Pybricksdev changes for Remote Control based on Pybrickdev-Demo #34

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1. johnscary-ev3 commented on Jun 21, 2022

   

   johnscary-ev3

   on Jun 21, 2022

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   I found that PybricksHub moved so this import works now but other calls still give errors as below.
   Thanks.

   from pybricksdev.connections.pybricks import PybricksHub

   File "c:/Users/johns/pybricksdev-demo/RemoteControl_Blast.py", line 27, in forwarder
       while not hub.program_running :
   AttributeError: 'PybricksHub' object has no attribute 'program_running'
   
2. dlech commented on Jun 21, 2022

   

   dlech

   on Jun 21, 2022

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   How about something like this?

   import asyncio
   import platform
   import sys
   
   try:
       import msvcrt
   except ModuleNotFoundError:
       pass
   
   try:
       import termios
       import tty
   except ModuleNotFoundError:
       pass
   
   from pybricksdev.connections.pybricks import PybricksHub, StatusFlag
   from pybricksdev.ble import find_device
   
   def read_key():
       if platform.system() == 'Windows':
           return msvcrt.getch()
       
       fd = sys.stdin.fileno()
       old_settings = termios.tcgetattr(fd)
   
       try:
           tty.setraw(fd)
           return sys.stdin.read(1)
       finally:
           termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
   
   
   
   async def main():
       print('main: Start')
   
       hub = PybricksHub()
   
       device = await find_device()
       await hub.connect(device)
    
       try:
           forwarder_task = asyncio.create_task(forwarder(hub))
           try:
               await hub.run('robot_Blast.py')
           finally:
               forwarder_task.cancel()
       finally:
           # Disconnect from the hub
           await hub.disconnect()
           print('main: Stop')
   
   async def forwarder(hub: PybricksHub):
       print("forwarder: Start")
   
       queue = asyncio.Queue()
   
       # wait for user program on the hub to start
       with hub.status_observable.subscribe(lambda s: queue.put_nowait(s)):
           while True:
               status = await queue.get()
   
               if status & StatusFlag.USER_PROGRAM_RUNNING:
                   break
   
       print('forwarder: Hub Running')
   
       loop = asyncio.get_running_loop()
    
       # Keyboard command input loop
       while True:
           command = await loop.run_in_executor(None, read_key)
   
           # Try to send to the receiving hub
           try:
               await hub.write(bytes([ord(command)]))
           except:
               pass
   
   #start it up
   asyncio.run(main())
3. johnscary-ev3 commented on Jun 21, 2022

   

   johnscary-ev3

   on Jun 21, 2022

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   Thanks so much for the help.
   I can see from your example and reading the latest pybricksdev code that you have reworked how we get hub status now using the status queue to get status updates. Seems like a reasonable way to get different status codes.

   On your example code, I tried to run it.
   I don't get any errors, but it seems like it downloads and starts my robot code ok but then immediately drops to the hub.disconnect and stops. The robot side program keeps running fine but with no connection to PC side.
   I tried adding a wait to the hub.run call but it made no difference as wait=True is default anyway.

   Any ideas on this?

   PS C:\Users\johns\pybricksdev-demo> & c:/Users/johns/pybricksdev-demo/.venv/Scripts/python.exe c:/Users/johns/pybricksdev-demo/RemoteControl_example_June_2022
   main: Start
   forwarder: Start
   100%|███████████████████████████████████████████████████████████████| 36.1k/36.1k [00:45<00:00, 790B/s]
   main: Stop
   
4. dlech commented on Jun 21, 2022

   

   dlech

   on Jun 21, 2022

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   I have tested my code on both Windows and Linux with the the following substitute for robot_Blast.py:

   import usys
   
   from pybricks import version
   
   print('hub program started')
   print(version)
   
   while True:
       print('received', usys.stdin.read(1))

   And it produces the following output when keys are pressed:

   main: Start
   forwarder: Start
   100%|██████████████████████████████████████████████████████████████████████████████████████████| 144/144 [00:00<00:00, 716B/s]
   hub program started
   forwarder: Hub Running
   ('technichub', '3.2.0b1', 'v3.2.0b1-28-g8c1d7f77 on 2022-06-14')
   received a
   received d
   received f
   received 
   received H
   
5. dlech

   added a commit that references this issue on Jun 21, 2022

   connections.pybricks: increase wait time in PybricksHub.run()

   ...

   decfa48
6. dlech commented on Jun 21, 2022

   

   dlech

   on Jun 21, 2022

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   It looks like there is a possible problem with the way waiting for a user program running works in pybricksdev. I just published v1.0.0-alpha.27 with an increased timeout that may help if this is the issue.
7. johnscary-ev3 commented on Jun 21, 2022

   

   johnscary-ev3

   on Jun 21, 2022

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   I tried your short robot side program and it worked fine as you mentioned.

   Then saw your post about update v1.0.0-alpha.27 so I updated to that and tried your PC side program with my larger robot side program, and it works fine now. So that timeout must have been the issue.
   My robot program can take almost 60 seconds to download and start up. It is about 2600 lines of Python code.
   Not sure how that compares to what others may have with respect to download times, but the new timeout seems to cover it.

   Thanks again for all the help on this!
8. dlech commented on Jun 21, 2022

   

   dlech

   on Jun 21, 2022

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   It is about 2600 lines of Python code.

   😮

   That's pretty big.