Merge pull request #52 from LUXROBO/feature/fix-property-manager-issue46

Feature/fix property manager issue46

modi_plus/module/module.py

@@ -97,12 +97,14 @@ def __init__(self, id_, uuid, connection_task):
         self._id = id_
         self._uuid = uuid
         self._connection = connection_task
-
         self.module_type = str()
-        self._properties = dict()
 
-        # sampling_rate = (100 - property_sampling_frequency) * 11, in ms
-        self.prop_samp_freq = 91
+        # property
+        self.prop_samp_freq = 91        # sampling_rate[ms] = (100 - property_sampling_frequency) * 11
+        self.prop_request_period = 2    # [s]
+        self.__get_properties = dict()
+        self.__set_properties = dict()
+        self.__last_set_property_num = None
 
         self.is_connected = True
         self.is_usb_connected = False
@@ -213,32 +215,33 @@ def _get_property(self, property_type: int) -> bytearray:
         """
 
         # Register property if not exists
-        if property_type not in self._properties:
-            self._properties[property_type] = self.Property()
+        if property_type not in self.__get_properties:
+            self.__get_properties[property_type] = self.Property()
             self.__request_property(self._id, property_type)
 
-        # Request property value if not updated for 1.5 sec
-        last_update = self._properties[property_type].last_update_time
-        if time.time() - last_update > 1.5:
+        # Request property value if not updated for 2 sec
+        last_update = self.__get_properties[property_type].last_update_time
+        if time.time() - last_update > self.prop_request_period:
             self.__request_property(self._id, property_type)
 
-        if self._properties[property_type].value is None:
+        if self.__get_properties[property_type].value is None:
             if self._enable_get_property_timeout:
                 first_request_time = time.time()
 
                 # 3s timeout
-                while self._properties[property_type].value is None:
+                while self.__get_properties[property_type].value is None:
                     if time.time() - first_request_time > 3:
                         raise Module.GetValueInitTimeout
                     time.sleep(0.1)
             else:
                 return bytearray(12)
 
-        return self._properties[property_type].value
+        return self.__get_properties[property_type].value
 
     def _set_property(self, destination_id: int,
                       property_num: int,
-                      property_values: Union[Tuple, str]) -> None:
+                      property_values: Union[Tuple, str],
+                      force: bool = False) -> None:
         """Send the message of set_property command to the module
 
         :param destination_id: Id of the destination module
@@ -247,15 +250,46 @@ def _set_property(self, destination_id: int,
         :type property_num: int
         :param property_values: Property Values
         :type property_values: Tuple
+        :param force: Force data to be sent
+        :type force: bool
         :return: None
         """
 
-        message = parse_set_property_message(
-            destination_id,
-            property_num,
-            property_values,
-        )
-        self._connection.send(message)
+        do_send = False
+        now_time = time.time()
+
+        if not self.__check_last_set_property(property_num):
+            force = True
+
+        if property_num in self.__set_properties:
+            if property_values == self.__set_properties[property_num].value:
+                duration = now_time - self.__set_properties[property_num].last_update_time
+                if force or duration > self.prop_request_period:
+                    # 마지막으로 보낸 데이터와 같은 경우, 2초마다 전송 or force가 true인 경우
+                    self.__set_properties[property_num].value = property_values
+                    self.__set_properties[property_num].last_update_time = now_time
+                    do_send = True
+            else:
+                # 마지막으로 보낸 데이터와 다른 경우, 바로 전송
+                self.__set_properties[property_num].value = property_values
+                self.__set_properties[property_num].last_update_time = now_time
+                do_send = True
+        else:
+            # 데이터를 한번도 안 보낸 경우, 바로 전송
+            self.__set_properties[property_num] = self.Property()
+            self.__set_properties[property_num].value = property_values
+            self.__set_properties[property_num].last_update_time = now_time
+            do_send = True
+
+        if do_send:
+            message = parse_set_property_message(
+                destination_id,
+                property_num,
+                property_values,
+            )
+            self._connection.send_nowait(message)
+
+        self.__last_set_property_num = property_num
 
     def update_property(self, property_type: int, property_value: bytearray) -> None:
         """ Update property value and time
@@ -266,10 +300,10 @@ def update_property(self, property_type: int, property_value: bytearray) -> None
         :type property_value: bytearray
         """
 
-        if property_type not in self._properties:
-            self._properties[property_type] = self.Property()
-        self._properties[property_type].value = property_value
-        self._properties[property_type].last_update_time = time.time()
+        if property_type not in self.__get_properties:
+            self.__get_properties[property_type] = self.Property()
+        self.__get_properties[property_type].value = property_value
+        self.__get_properties[property_type].last_update_time = time.time()
 
     def __request_property(self, destination_id: int, property_type: int) -> None:
         """ Generate message for request property
@@ -281,10 +315,16 @@ def __request_property(self, destination_id: int, property_type: int) -> None:
         :return: None
         """
 
-        self._properties[property_type].last_update_time = time.time()
+        self.__get_properties[property_type].last_update_time = time.time()
         req_prop_msg = parse_get_property_message(destination_id, property_type, self.prop_samp_freq)
         self._connection.send(req_prop_msg)
 
+    def __check_last_set_property(self, property_num: int) -> bool:
+        if self.__last_set_property_num is None:
+            return False
+        else:
+            return self.__last_set_property_num == property_num
+
 
 class SetupModule(Module):
     pass

modi_plus/module/output_module/display.py

@@ -1,5 +1,6 @@
 """Display module."""
 
+import time
 from typing import List
 from modi_plus.module.module import OutputModule
 
@@ -208,10 +209,12 @@ def write_text(self, text: str) -> None:
             self._set_property(
                 self._id,
                 Display.PROPERTY_DISPLAY_WRITE_TEXT,
-                property_values=(("bytes", data), )
+                property_values=(("bytes", data), ),
+                force=True
             )
 
         self._text = text
+        time.sleep(0.02 + 0.003 * len(encoding_data))
 
     def write_variable(self, x: int, y: int, variable: float) -> None:
         """Show the input variable on the display.
@@ -233,6 +236,7 @@ def write_variable(self, x: int, y: int, variable: float) -> None:
                              ("float", variable), )
         )
         self._text += str(variable)
+        time.sleep(0.01)
 
     def draw_picture(self, x: int, y: int, name: int) -> None:
         """Clears the display and show the input picture on the display.
@@ -259,6 +263,7 @@ def draw_picture(self, x: int, y: int, name: int) -> None:
                              ("u8", Display.HEIGHT),
                              ("string", file_name), )
         )
+        time.sleep(0.05)
 
     def draw_dot(self, dot: bytes) -> None:
         """Clears the display and show the input dot on the display.
@@ -284,6 +289,7 @@ def draw_dot(self, dot: bytes) -> None:
                 Display.PROPERTY_DISPLAY_DRAW_DOT,
                 property_values=(("bytes", send_data), )
             )
+        time.sleep(0.3)
 
     def set_offset(self, x: int, y: int) -> None:
         """Set origin point on the screen
@@ -300,6 +306,7 @@ def set_offset(self, x: int, y: int) -> None:
             Display.PROPERTY_DISPLAY_SET_OFFSET,
             property_values=(("s8", x), ("s8", y), )
         )
+        time.sleep(0.01)
 
     def move_screen(self, x: int, y: int) -> None:
         """Move the screen by x and y
@@ -314,8 +321,10 @@ def move_screen(self, x: int, y: int) -> None:
         self._set_property(
             self.id,
             Display.PROPERTY_DISPLAY_MOVE_SCREEN,
-            property_values=(("s8", x), ("s8", y), )
+            property_values=(("s8", x), ("s8", y), ),
+            force=True
         )
+        time.sleep(0.01)
 
     def reset(self) -> None:
         """Clear the screen.
@@ -329,3 +338,4 @@ def reset(self) -> None:
             property_values=(("u8", 0), )
         )
         self._text = ""
+        time.sleep(0.01)

modi_plus/module/output_module/motor.py

@@ -1,5 +1,6 @@
 """Motor module."""
 
+import time
 import struct
 from typing import Tuple
 from modi_plus.module.module import OutputModule
@@ -109,6 +110,7 @@ def set_angle(self, target_angle: int, target_speed: int = 70) -> None:
             property_values=(("u16", target_angle),
                              ("u16", target_speed), )
         )
+        time.sleep(0.01)
 
     def set_speed(self, target_speed: int) -> None:
         """Sets the speed of the motor
@@ -123,6 +125,7 @@ def set_speed(self, target_speed: int) -> None:
             property_num=Motor.PROPERTY_MOTOR_SPEED,
             property_values=(("s32", target_speed), )
         )
+        time.sleep(0.01)
 
     def append_angle(self, target_angle: int, target_speed: int = 70) -> None:
         """append the angle form current angle of the motor
@@ -138,8 +141,10 @@ def append_angle(self, target_angle: int, target_speed: int = 70) -> None:
             destination_id=self._id,
             property_num=Motor.PROPERTY_MOTOR_ANGLE_APPEND,
             property_values=(("s16", target_angle),
-                             ("u16", target_speed), )
+                             ("u16", target_speed), ),
+            force=True
         )
+        time.sleep(0.01)
 
     def stop(self) -> None:
         """Stop operating motor
@@ -152,3 +157,4 @@ def stop(self) -> None:
             property_num=Motor.PROPERTY_MOTOR_STOP,
             property_values=()
         )
+        time.sleep(0.01)

modi_plus/module/output_module/speaker.py

@@ -1,5 +1,6 @@
 """Speaker module."""
 
+import time
 import struct
 from typing import List, Tuple, Union
 from modi_plus.module.module import OutputModule
@@ -216,6 +217,7 @@ def set_tune(self, frequency: Union[int, str], volume: int) -> None:
             property_num=Speaker.PROPERTY_SPEAKER_SET_TUNE,
             property_values=(("u16", frequency), ("u16", volume), )
         )
+        time.sleep(0.01)
 
     def play_music(self, name: str, volume: int) -> None:
         """Play music in speaker module
@@ -241,6 +243,7 @@ def play_music(self, name: str, volume: int) -> None:
                              ("u8", volume),
                              ("string", self.playing_file_name), )
         )
+        time.sleep(0.1)
 
     def stop_music(self) -> None:
         """Stop music in speaker module

modi_plus/module/setup_module/network.py

@@ -330,7 +330,8 @@ def send_data(self, index: int, data: int) -> None:
         self._set_property(
             destination_id=self._id,
             property_num=property_num,
-            property_values=(("s32", data),)
+            property_values=(("s32", data),),
+            force=True
         )
 
     @check_connection
@@ -345,7 +346,8 @@ def send_text(self, text: str) -> None:
         self._set_property(
             destination_id=self._id,
             property_num=Network.PROPERTY_NETWORK_SEND_TEXT,
-            property_values=(("string", text),)
+            property_values=(("string", text),),
+            force=True
         )
 
     @check_connection

modi_plus/util/unittest_util.py

@@ -19,6 +19,9 @@ def __init__(self):
     def send(self, pkt):
         self.send_list.append(pkt)
 
+    def send_nowait(self, pkt):
+        self.send_list.append(pkt)
+
     def recv(self):
         return "Test"