jensandClaude Sonnet 5
0877e7754b
Live-testing on the brewpi Pi found that a connected-but-unresponsive device (e.g. the hendi sitting in its ungraceful-disconnect lockout, see docs/hendi_lockout_findings.md) crashed the whole server: activate() - called both from HeaterTask's `with device.open():` and from a client's Connect/Disconnect command - raised uncaught, escaping the gathered task and killing the entire asyncio.gather in TaskManager.start(). activate()/is_activated()/process() on both real actors now catch comm exceptions and self-heal via disconnect() (the same path a genuine unplug already takes), instead of letting the exception propagate. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01YaPLuRPpyjWcwhMvCvpHCL
134 lines
3.2 KiB
Python
134 lines
3.2 KiB
Python
from contextlib import contextmanager
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from components import AStirrer
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from components.actor.pololu1376 import *
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import time
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import serial
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class StirrerPololu1376(AStirrer):
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def name(self):
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return "Pololu1376"
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def __init__(self, dt, params):
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AStirrer.__init__(self, dt, simulated=False)
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# Deferred-open pyserial idiom - see Pololu1376's own constructor
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# comment: connect() is what actually opens params['port'] (and
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# sets output flow control, which itself requires an open port).
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ser = serial.Serial()
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ser.port = params['port']
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ser.baudrate = params['speed']
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self.drv = Pololu1376(ser)
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def connect(self):
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ok = self.drv.connect()
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self.connected = ok
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self.firmware_version = self.drv.firmware_version if ok else None
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return ok
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def disconnect(self):
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self.drv.disconnect()
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self.connected = False
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self.firmware_version = None
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@contextmanager
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def remote_open(self):
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try:
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self.activate(True)
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yield None
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finally:
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self.activate(False)
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def get_speed(self):
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if self.isOn and self.is_activated():
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return self.speed
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return 0
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def activate(self, enable):
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if not self.connected:
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return
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try:
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print("activate {}".format(enable))
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if enable:
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self.drv.go()
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else:
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self.drv.stop()
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except Exception as e:
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# See HeaterHendi.activate()'s own comment: a device that was
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# connected can still fail a live command (cable pulled
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# mid-run, ...) - this is called both from StirrerTask's tick
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# loop (with self.device.open(): activate(True)/(False)) and
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# from a client's Connect/Disconnect command, neither of which
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# expect activate() itself to ever raise.
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print(f"StirrerPololu1376: comm error in activate({enable}): {e}")
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self.disconnect()
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def _on_set_speed(self, speed):
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if not self.connected:
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return
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try:
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self.drv.motor_forward(speed)
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print("Set speed to {} %".format(speed))
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except Exception as e:
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print(f"StirrerPololu1376: comm error in _on_set_speed: {e}")
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self.disconnect()
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def _on_process(self):
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if not self.connected:
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return
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try:
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status = self.drv.get_variable(Varid.STATUS)
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limit_status = self.drv.get_variable(Varid.STATUS_LIMIT_STATUS)
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if status & 0x01 == 0x01:
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if limit_status & 0x01 == 0x01:
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print("Recover after motor error!")
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self.drv.go()
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except Exception as e:
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print(f"StirrerPololu1376: comm error in _on_process: {e}")
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self.disconnect()
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if __name__ == '__main__':
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s = StirrerPololu1376(dt=1.0, params={'port': "/dev/ttyACM0", 'speed': 115200})
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s.connect()
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with s.remote_open():
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print("Set some speeds")
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s.set_speed(50)
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time.sleep(2)
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s.set_speed(20)
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time.sleep(2)
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s.set_speed(50)
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time.sleep(2)
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print("Pulsed operation, duty cycle = 50%")
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s.set_duty_cycle(0.5)
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s.set_cycle_time(10)
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for i in range(1, 30):
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s.process()
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time.sleep(1)
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print("Pulsed operation, duty cycle = 20%")
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s.set_duty_cycle(0.2)
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s.set_cycle_time(10)
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for i in range(1, 30):
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s.process()
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time.sleep(1)
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print("Continious operation")
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s.set_duty_cycle(1.0)
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s.set_speed(50)
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time.sleep(3.0)
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print("Continious operation increasing speed")
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for speed in range (25, 75, 5):
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s.set_duty_cycle(1.0)
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s.set_speed(speed)
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for d in range(0,3,1):
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s.process()
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time.sleep(1.0)
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print("Leaving context")
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