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wiregrid_encoder: Fix potential race condition #1043

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

wiregrid_encoder: Fix potential race condition #1043

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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
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78 changes: 47 additions & 31 deletions socs/agents/wiregrid_encoder/agent.py
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Original file line number Diff line number Diff line change
Expand Up @@ -115,39 +115,11 @@ 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': {}
}
enc_last_updated = 0
enc_fdata = {
'timestamps': [],
'block_name': 'wgencoder_full',
'data': {}
}

# Loop
while self.take_data:

Expand All @@ -159,6 +131,51 @@ def acq(self, session, params=None):
with open('parse_error.log', 'a') as f:
traceback.print_exc(file=f)

# Data container initialization in while loop
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']: [],
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'irig_info': []
}
}
enc_rdata = {
'timestamps': [],
'block_name': 'wgencoder_rough',
'data': {
'quadrature': [],
'pru_clock': [],
'reference_degree': []
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'error': [],
'rotation_speed': [],
}
}
enc_fdata = {
'timestamps': [],
'block_name': 'wgencoder_full',
'data': {
'quadrature': [],
'pru_clock': [],
'reference_count': [],
'error': [],
}
}

# Check current time
current_time = time.time()

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 @@ -260,10 +276,10 @@ 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 Down
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