Threading event wait instead of CPU burning wait

XMLRPC client scripts added

Dockerfile

@@ -1,11 +1,14 @@
 FROM python:3.9
 
-ADD dual_ursim_control requirements.txt /dual_ursim_control/
+ADD requirements.txt requirements.txt
-WORKDIR /dual_ursim_control/
-
 RUN pip3 install -r requirements.txt
 
+ADD dual_ursim_control /dual_ursim_control/
+WORKDIR /dual_ursim_control/
+
 ARG RELEASE_ID
 ENV RELEASE_ID ${RELEASE_ID:-""}
 
+EXPOSE 8888/tcp
+
 CMD ["python3", "main.py"]

dual_ursim_control/main.py

@@ -13,7 +13,9 @@ import openpyxl
 import json
 import logging
 import logging.config
+from xmlrpc.server import SimpleXMLRPCServer
 from configparser import ConfigParser
+
 # from pynput.keyboard import Listener, Key
 
 SCRIPT_DIR = os.path.dirname(__file__)
@@ -38,7 +40,11 @@ j_acc = 0
 l_speed = 0
 l_acc = 0
 
-jogging_wait = {"Master": False, "Slave": False}
+# jogging_wait = {"Master": False, "Slave": False}
+jogging_event = {
+    'Master': threading.Event(),
+    'Slave': threading.Event()
+}
 
 path_master = {}
 path_slave = {}
@@ -252,50 +258,56 @@ def read_path_waypoints_from_file():
     return path_master, path_slave
 
 
-def on_press(key):
+# def on_press(key):
-    try:
+#     try:
-        # logging.debug("Key pressed: {0}".format(key))
+#         # logging.debug("Key pressed: {0}".format(key))
-
+#
-        if hasattr(key, 'char'):
+#         if hasattr(key, 'char'):
-            if key.char == 'f':
+#             if key.char == 'f':
-                jogging_wait['Master'] = True
+#                 jogging_wait['Master'] = True
-
+#
-            elif key.char == 'e':
+#             elif key.char == 'e':
-                jogging_wait['Slave'] = True
+#                 jogging_wait['Slave'] = True
-
+#
-    except AttributeError:
+#     except AttributeError:
-        logging.debug("Special key pressed: {0}".format(key))
+#         logging.debug("Special key pressed: {0}".format(key))
-
+#
-
+#
-def on_release(key):
+# def on_release(key):
-    try:
+#     try:
-        # logging.debug("Key released: {0}".format(key))
+#         # logging.debug("Key released: {0}".format(key))
-
+#
-        if hasattr(key, 'char'):
+#         if hasattr(key, 'char'):
-            if key.char == 'f':
+#             if key.char == 'f':
-                jogging_wait['Master'] = False
+#                 jogging_wait['Master'] = False
-
+#
-            elif key.char == 'e':
+#             elif key.char == 'e':
-                jogging_wait['Slave'] = False
+#                 jogging_wait['Slave'] = False
-
+#
-    except AttributeError:
+#     except AttributeError:
-        logging.debug("Special key pressed: {0}".format(key))
+#         logging.debug("Special key pressed: {0}".format(key))
 
 
 def master_jogging_wait():
     if config.getboolean('JOGGING_ENABLE'):
         logging.debug("Master-Fred: Press 'f' to continue")
 
-        while not jogging_wait['Master']:
+        # while not jogging_wait['Master']:
-            pass
+        #     pass
+        # jogging_wait['Master'] = False
+        jogging_event['Master'].clear()
+        jogging_event['Master'].wait()
 
 
 def slave_jogging_wait():
     if config.getboolean('JOGGING_ENABLE'):
         logging.debug("Slave-Erik: Press 'e' to continue")
 
-        while not jogging_wait['Slave']:
+        # while not jogging_wait['Slave']:
-            pass
+        #     pass
+        # jogging_wait['Slave'] = False
+        jogging_event['Slave'].clear()
+        jogging_event['Slave'].wait()
 
 
 def master_operate_gripper(target_width):
@@ -817,6 +829,29 @@ def slave_thread(sync_event, path):
     logging.info('Done')
 
 
+class RemoteFuncs:
+    def signalMaster(self):
+        # jogging_wait['Master'] = True
+        jogging_event['Master'].set()
+        return 0
+
+    def signalSlave(self):
+        # jogging_wait['Slave'] = True
+        jogging_event['Slave'].set()
+        return 0
+
+
+class ServerThread(threading.Thread):
+    def __init__(self):
+        threading.Thread.__init__(self)
+        self.daemon = True
+        self.localServer = SimpleXMLRPCServer(('0.0.0.0', 8888))
+        self.localServer.register_instance(RemoteFuncs())
+
+    def run(self):
+        self.localServer.serve_forever()
+
+
 if __name__ == '__main__':
 
     logging.config.fileConfig(os.path.join(SCRIPT_DIR, 'log_config.ini'))
@@ -855,7 +890,9 @@ if __name__ == '__main__':
         'Slave': threading.Event()
     }
 
-    logging.info('Starting keyboard listener')
+    logging.info('Spawning XMLRPC listener thread')
+    xmlrpcServer = ServerThread()
+    xmlrpcServer.start()
 
     # listener = Listener(on_press=on_press, on_release=on_release)
     # listener.start()
@@ -879,4 +916,3 @@ if __name__ == '__main__':
     logging.info("Done")
 
 # TODO: export from ursimulator: root@xu:/var/snap/docker/common/var-lib-docker/volumes/dockursim/_data/programs.UR3#
-

signalMaster.py

@@ -0,0 +1,8 @@
+import xmlrpc.client
+
+if __name__ == '__main__':
+    IP = '127.0.0.1'
+    PORT = '8888'
+
+    s = xmlrpc.client.ServerProxy("http://{0}:{1}".format(IP, PORT))
+    print(s.signalMaster())

signalSlave.py

@@ -0,0 +1,8 @@
+import xmlrpc.client
+
+if __name__ == '__main__':
+    IP = '127.0.0.1'
+    PORT = '8888'
+
+    s = xmlrpc.client.ServerProxy("http://{0}:{1}".format(IP, PORT))
+    print(s.signalSlave())