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/
-WORKDIR /dual_ursim_control/
-
+ADD requirements.txt requirements.txt
 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

@@ -13,8 +13,10 @@ import openpyxl
 import json
 import logging
 import logging.config
+from xmlrpc.server import SimpleXMLRPCServer
 from configparser import ConfigParser
-#from pynput.keyboard import Listener, Key
+
+# from pynput.keyboard import Listener, Key
 
 SCRIPT_DIR = os.path.dirname(__file__)
 
@@ -24,7 +26,7 @@ config = config_object['DEFAULT']
 
 # TODO: export these to json?
 # Config file name
-#CONFIG_FILE = 'path.xlsx'
+# CONFIG_FILE = 'path.xlsx'
 
 CONFIG_FILE = os.path.join(SCRIPT_DIR, "path.xlsx")
 
@@ -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):
-    try:
-        # logging.debug("Key pressed: {0}".format(key))
-
-        if hasattr(key, 'char'):
-            if key.char == 'f':
-                jogging_wait['Master'] = True
-
-            elif key.char == 'e':
-                jogging_wait['Slave'] = True
-
-    except AttributeError:
-        logging.debug("Special key pressed: {0}".format(key))
-
-
-def on_release(key):
-    try:
-        # logging.debug("Key released: {0}".format(key))
-
-        if hasattr(key, 'char'):
-            if key.char == 'f':
-                jogging_wait['Master'] = False
-
-            elif key.char == 'e':
-                jogging_wait['Slave'] = False
-
-    except AttributeError:
-        logging.debug("Special key pressed: {0}".format(key))
+# def on_press(key):
+#     try:
+#         # logging.debug("Key pressed: {0}".format(key))
+#
+#         if hasattr(key, 'char'):
+#             if key.char == 'f':
+#                 jogging_wait['Master'] = True
+#
+#             elif key.char == 'e':
+#                 jogging_wait['Slave'] = True
+#
+#     except AttributeError:
+#         logging.debug("Special key pressed: {0}".format(key))
+#
+#
+# def on_release(key):
+#     try:
+#         # logging.debug("Key released: {0}".format(key))
+#
+#         if hasattr(key, 'char'):
+#             if key.char == 'f':
+#                 jogging_wait['Master'] = False
+#
+#             elif key.char == 'e':
+#                 jogging_wait['Slave'] = False
+#
+#     except AttributeError:
+#         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']:
-            pass
+        # while not jogging_wait['Master']:
+        #     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']:
-            pass
+        # while not jogging_wait['Slave']:
+        #     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'))
@@ -855,10 +890,12 @@ 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()
+    # listener = Listener(on_press=on_press, on_release=on_release)
+    # listener.start()
 
     if config.getboolean('MASTER_ENABLE'):
         master_thread = threading.Thread(name='MasterThread', target=master_thread, args=(sync_event, path_master))
@@ -874,9 +911,8 @@ if __name__ == '__main__':
     if config.getboolean('SLAVE_ENABLE'):
         slave_thread.join()
 
-    #listener.stop()
-    #listener.join()
+    # listener.stop()
+    # listener.join()
     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())