + struct.pack('<H', len(s)) + s + b'\x81')
-        time.sleep(0.01)
-        s = b'{\"discover\": {}}'
-        port.write(b'\x7E' + struct.pack('<H', len(s)) + s + b'\x81')
-        port.flush()
-        for x in range(10):
+        if port is not None:
+            s = b'{}'
+            port.write(b'\x7E' + struct.pack('<H', len(s)) + s + b'\x81')
+            time.sleep(0.01)
+            port.readline()
+            port.flush()
+            time.sleep(0.01)
+            s = b'{\"discover\": {}}'
+            port.write(b'\x7E' + struct.pack('<H', len(s)) + s + b'\x81')
             state = port.readline()
-            if ('gate'.encode() in state):
+            gateResponse = False
+            if 'gate'.encode() in state:
+                gateResponse = True
+            elif len(state):
+                # if many other messages are received, drop them and retry reception
+                for read_retry in range(1000):
+                    state = port.readline()
+                    if 'gate'.encode() in state:
+                        gateResponse = True
+                        break
+            if gateResponse:
                 available_serial.append(serial_host)
-                continue
+            port.reset_output_buffer()
+            port.close()
 
-        port.close()
-    return available_serial
+    if available_serial :
+        return available_serial
+    else:
+        print("... No gate detected")
+        return []
 
 def main():
+    parser = argparse.ArgumentParser()
     parser.add_argument("--baudrate", action="store",
                         help="Choose pyluos serial baudrate default value = 1000000",
                         default=1000000)

pyluos/version.py

@@ -1 +1 @@
-version = '2.2.5'
+version = '2.2.6'