Added sync plugin

requirements.txt

@@ -1 +1,3 @@
-ur-rtde~=1.4.1
+ur-rtde~=1.4.1
+redis~=3.5.3
+pyprocsync>=0.1.0

single_ursim_control/config.py

@@ -3,4 +3,7 @@ import os
 
 # Config is loaded statically at import time
 class Config:
-    pass
+    RUN_ID = os.environ.get("RUN_ID", "")
+    SYNC_DELAY = float(os.environ.get("SYNC_DELAY", 1.0))
+    REDIS_URL = os.environ["REDIS_URL"]
+    SYNC_TIMEOUT = os.environ.get("SYNC_TIMEOUT", None)  # Wait infinity by default

single_ursim_control/main.py

@@ -2,7 +2,7 @@
 import os
 import sys
 from config import Config
-from plugins import WaitPlugin
+from plugins import WaitPlugin, SyncPlugin
 from plugin_repository import PluginRepository
 from program_executor import ProgramExecutor
 from http_server import ControllerHTTPServer
@@ -34,12 +34,15 @@ def main():
 
     compiler_repo = PluginRepository()
     compiler_repo.register_plugin(WaitPlugin)
+    compiler_repo.register_plugin(SyncPlugin)
 
     # Example code:
     compiler_repo.load_plugin("wait")
+    compiler_repo.load_plugin("sync")
     program = []
     program.append(compiler_repo.get_compiler("wait").compile(secs=2))
     program.append(compiler_repo.get_compiler("wait").compile(secs=3))
+    program.append(compiler_repo.get_compiler("sync").compile(nodes=2, name="test"))
     program.append(compiler_repo.get_compiler("wait").compile(secs=10))
     program.append(compiler_repo.get_compiler("wait").compile(secs=10))
 

single_ursim_control/plugins/__init__.py

@@ -1,2 +1,3 @@
 from .abstract_plugin import AbstractCommand, AbstractCommandCompiler, AbstractPlugin
 from .wait_plugin import WaitPlugin
+from .sync_plugin import SyncPlugin

single_ursim_control/plugins/sync_plugin.py

@@ -0,0 +1,73 @@
+from typing import Dict
+
+from .abstract_plugin import AbstractCommand, AbstractPlugin, AbstractCommandCompiler
+import logging
+import time
+from config import Config
+
+import redis
+from pyprocsync import ProcSync
+
+
+class SyncCommand(AbstractCommand):
+
+    def __init__(self, logger: logging.Logger, procsync_instance: ProcSync, name: str, nodes: int):
+
+        if type(nodes) not in [int]:
+            raise ValueError("Nodes must be int")
+
+        if nodes <= 1:
+            raise ValueError("Nodes must be greater than 1")
+
+        self._logger = logger
+        self._procsync_instance = procsync_instance
+        self._name = name
+        self._nodes = nodes
+
+    def execute(self):
+        self._logger.debug(f"Synchronizing on {self._name} with {self._nodes} nodes...")
+        self._procsync_instance.sync(self._name, self._nodes, Config.SYNC_TIMEOUT)
+        self._logger.debug(f"Event {self._name} synchronized!")
+
+    def describe(self) -> dict:
+        return {
+            "command": "sync",
+            "params": {
+                "name": self._name,
+                "nodes": self._nodes,
+            },
+            "config": {
+                "SYNC_TIMEOUT": Config.SYNC_TIMEOUT,
+                "RUN_ID": Config.RUN_ID
+            }
+        }
+
+
+class SyncCompiler(AbstractCommandCompiler):
+
+    def __init__(self, logger: logging.Logger, procsync_instance: ProcSync):
+        self._logger = logger
+        self._procsync_instance = procsync_instance
+
+    def compile(self, name: str, nodes: int) -> AbstractCommand:
+        return SyncCommand(self._logger, self._procsync_instance, name, nodes)
+
+
+class SyncPlugin(AbstractPlugin):
+    plugin_name = "sync"
+
+    def __init__(self):
+        self._logger = logging.getLogger("plugin").getChild("sync")
+        self._procsync_instance = ProcSync(
+            redis_client=redis.from_url(Config.REDIS_URL),
+            run_id=Config.RUN_ID,
+            delay=Config.SYNC_DELAY
+        )
+
+    def load_compilers(self) -> Dict[str, AbstractCommandCompiler]:
+        return {
+            "sync": SyncCompiler(self._logger, self._procsync_instance)
+        }
+
+    def close(self):
+        self._procsync_instance.close()