Merge pull request #99 from DCC-Lab/device-controller

Add DeviceController: headless threaded wrapper for any PhysicalDevice

Author: dccote

hardwarelibrary/__init__.py

@@ -26,6 +26,7 @@
 
 from hardwarelibrary.physicaldevice import *
 from hardwarelibrary.notificationcenter import *
+from hardwarelibrary.devicecontroller import *
 from hardwarelibrary.communication import *
 
 # We want these modules in their namespace

hardwarelibrary/devicecontroller.py

@@ -0,0 +1,326 @@
+"""A headless, GUI-agnostic controller around any PhysicalDevice.
+
+Building an interactive app (e.g. a GUI) on top of a PhysicalDevice means
+solving the same problems every time:
+
+  * device calls block (the Millennia eV confirms ON/OFF by writing, settling,
+    and reading back -- up to several seconds), so they cannot run on a UI
+    thread;
+  * status polling and user actions both touch the same port, so they must be
+    serialized to avoid interleaving bytes (writeCommand is not under the
+    port's transactionLock);
+  * connections drop -- the cable is pulled, the port disappears -- and the app
+    wants to recover automatically;
+  * none of this should know anything about the UI toolkit.
+
+DeviceController owns a single worker thread through which *all* device access
+flows -- submitted commands and the periodic status poll alike -- so there are
+no races and ordering is preserved. It reports everything through the existing
+NotificationCenter, so any front-end (Tk/mytk, Qt, a CLI, a test) just observes
+notifications; marshalling them onto a UI thread is the front-end's job.
+
+It is deliberately decoupled from any toolkit: this module imports only the
+standard library and NotificationCenter.
+
+Example::
+
+    from hardwarelibrary.devicecontroller import (
+        DeviceController, DeviceControllerNotification as N)
+    from hardwarelibrary.notificationcenter import NotificationCenter
+    from hardwarelibrary.sources.millennia import MillenniaDevice
+
+    controller = DeviceController(MillenniaDevice(portPath="/dev/cu.usbmodem1"))
+
+    def onStatus(notification):
+        print(notification.userInfo)   # {'power': .., 'isLaserOn': .., ...}
+
+    NotificationCenter().addObserver(self, onStatus, N.status)
+    controller.start()
+    controller.connect()
+    controller.submit(lambda device: device.turnOn())       # fire-and-forget
+    reading = controller.submit(lambda device: device.power()).result()  # query
+    ...
+    controller.stop()
+"""
+
+import queue
+import time
+from concurrent.futures import Future
+from enum import Enum
+from threading import Event, RLock, Thread
+
+from hardwarelibrary.notificationcenter import NotificationCenter
+
+__all__ = [
+    "DeviceController",
+    "DeviceControllerNotification",
+    "connectionErrorReason",
+]
+
+
+class DeviceControllerNotification(Enum):
+    """Notifications posted by a DeviceController (the controller is the object).
+
+    userInfo payloads:
+      didConnect       -> the device
+      didDisconnect    -> None
+      connectionLost   -> the exception that revealed the drop
+      connectionFailed -> the exception from the failed (re)connect attempt
+      status           -> the dict from device.doGetStatusUserInfo()
+      commandFailed    -> the exception raised by the submitted command
+    """
+    didConnect = "didConnect"
+    didDisconnect = "didDisconnect"
+    connectionLost = "connectionLost"
+    connectionFailed = "connectionFailed"
+    status = "status"
+    commandFailed = "commandFailed"
+
+
+def connectionErrorReason(error):
+    """Classify a connection exception as 'busy'/'permission'/'missing'/None.
+
+    Walks the exception's __cause__/__context__ chain (PhysicalDevice drivers
+    are encouraged to preserve the underlying transport error) and matches it
+    against common serial-port failure strings. Toolkit-agnostic and free of
+    any pyserial import, so a front-end can turn a connectionFailed/lost
+    notification into a human message without re-probing the port.
+    """
+    parts, seen, current = [], set(), error
+    while current is not None and id(current) not in seen:
+        seen.add(id(current))
+        text = str(current).strip()
+        if text:
+            parts.append(text)
+        current = current.__cause__ or current.__context__
+    text = " | ".join(parts).lower()
+    if "resource busy" in text or "errno 16" in text or "busy" in text:
+        return "busy"
+    if "permission" in text or "errno 13" in text or "access is denied" in text:
+        return "permission"
+    if ("no such file" in text or "errno 2" in text or "could not open" in text
+            or "filenotfounderror" in text):
+        return "missing"
+    return None
+
+
+class DeviceController:
+    """Drive a PhysicalDevice from a single worker thread, reporting via notifications.
+
+    Args:
+        device: any PhysicalDevice instance.
+        pollInterval: seconds between status polls while connected. The poll
+            calls device.doGetStatusUserInfo(); if the device has none (returns
+            None), polling is disabled automatically.
+        reconnectInterval: seconds between reconnection attempts while
+            disconnected-but-wanted.
+        autoReconnect: when True, an unexpected drop (or a connect that fails
+            because the device is not yet present) is retried until it succeeds
+            or disconnect() is called. When False, a single failure gives up.
+    """
+
+    def __init__(self, device, pollInterval=1.0, reconnectInterval=2.0,
+                 autoReconnect=True):
+        self.device = device
+        self.pollInterval = pollInterval
+        self.reconnectInterval = reconnectInterval
+        self.autoReconnect = autoReconnect
+
+        self.commandQueue = queue.Queue()
+        self.stopEvent = Event()
+        self.lock = RLock()
+        self.thread = Thread(target=self.runLoop, name="DeviceController",
+                             daemon=True)
+
+        self.connected = False
+        self.wantConnected = False
+        self.supportsStatus = True   # set False if doGetStatusUserInfo()->None
+        self.nextPoll = 0.0
+        self.nextReconnect = 0.0
+        self.lastFailureSignature = None
+
+    # -- public API (any thread) --
+
+    def start(self):
+        """Start the worker thread."""
+        self.thread.start()
+
+    def connect(self):
+        """Request connection (and, with autoReconnect, keep it connected)."""
+        self.commandQueue.put(("connect", None))
+
+    def disconnect(self):
+        """Request disconnection; clears the reconnect intent."""
+        self.commandQueue.put(("disconnect", None))
+
+    def submit(self, action, name=None):
+        """Run ``action(device)`` on the worker thread; return a Future.
+
+        The Future resolves with the action's return value (so query-style
+        devices can read a measurement back: ``controller.submit(lambda d:
+        d.power()).result()``) or with its exception. On failure a commandFailed
+        notification is also posted, for observers that don't hold the Future.
+        A status poll is forced after a successful command so observers see the
+        new state promptly. Do not block on ``.result()`` from a UI thread.
+        """
+        future = Future()
+        self.commandQueue.put(("command", (action, name, future)))
+        return future
+
+    def stop(self):
+        """Stop the worker thread and shut the device down."""
+        self.stopEvent.set()
+        self.commandQueue.put(("disconnect", None))
+        if self.thread.is_alive():
+            self.thread.join(timeout=5.0)
+
+    @property
+    def isConnected(self):
+        with self.lock:
+            return self.connected
+
+    @property
+    def isRunning(self):
+        return self.thread.is_alive()
+
+    # -- worker thread --
+
+    def post(self, name, userInfo=None):
+        NotificationCenter().postNotification(name, notifyingObject=self,
+                                              userInfo=userInfo)
+
+    def runLoop(self):
+        while not self.stopEvent.is_set():
+            try:
+                task = self.commandQueue.get(timeout=self.secondsUntilDue())
+            except queue.Empty:
+                task = None
+
+            if task is not None:
+                self.handleTask(task)
+
+            now = time.monotonic()
+            if self.connected and self.supportsStatus and now >= self.nextPoll:
+                self.nextPoll = now + self.pollInterval
+                self.poll()
+            elif (not self.connected and self.wantConnected
+                  and now >= self.nextReconnect):
+                self.nextReconnect = now + self.reconnectInterval
+                self.attemptConnect()
+
+        self.teardown()
+
+    def secondsUntilDue(self):
+        now = time.monotonic()
+        if self.connected:
+            target = self.nextPoll if self.supportsStatus else now + 0.5
+        elif self.wantConnected:
+            target = self.nextReconnect
+        else:
+            return None  # nothing scheduled; block until a task arrives
+        return max(0.0, target - now)
+
+    def handleTask(self, task):
+        kind, payload = task
+        if kind == "connect":
+            self.wantConnected = True
+            self.nextReconnect = 0.0
+            self.attemptConnect()
+        elif kind == "disconnect":
+            self.wantConnected = False
+            self.doDisconnect()
+        elif kind == "command":
+            self.doCommand(*payload)
+
+    def attemptConnect(self):
+        with self.lock:
+            if self.connected:
+                return
+        try:
+            self.device.initializeDevice()
+        except Exception as error:
+            self.connected = False
+            self.postFailureIfNew(
+                DeviceControllerNotification.connectionFailed, error)
+            if not self.autoReconnect:
+                self.wantConnected = False
+            return
+
+        with self.lock:
+            self.connected = True
+        self.supportsStatus = True
+        self.nextPoll = time.monotonic()  # poll immediately
+        self.lastFailureSignature = None
+        self.post(DeviceControllerNotification.didConnect, userInfo=self.device)
+
+    def poll(self):
+        try:
+            info = self.device.doGetStatusUserInfo()
+        except Exception as error:
+            self.handleConnectionLost(error)
+            return
+        if info is None:
+            # Device exposes no status snapshot; stop polling for it.
+            self.supportsStatus = False
+            return
+        self.post(DeviceControllerNotification.status, userInfo=info)
+
+    def doCommand(self, action, name, future):
+        if not future.set_running_or_notify_cancel():
+            return  # the caller cancelled the Future before it ran
+        if not self.isConnected:
+            error = RuntimeError(
+                "Cannot run command {0!r}: not connected".format(name))
+            self.post(DeviceControllerNotification.commandFailed, userInfo=error)
+            future.set_exception(error)
+            return
+        try:
+            result = action(self.device)
+        except Exception as error:
+            # A failed command may mean the link dropped; verify with a poll.
+            self.post(DeviceControllerNotification.commandFailed, userInfo=error)
+            future.set_exception(error)
+            self.poll()
+            return
+        future.set_result(result)
+        # Reflect the new state promptly.
+        if self.supportsStatus:
+            self.nextPoll = time.monotonic()
+            self.poll()
+
+    def handleConnectionLost(self, error):
+        wasConnected = self.connected
+        with self.lock:
+            self.connected = False
+        self.safeShutdown()
+        self.nextReconnect = time.monotonic() + self.reconnectInterval
+        if not self.autoReconnect:
+            self.wantConnected = False
+        if wasConnected:
+            self.post(DeviceControllerNotification.connectionLost, userInfo=error)
+
+    def doDisconnect(self):
+        with self.lock:
+            self.connected = False
+        self.safeShutdown()
+        self.post(DeviceControllerNotification.didDisconnect)
+
+    def safeShutdown(self):
+        try:
+            self.device.shutdownDevice()
+        except Exception:
+            pass
+
+    def postFailureIfNew(self, name, error):
+        # Avoid flooding identical connectionFailed notifications every interval
+        # while a device stays unavailable; re-post only when the reason changes.
+        signature = (type(error).__name__, connectionErrorReason(error) or str(error))
+        if signature != self.lastFailureSignature:
+            self.lastFailureSignature = signature
+            self.post(name, userInfo=error)
+
+    def teardown(self):
+        if self.connected:
+            with self.lock:
+                self.connected = False
+            self.safeShutdown()