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More consistent error handling in loops

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This commit is contained in:
Dave
2024-08-24 10:56:05 -04:00
parent 70947d5fa7
commit ee334db157
7 changed files with 23 additions and 40 deletions
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6
gem-remotes-esp32/src/ble_server.rs
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@ -8,7 +8,7 @@ use closure::closure;
use crate::dispatch::{Dispatch, RecvQ, SendQ};
use crate::commands::Commands;
// TODO: test these values to see if they are suitable
// TODO HARDWARE: test these values to see if they are suitable
const BLE_MIN_INTERVAL: u16 = 24; // x 1.25ms
const BLE_MAX_INTERVAL: u16 = 48; // x 1.25ms
const BLE_LATENCY: u16 = 0; // Number of packets that can be missed, extending interval
@ -106,10 +106,10 @@ impl BleServer {
loop {
debug!("Waiting for updates that should be notified via bluetooth");
let cmd = self.recv_q.recv().await?;
let cmd =self.recv_q.recv().await.expect("Bluetooth notification queue unexpectedly closed");
trace!("Received update to bluetooth variable {:?}", cmd);
match cmd {
// TODO: This logic (if one button is pressed others are released) could be done in app instead.
// TODO DISCUSS: This logic (if one button is pressed others are released) could be done in app instead.
Commands::NotifyMotorUp => {
button_up.lock().set_value(&BUTTON_PRESSED).notify();
button_down.lock().set_value(&BUTTON_RELEASED).notify();

4
gem-remotes-esp32/src/dispatch.rs
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@ -57,7 +57,7 @@ impl Dispatch {
pub async fn cmd_loop(&self) -> anyhow::Result<()> {
loop {
debug!("Dispatch waiting on commands");
let cmd = self.recv.recv().await?;
let cmd = self.recv.recv().await.expect("Incoming event queue failed unexpectedly");
debug!("Dispatch got command {:?}", cmd);
let cmd_type = discriminant(&cmd);
let found_listeners = self.callbacks.get(&cmd_type);
@ -65,7 +65,7 @@ impl Dispatch {
Some(listeners) => {
for listener in listeners {
trace!("Sending cmd {:?}", cmd);
listener.send(cmd.clone()).await?;
listener.send(cmd.clone()).await.expect("Outgoing event queue failed unexpectedly");
}
}
None => {debug!("Dispatch found no listeners for a command")}

8
gem-remotes-esp32/src/main.rs
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@ -31,6 +31,7 @@ fn main() {
esp_idf_svc::sys::link_patches();
esp_idf_svc::log::EspLogger::initialize_default();
log::set_max_level(log::LevelFilter::Trace);
//TODO DEBUG: remove trace logging
//log::set_max_level(log::LevelFilter::Info);
// Set panic to use error! instead of write! (as we will potentially log errors)
@ -61,7 +62,7 @@ async fn main_loop() -> Result<()> {
// Create dispatch early so it can outlive most other things
let mut dp = dispatch::Dispatch::new();
// Debug Drivers (TODO: remove debug)
// Debug Drivers (TODO DEBUG: remove debug)
let motor_driver = motor_driver::MotorDriverDebug::new(dp.get_cmd_channel());
// Setup of various drivers that need to out-live the executor
@ -85,12 +86,9 @@ async fn main_loop() -> Result<()> {
let executor = Executor::new();
let mut tasks:Vec<_> = Vec::new();
//Queue Up debug tasks (TODO: remove debug)
//Queue Up debug tasks (TODO DEBUG: remove debug)
let cli_endpoint = dp.get_cmd_channel();
tasks.push(executor.spawn(test_console::start_cli(cli_endpoint)));
//tasks.push(executor.spawn(test_loop()));
//let t_chan = test_driver_tattle::prepare_tattle(&mut dp).expect("Failed to set up debugging copycat driver");
//tasks.push(executor.spawn(test_driver_tattle::start_tattle(t_chan)));
// Queueu up our async tasks
tasks.push(executor.spawn(motor_control.run()));

11
gem-remotes-esp32/src/message_timer.rs
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@ -70,7 +70,7 @@ impl<Q: PartialEq, S: Copy> MessageTimer<Q, S> {
}
async fn wait_for_cmd(&self) -> Result<Q> {
Ok(self.recv_q.recv().await.unwrap())
Ok(self.recv_q.recv().await.expect("Timer command queue unexpectedly failed"))
}
async fn wait_with_timeout(&self, timer: &mut EspAsyncTimer) -> Result<Q> {
@ -101,18 +101,17 @@ impl<Q: PartialEq, S: Copy> MessageTimer<Q, S> {
}
pub async fn run(&mut self) -> Result<()> {
let mut cmd;
let timer_service = EspTaskTimerService::new()?;
let mut async_timer = timer_service.timer_async()?;
loop {
match self.state {
let cmd = match self.state {
State::Running => {
cmd = self.wait_with_timeout(&mut async_timer).await;
self.wait_with_timeout(&mut async_timer).await
}
State::Stopped => {
cmd = self.wait_for_cmd().await;
self.wait_for_cmd().await
}
}
};
self.handle_cmd(cmd).await;
}
}

6
gem-remotes-esp32/src/motor_controller.rs
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@ -54,6 +54,7 @@ impl Controller {
async fn enter_state(&mut self, new_s: &ControllerStates) -> Result<()> {
match new_s {
ControllerStates::Stopped => {
// Other notify commands are sent directly from the motor controller
self.send.send(Commands::NotifyMotorStopped).await?;
}
ControllerStates::Stopping => {
@ -85,7 +86,6 @@ impl Controller {
async fn exit_state(&mut self, old_s: &ControllerStates) -> Result <()> {
match old_s {
//TODO: We need to notify the BLE controller!
ControllerStates::Stopped => {}
ControllerStates::Stopping => {
self.send.send(Commands::StopTimerClear).await?;
@ -184,11 +184,11 @@ impl Controller {
self.state = ControllerStates::Stopping;
self.enter_state(&ControllerStates::Stopping).await?;
loop {
let cmd = self.recv.recv().await?;
let cmd = self.recv.recv().await.expect("Motor controller command queue unexpectedly failed");
trace!("Got command {:?}",cmd);
let new_s = self.handle_cmd(&cmd);
trace!("State current {:?} new {:?}", self.state, new_s);
self.transition_state(&self.state.clone(), &new_s).await?
self.transition_state(&self.state.clone(), &new_s).await.expect("Unexpected state change failure in motor controller");
}
}

26
gem-remotes-esp32/src/motor_driver.rs
View File

@ -3,7 +3,6 @@
use log::*; //{trace, debug, info, warn, error}
use anyhow::Result;
use async_channel::{unbounded, Receiver, Sender};
use std::panic;
use crate::dispatch;
use crate::commands::Commands as Dispatch_Commands;
@ -40,32 +39,19 @@ impl MotorDriverDebug {
}
pub async fn run(&self) -> Result<()> {
//TODO: Add error propagation to all loops
loop {
match self.recv_q.recv().await {
Ok(cmd) => {
match self.handle_cmd(cmd).await {
Ok(_) => {}
Err(e) => {
error!("Unable to send commands to motor! {:?}", e);
panic!()
}
}
}
Err(e) => {
error!("Unable to receive commands for motor control! {:?}", e);
panic!();
}
}
let cmd = self.recv_q.recv().await.expect("Unexpected failure in motor driver command queue");
self.handle_cmd(cmd).await.expect("Unexpected failure of motor driver notification queue");
}
}
async fn handle_cmd(&self, cmd: Commands) -> Result<()> {
match cmd {
Commands::StartUp => {self.start_up().await?;Ok(())}
Commands::StartDown => {self.start_down().await?;Ok(())}
Commands::Stop => {self.stop().await?;Ok(())}
Commands::StartUp => {self.start_up().await?;}
Commands::StartDown => {self.start_down().await?;}
Commands::Stop => {self.stop().await?;}
}
Ok(())
}
pub async fn start_up(&self) -> Result<()> {

2
gem-remotes-esp32/src/test_console.rs
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@ -217,7 +217,7 @@ pub async fn start_cli(dispatch: Sender<Commands>) -> anyhow::Result<()> {
let mut buf = [0_u8; 1];
let mut async_timer = timer_service.timer_async()?;
loop {
async_timer.after(Duration::from_millis(SLEEP_TIME_MS)).await?;
async_timer.after(Duration::from_millis(SLEEP_TIME_MS)).await?; // no need to panic on test console driver timer failure
match reader.read_exact(&mut buf) {
Ok(_) => {
//cli.process_byte::<Menu, _>(buf[0], &mut Menu::processor(process_menu))?;