Skip to content

wiregrid_encoder: Fix potential race condition #1043

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
BrianJKoopman merged 10 commits into from
Apr 28, 2026
+94 −50
Merged

wiregrid_encoder: Fix potential race condition #1043

Changes from all commits
Commits
Show all changes
10 commits
Select commit Hold shift + click to select a range
a90c986
wiregrid_encoder: fix potential race condition
mhasself Apr 23, 2026
d2a6d97
Data container initialization in the beggning of the while loop
sadachi5 Apr 24, 2026
05be58c
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Apr 24, 2026
e78a0e3
Fix syntax errors in wiregrid_encoder agent.py
sadachi5 Apr 24, 2026
2ea3438
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Apr 24, 2026
8b8feea
Update agent.py
sadachi5 Apr 24, 2026
5872c61
Update agent.py
sadachi5 Apr 24, 2026
5866e1a
Refactor data container initialization in agent.py
sadachi5 Apr 27, 2026
6692a21
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Apr 27, 2026
54bbfa5
update wiregrid_encoder/agent.py
sadachi5 Apr 27, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
144 changes: 94 additions & 50 deletions socs/agents/wiregrid_encoder/agent.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -115,38 +115,29 @@ def acq(self, session, params=None):
return False, 'Could not acquire lock.'

self.take_data = True
# Initialize data containers
# Initialize data containers and update times
session.data = {'fields': {'irig_data': {}, 'encoder_data': {},
'timestamp': 0}}
irig_rdata = {'timestamp': 0,
'block_name': 'wgencoder_irig',
'data': {
'irig_time': 0,
'rising_edge_count': 0,
'edge_diff': 0,
'irig_sec': 0,
'irig_min': 0,
'irig_hour': 0,
'irig_day': 0,
'irig_year': 0,
}
}
irig_last_updated = 0
irig_fdata = {'timestamps': [],
'block_name': 'wgencoder_irig_raw',
'data': {}
}
enc_rdata = {
'timestamps': [],
'block_name': 'wgencoder_rough',
'data': {}
irig_field_dict = {
'last_updated': 0,
'irig_time': 0,
'rising_edge_count': 0,
'edge_diff': 0,
'irig_sec': 0,
'irig_min': 0,
'irig_hour': 0,
'irig_day': 0,
'irig_year': 0
}
enc_last_updated = 0
enc_fdata = {
'timestamps': [],
'block_name': 'wgencoder_full',
'data': {}
enc_field_dict = {
'last_updated': [],
'quadrature': [],
'pru_clock': [],
'reference_degree': [],
'error': []
}
irig_last_updated = 0
enc_last_updated = 0

# Loop
while self.take_data:
Expand All @@ -164,6 +155,32 @@ def acq(self, session, params=None):

# IRIG part mainly takes over CHWP scripts by H.Nishino
if len(self.parser.irig_queue):
# IRIG data container initialization
irig_rdata = {
'timestamp': 0,
'block_name': 'wgencoder_irig',
'data': {
'irig_time': 0,
'rising_edge_count': 0,
'edge_diff': 0,
'irig_sec': 0,
'irig_min': 0,
'irig_hour': 0,
'irig_day': 0,
'irig_year': 0,
'bbb_clock_freq': 0,
}
}
irig_fdata = {
'timestamps': [],
'block_name': 'wgencoder_irig_raw',
'data': {
'irig_synch_pulse_clock_time': [],
'irig_synch_pulse_clock_counts': [],
'irig_info': []
}
}

irig_last_updated = current_time
irig_data = self.parser.irig_queue.popleft()

Expand All @@ -172,7 +189,6 @@ def acq(self, session, params=None):
irig_info = irig_data[2]
synch_pulse_clock_counts = irig_data[3]
sys_time = irig_data[4]

irig_rdata['timestamp'] = sys_time
irig_rdata['data']['irig_time'] = irig_time
irig_rdata['data']['rising_edge_count'] = rising_edge_count
Expand Down Expand Up @@ -216,6 +232,21 @@ def acq(self, session, params=None):
synch_pulse_clock_counts
irig_fdata['data']['irig_info'] = list(irig_info)
self.agent.publish_to_feed('wgencoder_full', irig_fdata)

# Update the data for the session.data
irig_field_dict = {
'last_updated': irig_last_updated,
'irig_time': irig_rdata['data']['irig_time'],
'rising_edge_count':
irig_rdata['data']['rising_edge_count'],
'edge_diff': irig_rdata['data']['edge_diff'],
'irig_sec': irig_rdata['data']['irig_sec'],
'irig_min': irig_rdata['data']['irig_min'],
'irig_hour': irig_rdata['data']['irig_hour'],
'irig_day': irig_rdata['data']['irig_day'],
'irig_year': irig_rdata['data']['irig_year']
}

# End of IRIG case

if len(self.parser.encoder_queue):
Expand Down Expand Up @@ -250,6 +281,29 @@ def acq(self, session, params=None):
or (len(pru_clock)
and (current_time - time_encoder_published)
> SEC_ENCODER_TO_PUBLISH):
# Encoder data container initialization
enc_rdata = {
'timestamps': [],
'block_name': 'wgencoder_rough',
'data': {
'quadrature': [],
'pru_clock': [],
'reference_degree': [],
'error': [],
'rotation_speed': []
}
}
enc_fdata = {
'timestamps': [],
'block_name': 'wgencoder_full',
'data': {
'quadrature': [],
'pru_clock': [],
'reference_count': [],
'error': [],
}
}

enc_rdata['timestamps'] = received_time_list
enc_rdata['data']['quadrature'] =\
quad_data[::COUNTER_INFO_LENGTH]
Expand All @@ -260,10 +314,10 @@ def acq(self, session, params=None):
* 360 / COUNTS_ON_BELT).tolist()
enc_rdata['data']['error'] =\
error_flag[::COUNTER_INFO_LENGTH]

enc_rdata['data']['rotation_speed'] = rot_speed # Hz
self.agent.publish_to_feed(
'wgencoder_rough', enc_rdata)

enc_fdata['timestamps'] =\
count2time(pru_clock, received_time_list[0])
enc_fdata['data']['quadrature'] = quad_data
Expand All @@ -284,30 +338,20 @@ def acq(self, session, params=None):

time_encoder_published = current_time

# Update encoder data for the session.data
enc_field_dict = {
'last_updated': enc_last_updated,
'quadrature': enc_rdata['data']['quadrature'],
'pru_clock': enc_rdata['data']['pru_clock'],
'reference_degree':
enc_rdata['data']['reference_degree'],
'error': enc_rdata['data']['error']
}

# End of filling encoder data
# End of encoder case

# store session.data
irig_field_dict = {
'last_updated': irig_last_updated,
'irig_time': irig_rdata['data']['irig_time'],
'rising_edge_count':
irig_rdata['data']['rising_edge_count'],
'edge_diff': irig_rdata['data']['edge_diff'],
'irig_sec': irig_rdata['data']['irig_sec'],
'irig_min': irig_rdata['data']['irig_min'],
'irig_hour': irig_rdata['data']['irig_hour'],
'irig_day': irig_rdata['data']['irig_day'],
'irig_year': irig_rdata['data']['irig_year']
}
enc_field_dict = {
'last_updated': enc_last_updated,
'quadrature': enc_rdata['data']['quadrature'],
'pru_clock': enc_rdata['data']['pru_clock'],
'reference_degree':
enc_rdata['data']['reference_degree'],
'error': enc_rdata['data']['error']
}
session.data['timestamp'] = current_time
session.data['fields']['irig_data'] = irig_field_dict
session.data['fields']['encoder_data'] = enc_field_dict
Expand Down