motorcortex-python 0.22.9__tar.gz → 0.23.0__tar.gz

{motorcortex-python-0.22.9/motorcortex_python.egg-info → motorcortex-python-0.23.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: motorcortex-python
-Version: 0.22.9
+Version: 0.23.0
 Summary: Python bindings for Motorcortex Engine
 Home-page: https://www.motorcortex.io
 Author: Alexey Zakharov

{motorcortex-python-0.22.9 → motorcortex-python-0.23.0}/motorcortex/__init__.py

@@ -13,6 +13,8 @@ from motorcortex.reply import Reply
 from motorcortex.subscribe import Subscribe
 from motorcortex.subscription import Subscription
 from motorcortex.setup_logger import logger
+from motorcortex.state_callback_handler import StateCallbackHandler
+
 
 def parseUrl(url):
     end = url.rfind(':')

{motorcortex-python-0.22.9 → motorcortex-python-0.23.0}/motorcortex/message_types.py

@@ -1,7 +1,7 @@
 #!/usr/bin/python3
 
 #
-#   Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
+#   Developer: Alexey Zakharov (alexey.zakharov@vectioneer.com)
 #   All rights reserved. Copyright (c) 2016 VECTIONEER.
 #
 
@@ -120,11 +120,11 @@ class PrimitiveTypes(object):
         if t is bytes:
             return value
 
-        # if string prepare and encode
+        # if the argument is a string, prepare and encode
         if t is str:
             return self.__encoder(-1, value)
 
-        # if not list convert to list
+        # if not list, convert to list
         if t is not list:
             value = [value]
 
@@ -213,7 +213,7 @@ class MessageTypes(object):
                 self.__hashes_by_name[hash_type_pair['type']] = hash
 
                 module = module_hash_pair.module
-                # searching for messages from hash file
+                # searching for messages from a hash file
 
                 for name in module.__dict__:
                     type = module.__dict__[name]

{motorcortex-python-0.22.9 → motorcortex-python-0.23.0}/motorcortex/parameter_tree.py

@@ -1,7 +1,7 @@
 #!/usr/bin/python3
 
 #
-#   Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
+#   Developer: Alexey Zakharov (alexey.zakharov@vectioneer.com)
 #   All rights reserved. Copyright (c) 2016 VECTIONEER.
 #
 

{motorcortex-python-0.22.9 → motorcortex-python-0.23.0}/motorcortex/reply.py

@@ -1,7 +1,7 @@
 #!/usr/bin/python3
 
 #
-#   Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
+#   Developer: Alexey Zakharov (alexey.zakharov@vectioneer.com)
 #   All rights reserved. Copyright (c) 2016-2020 VECTIONEER.
 #
 
@@ -9,7 +9,7 @@
 class Reply(object):
     """Reply handle is a JavaScript-like Promise.
 
-        It is resolved when reply is received with successful status and fails otherwise.
+        It is resolved when a reply is received with successful status and fails otherwise.
     """
 
     def __init__(self, future):
@@ -34,15 +34,15 @@ class Reply(object):
     def done(self):
         """
             Returns:
-                bool: True if the call was successfully cancelled or finished running.
+                bool: True if the call was successfully canceled or finished running.
         """
         return self.__future.done()
 
     def then(self, received_clb, *args, **kwargs):
-        """JavaScript-like promise, which is resolved when reply is received.
+        """JavaScript-like promise, which is resolved when a reply is received.
 
                 Args:
-                    received_clb: callback which is resolved when reply is received.
+                    received_clb: callback which is resolved when the reply is received.
 
                 Returns:
                     self pointer to add 'catch' callback

{motorcortex-python-0.22.9 → motorcortex-python-0.23.0}/motorcortex/request.py

@@ -1,8 +1,8 @@
 #!/usr/bin/python3
 
 #
-#   Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
-#   All rights reserved. Copyright (c) 2016-2020 VECTIONEER.
+#   Developer: Alexey Zakharov (alexey.zakharov@vectioneer.com)
+#   All rights reserved. Copyright (c) 2016-2025 VECTIONEER.
 #
 import base64
 import hashlib
@@ -11,6 +11,7 @@ import tempfile
 
 from motorcortex.reply import Reply
 from motorcortex.setup_logger import logger
+from motorcortex.state_callback_handler import StateCallbackHandler
 
 import os
 import queue
@@ -56,9 +57,9 @@ class Request(object):
         self.__connected_lock = None
         self.__protobuf_types = protobuf_types
         self.__parameter_tree = parameter_tree
-        self.__pool = ThreadPoolExecutor(max_workers=1)
-        self.__clb = ThreadPoolExecutor(max_workers=1)
         self.__connection_state = ConnectionState.DISCONNECTED
+        self.__pool = ThreadPoolExecutor(max_workers=1)
+        self.__callback_handler = StateCallbackHandler()
 
     def url(self):
         return self.__url
@@ -66,6 +67,10 @@ class Request(object):
     def connect(self, url, **kwargs):
         self.__connection_state = ConnectionState.CONNECTING
         conn_timeout_ms, recv_timeout_ms, certificate, state_update = self.parse(**kwargs)
+
+        if state_update:
+            self.__callback_handler.start(state_update)
+
         self.__url = url
         tls_config = None
         if certificate:
@@ -77,8 +82,7 @@ class Request(object):
         def pre_connect_cb(pipe):
             self.__connected_lock.put(True)
             self.__connection_state = ConnectionState.CONNECTION_OK
-            if state_update:
-                self.__clb.submit(state_update, self, self.connectionState())
+            self.__callback_handler.notify(self, self.connectionState())
 
         def post_remove_cb(pipe):
             if self.__connection_state == ConnectionState.DISCONNECTING:
@@ -88,8 +92,7 @@ class Request(object):
             elif self.__connection_state == ConnectionState.CONNECTION_OK:
                 self.__connection_state = ConnectionState.CONNECTION_LOST
             self.__connected_lock.put(False)
-            if state_update:
-                self.__clb.submit(state_update, self, self.connectionState())
+            self.__callback_handler.notify(self, self.connectionState())
 
         self.__socket.add_post_pipe_connect_cb(pre_connect_cb)
         self.__socket.add_post_pipe_remove_cb(post_remove_cb)
@@ -103,6 +106,7 @@ class Request(object):
         if self.__connected_lock:
             self.__connected_lock.put(False)
         self.__socket.close()
+        self.__callback_handler.stop()
 
     def send(self, encoded_msg, do_not_decode_reply=False):
         if self.__socket is not None:
@@ -119,7 +123,7 @@ class Request(object):
 
             Results:
                 Reply(StatusMsg): A Promise, which resolves if login is successful and fails otherwise.
-                Returned message has a status code, which indicates a status of the login.
+                The returned message has a status code, which indicates the status of the login.
 
             Examples:
                 >>> login_reply = req.login('operator', 'iddqd')
@@ -161,7 +165,7 @@ class Request(object):
         """Request a parameter tree from the server.
 
             Returns:
-                Reply(ParameterTreeMsg): A Promise, which resolves when parameter tree is received or fails
+                Reply(ParameterTreeMsg): A Promise, which resolves when a parameter tree is received or fails
                 otherwise. ParameterTreeMsg message has a status field to check the status of the operation.
 
             Examples:
@@ -194,14 +198,14 @@ class Request(object):
         return self.send(self.__protobuf_types.encode(param_save_msg))
 
     def setParameter(self, path, value, type_name=None, offset=0, length=0):
-        """Set new value to a parameter with given path
+        """Set a new value to a parameter with a given path
 
             Args:
                 path(str): parameter path in the tree
                 value(any): new parameter value
-                type_name(str): type of the value (by default resolved automatically)
-                offset(int): offset of the elements to update in the destination array, (by default is 0)
-                length(int): number of the elements to update in the destination array, (by default takes length of the
+                type_name(str): type of the value (by default, resolved automatically)
+                offset(int): offset of the elements to update in the destination array, (by default, is 0)
+                length(int): number of the elements to update in the destination array, (by default, takes length of the
                 value argument)
 
             Returns:
@@ -262,7 +266,7 @@ class Request(object):
                 path(str): parameter path in the tree.
 
             Returns:
-                 Reply(ParameterMsg): Returns a Promise, which resolves when parameter
+                 Reply(ParameterMsg): Returns a Promise, which resolves when a parameter
                  message is successfully obtained, fails otherwise.
 
             Examples:
@@ -276,10 +280,10 @@ class Request(object):
         """Get description and values of requested parameters.
 
             Args:
-                path_list(list(str)): list of parameter paths in the tree.
+                path_list(list(str)): a list of parameter paths in the tree.
 
             Returns:
-                Reply(ParameterListMsg): A Promise, which resolves when list of the parameter values is received, fails
+                Reply(ParameterListMsg): A Promise, which resolves when a list of the parameter values is received, fails
                 otherwise.
 
             Examples:
@@ -299,17 +303,17 @@ class Request(object):
 
     def overwriteParameter(self, path, value, force_activate=False, type_name=None):
         """Overwrites actual value of the parameter and depending on the flag forces this value to stay active.
-           This method of setting values is useful during debug and installation process, it is not recommended to use
+           This method of setting values is useful during the debug and installation process, it is not recommended to use
            this method during normal operation.
 
             Args:
                 path(str): parameter path in the tree
                 value(any): new parameter value
-                force_activate(bool): forces new value to stay active. (by default is set to 'False')
-                type_name(str): type of the value (by default resolved automatically)
+                force_activate(bool): forces the new value to stay active. (by default, is set to 'False')
+                type_name(str): type of the value (by default, resolved automatically)
 
             Returns:
-                  Reply(StatusMsg): A Promise, which resolves when parameter value is updated or fails otherwise.
+                  Reply(StatusMsg): A Promise, which resolves when a parameter value is updated or fails otherwise.
 
             Examples:
                   >>> reply = req.overwriteParameter("root/Control/dummyBool", False, True)
@@ -322,13 +326,13 @@ class Request(object):
                                                                                         self.__parameter_tree)))
 
     def releaseParameter(self, path):
-        """Deactivate overwrite operation of the parameter.
+        """Deactivate the overwrite operation of the parameter.
 
             Args:
                 path(str): parameter path in the tree
 
             Returns:
-                  Reply(StatusMsg): A Promise, which resolves when parameter value is released or fails otherwise.
+                  Reply(StatusMsg): A Promise, which resolves when a parameter value is released or fails otherwise.
 
             Examples:
                   >>> reply = req.releaseParameter("root/Control/dummyBool")
@@ -348,7 +352,7 @@ class Request(object):
                 frq_divider(int): frequency divider is a downscaling factor for the group publish rate
 
             Returns:
-                Reply(GroupStatusMsg): A Promise, which resolves when subscription is complete,
+                Reply(GroupStatusMsg): A Promise, which resolves when the subscription is complete,
                 fails otherwise.
         """
 

{motorcortex-python-0.22.9 → motorcortex-python-0.23.0}/motorcortex/setup_logger.py

@@ -1,7 +1,7 @@
 #!/usr/bin/python3
 
 #
-#   Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
+#   Developer: Alexey Zakharov (alexey.zakharov@vectioneer.com)
 #   All rights reserved. Copyright (c) 2021 VECTIONEER.
 #
 

motorcortex-python-0.23.0/motorcortex/state_callback_handler.py

@@ -0,0 +1,62 @@
+#!/usr/bin/python3
+
+#
+#   Developer: Alexey Zakharov (alexey.zakharov@vectioneer.com)
+#   All rights reserved. Copyright (c) 2025 VECTIONEER.
+#
+
+from queue import Queue, Empty
+import threading
+from motorcortex.setup_logger import logger
+
+
+class StateCallbackHandler:
+    """Handles state change callbacks processing"""
+
+    def __init__(self):
+        self.running = False
+        self.callback_queue = Queue()
+        self.callback_thread = None
+        self.state_update_handler = None
+
+    def start(self, state_update_handler):
+        """Start the callback handler with the given update function"""
+        if state_update_handler:
+            self.state_update_handler = state_update_handler
+            self.running = True
+            self.callback_thread = threading.Thread(
+                target=self.__process_callbacks,
+                daemon=True
+            )
+            self.callback_thread.start()
+
+    def stop(self):
+        """Stop the callback handler and clean up"""
+        self.running = False
+        if self.callback_thread:
+            self.callback_queue.put(None)  # Signal thread to exit
+            self.callback_thread.join(timeout=1.0)
+            self.callback_thread = None
+        self.state_update_handler = None
+
+    def notify(self, *args):
+        """Queue a state update notification"""
+        if self.state_update_handler:
+            self.callback_queue.put(args)
+
+    def __process_callbacks(self):
+        """Process callbacks in a dedicated thread"""
+        while self.running:
+            try:
+                args = self.callback_queue.get(timeout=0.1)
+                if args is None:  # Stop signal
+                    break
+                try:
+                    self.state_update_handler(*args)
+                except Exception as e:
+                    logger.exception("Error in state callback: %s", e)
+            except Empty:
+                continue
+            except Exception as e:
+                if self.running:
+                    logger.exception("Error processing callbacks: %s", e)

{motorcortex-python-0.22.9 → motorcortex-python-0.23.0}/motorcortex/subscribe.py

@@ -1,19 +1,21 @@
 #!/usr/bin/python3
 
 #
-#   Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
-#   All rights reserved. Copyright (c) 2016 VECTIONEER.
+#   Developer: Alexey Zakharov (alexey.zakharov@vectioneer.com)
+#   All rights reserved. Copyright (c) 2016-2025 VECTIONEER.
 #
 
 from motorcortex.request import Request, Reply, ConnectionState
 from motorcortex.subscription import Subscription
+from motorcortex.state_callback_handler import StateCallbackHandler
+from motorcortex.setup_logger import logger
 from pynng import Sub0, TLSConfig
 from concurrent.futures import ThreadPoolExecutor
 from queue import Queue
 
 
 class Subscribe:
-    """Subscribe class is used to receive continuous parameter updates from motorcortex server.
+    """Subscribe class is used to receive continuous parameter updates from the motorcortex server.
 
         Subscribe class simplifies creating and removing subscription groups.
 
@@ -31,22 +33,26 @@ class Subscribe:
         self.__protobuf_types = protobuf_types
         self.__subscriptions = dict()
         self.__pool = ThreadPoolExecutor()
-        self.__clb = ThreadPoolExecutor(max_workers=1)
+        self.__callback_handler = StateCallbackHandler()
         self.__connection_state = ConnectionState.DISCONNECTED
 
     def connect(self, url, **kwargs):
-        """Open a subscribe connection.
+        """Open a subscription connection.
 
             Args:
                 url(str): motorcortex server URL
 
             Returns:
-                bool: True - if connected, False othesudo apt-get install python-devrwise
+                bool: True - if connected, False otherwise
         """
 
         self.__connection_state = ConnectionState.CONNECTING
         conn_timeout_ms, recv_timeout_ms, certificate, state_update = Request.parse(**kwargs)
-        if recv_timeout_ms == 0:
+
+        if state_update:
+            self.__callback_handler.start(state_update)
+
+        if not recv_timeout_ms:
             recv_timeout_ms = 500
 
         self.__url = url
@@ -61,8 +67,7 @@ class Subscribe:
         def pre_connect_cb(pipe):
             self.__connected_lock.put(True)
             self.__connection_state = ConnectionState.CONNECTION_OK
-            if state_update:
-                self.__clb.submit(state_update, self.__req, self, self.connectionState())
+            self.__callback_handler.notify(self.__req, self, self.connectionState())
 
         def post_remove_cb(pipe):
             if self.__connection_state == ConnectionState.DISCONNECTING:
@@ -72,8 +77,7 @@ class Subscribe:
             elif self.__connection_state == ConnectionState.CONNECTION_OK:
                 self.__connection_state = ConnectionState.CONNECTION_LOST
             self.__connected_lock.put(False)
-            if state_update:
-                self.__clb.submit(state_update, self.__req, self, self.connectionState())
+            self.__callback_handler.notify(self.__req, self, self.connectionState())
 
         self.__socket.add_pre_pipe_connect_cb(pre_connect_cb)
         self.__socket.add_post_pipe_remove_cb(post_remove_cb)
@@ -90,6 +94,7 @@ class Subscribe:
         if self.__connected_lock:
             self.__connected_lock.put(False)
         self.__socket.close()
+        self.__callback_handler.stop()
         self.__pool.shutdown(wait=True)
 
     def run(self, socket):
@@ -107,9 +112,9 @@ class Subscribe:
                     elif protocol_version == 0:
                         sub._updateProtocol0(buffer[4:], length - 4)
                     else:
-                        print('Unknown protocol type: %d', protocol_version)
+                        logger.error(f'Unknown protocol version: {protocol_version}')
 
-        print('Subscribe connection closed')
+        logger.debug('Subscribe connection closed')
 
     def subscribe(self, param_list, group_alias, frq_divider=1):
         """Create a subscription group for a list of the parameters.
@@ -121,11 +126,11 @@ class Subscribe:
 
             Returns:
                   Subscription: A subscription handle, which acts as a JavaScript Promise,
-                  it is resolved when subscription is ready or failed. After the subscription
-                  is ready the handle is used to retrieve latest data.
+                  it is resolved when the subscription is ready or failed. After the subscription
+                  is ready, the handle is used to retrieve the latest data.
         """
 
-        subscription = Subscription(group_alias, self.__protobuf_types, frq_divider)
+        subscription = Subscription(group_alias, self.__protobuf_types, frq_divider, self.__pool)
         reply = self.__req.createGroup(param_list, group_alias, frq_divider)
         reply.then(self.__complete, subscription, self.__socket).catch(
             subscription._failed)

{motorcortex-python-0.22.9 → motorcortex-python-0.23.0}/motorcortex/subscription.py

@@ -1,13 +1,13 @@
 #!/usr/bin/python3
 
 #
-#   Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
-#   All rights reserved. Copyright (c) 2016 VECTIONEER.
+#   Developer: Alexey Zakharov (alexey.zakharov@vectioneer.com)
+#   All rights reserved. Copyright (c) 2016-2025 VECTIONEER.
 #
 
 from collections import namedtuple
 from struct import unpack_from
-from concurrent.futures import Future, ThreadPoolExecutor
+from concurrent.futures import Future
 import time
 
 timespec = namedtuple('timespec', 'sec, nsec')
@@ -110,18 +110,17 @@ class Subscription(object):
         notifies on every update or could be used as polling.
     """
 
-    def __init__(self, group_alias, protobuf_types, frq_divider):
+    def __init__(self, group_alias, protobuf_types, frq_divider, pool):
         self.__info = None
         self.__group_alias = group_alias
         self.__protobuf_types = protobuf_types
         self.__decoder = []
-        self.__clb_list = []
         self.__future = Future()
         self.__values = None
         self.__layout = None
         self.__is_complete = False
         self.__observer_list = []
-        self.__pool = None
+        self.__pool = pool
         self.__frq_divider = frq_divider
 
     def id(self):
@@ -164,7 +163,7 @@ class Subscription(object):
     def done(self):
         """
             Returns:
-                bool: True if the call was successfully cancelled or finished running.
+                bool: True if the call was successfully canceled or finished running.
 
             Examples:
                 >>> subscription = sub.subscribe("root/logger/logOut", "log")
@@ -176,7 +175,7 @@ class Subscription(object):
     def get(self, timeout_sec=1.0):
         """
             Returns:
-                bool: StatusMsg if the call was successfully, None if timeout happened.
+                bool: StatusMsg if the call was successful, None if timeout happened.
 
             Examples:
                 >>> subscription = sub.subscribe("root/logger/logOut", "log")
@@ -186,10 +185,10 @@ class Subscription(object):
         return self.__future.result(timeout_sec)
 
     def then(self, subscribed_clb):
-        """JavaScript-like promise, which is resolved when subscription is completed.
+        """JavaScript-like promise, which is resolved when the subscription is completed.
 
             Args:
-                subscribed_clb: callback which is resolved when subscription is completed.
+                subscribed_clb: callback which is resolved when the subscription is completed.
 
             Returns:
                 self pointer to add 'catch' callback
@@ -208,7 +207,7 @@ class Subscription(object):
         """JavaScript-like promise, which is resolved when subscription has failed.
 
             Args:
-                failed: callback which is resolved when subscription has failed
+                failed: callback which is resolved when the subscription has failed
 
             Returns:
                 self pointer to add 'then' callback
@@ -238,7 +237,6 @@ class Subscription(object):
 
         """
         self.__observer_list = observer_list if type(observer_list) is list else [observer_list]
-        self.__pool = ThreadPoolExecutor(len(self.__observer_list))
 
     def _complete(self, msg):
         self.__decoder = []

motorcortex-python-0.23.0/motorcortex/version.py

@@ -0,0 +1 @@
+__version__ = '0.23.0'

{motorcortex-python-0.22.9 → motorcortex-python-0.23.0/motorcortex_python.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: motorcortex-python
-Version: 0.22.9
+Version: 0.23.0
 Summary: Python bindings for Motorcortex Engine
 Home-page: https://www.motorcortex.io
 Author: Alexey Zakharov

{motorcortex-python-0.22.9 → motorcortex-python-0.23.0}/motorcortex_python.egg-info/SOURCES.txt

@@ -10,6 +10,7 @@ motorcortex/parameter_tree.py
 motorcortex/reply.py
 motorcortex/request.py
 motorcortex/setup_logger.py
+motorcortex/state_callback_handler.py
 motorcortex/subscribe.py
 motorcortex/subscription.py
 motorcortex/version.py

{motorcortex-python-0.22.9 → motorcortex-python-0.23.0}/motorcortex_python.egg-info/requires.txt

@@ -1,2 +1,2 @@
 protobuf==3.20.*
-pynng==0.7.*
+pynng==0.8.*

{motorcortex-python-0.22.9 → motorcortex-python-0.23.0}/setup.py

@@ -23,7 +23,7 @@ setup(name='motorcortex-python',
       url='https://www.motorcortex.io',
       license='MIT',
       packages=['motorcortex'],
-      install_requires=['pynng==0.7.*',
+      install_requires=['pynng==0.8.*',
                         'protobuf==3.20.*'],
       include_package_data=True,
       )

motorcortex-python-0.22.9/motorcortex/version.py

@@ -1 +0,0 @@
-__version__ = '0.22.9'