implement thread per device queue

pylgbst/__init__.py

@@ -102,7 +102,7 @@ class MoveHub(object):
             return
 
         device = self.devices[port]
-        device.handle_port_data(data)
+        device.queue_port_data(data)
 
     def _handle_port_status(self, data):
         port = get_byte(data, 3)

pylgbst/comms.py

@@ -43,11 +43,11 @@ class Requester(GATTRequester):
         self.notification_sink = None
 
         # noinspection PyUnresolvedReferences
-        self._notify_queue = queue.Queue()
-        self._notifier_thread = Thread(target=self._dispatch_notifications)
-        self._notifier_thread.setDaemon(True)
-        self._notifier_thread.setName("Notify queue dispatcher")
-        self._notifier_thread.start()
+        self._notify_queue = queue.Queue()  # this queue is to minimize time spent in gattlib C code
+        thr = Thread(target=self._dispatch_notifications)
+        thr.setDaemon(True)
+        thr.setName("Notify queue dispatcher")
+        thr.start()
 
     def on_notification(self, handle, data):
         # log.debug("requester notified, sink: %s", self.notification_sink)
@@ -63,7 +63,7 @@ class Requester(GATTRequester):
                 try:
                     self.notification_sink(handle, data)
                 except BaseException:
-                    log.warning("Failed to dispatch notification: %s", str2hex(data))
+                    log.warning("Data was: %s", str2hex(data))
                     log.warning("Failed to dispatch notification: %s", traceback.format_exc())
             else:
                 log.warning("Dropped notification %s: %s", handle, str2hex(data))

pylgbst/peripherals.py

@@ -1,6 +1,9 @@
 import logging
 import time
 from struct import pack, unpack
+from threading import Thread
+
+from six.moves import queue
 
 from pylgbst import get_byte, str2hex
 from pylgbst.constants import *
@@ -11,6 +14,7 @@ log = logging.getLogger('peripherals')
 class Peripheral(object):
     """
     :type parent: MoveHub
+    :type _incoming_port_data: queue.Queue
     """
 
     def __init__(self, parent, port):
@@ -24,6 +28,11 @@ class Peripheral(object):
         self._working = False
         self._subscribers = set()
         self._port_subscription_mode = None
+        self._incoming_port_data = queue.Queue()
+        thr = Thread(target=self._queue_reader)
+        thr.setDaemon(True)
+        thr.setName("Port data queue: %s" % self)
+        thr.start()
 
     def __repr__(self):
         return "%s on port %s" % (self.__class__.__name__, PORTS[self.port] if self.port in PORTS else self.port)
@@ -71,10 +80,21 @@ class Peripheral(object):
         for subscriber in self._subscribers:
             subscriber(*args, **kwargs)
 
+    def queue_port_data(self, data):
+        self._incoming_port_data.put(data)
+
     def handle_port_data(self, data):
         log.warning("Unhandled device notification for %s: %s", self, str2hex(data[4:]))
         self._notify_subscribers(data[4:])
 
+    def _queue_reader(self):
+        while True:
+            data = self._incoming_port_data.get()
+            try:
+                self.handle_port_data(data)
+            except BaseException:
+                log.warning("Failed to handle port data by %s: %s", self, str2hex(data))
+
 
 class LED(Peripheral):
     SOMETHING = b'\x51\x00'

vernie/__init__.py

@@ -74,8 +74,9 @@ class Vernie(MoveHub):
         self._head_position = 0
         self.motor_external.subscribe(self._external_motor_data)
 
-        self._reset_head()
-        self.say("ready")
+        # self._reset_head() FIXME: restore it
+        # self.say("ready")
+        time.sleep(1)
 
     def say(self, phrase):
         if phrase in self.SPEECH_LANG_MAP[self.language]:

vernie/run_away_game.py

@@ -1,6 +1,6 @@
 from vernie import *
 
-logging.basicConfig(level=logging.INFO)
+logging.basicConfig(level=logging.DEBUG)
 
 robot = Vernie()
 running = True