feat: decrease cpu ussage

backend/pyproject.toml

@@ -18,7 +18,7 @@ dev = [
 
 
 [tool.pdm.scripts]
-start = "pdm run uvicorn src.main:app  --host 0.0.0.0 --port ${BACKEND_HTTP_PORT} --reload"
+start = "pdm run uvicorn src.main:app  --host 0.0.0.0 --port ${BACKEND_HTTP_PORT}"
 isort = "isort src"
 black = "black src"
 pure_lint = "flake8 src"

controller/src/ribot/control/controller_servers.py

@@ -6,6 +6,7 @@
 from abc import ABC, abstractmethod
 from enum import Enum
 from typing import Any, Optional, Union
+import time
 
 import websockets
 
@@ -55,7 +56,7 @@ def __init__(self, controller: Any, port: int) -> None:
         self._connection_mutex: FIFOLock = FIFOLock()
         self.stop_event = controller.stop_event
 
-        self.status_time_interval: float = 1 / 30  # 30 Hz
+        self.status_time_interval: float = 1 / 15
 
     @property
     def connection_mutex(self) -> FIFOLock:
@@ -202,6 +203,8 @@ def handle_controller_connection(self) -> None:
                 handler = self.controller.message_op_handlers[msg.op]
                 handler(msg)
 
+            self.stop_event.wait(0.05)
+
 
 # -----------------
 # WebsocketServer

controller/src/ribot/controller.py

@@ -125,7 +125,7 @@ def start(self, wait: bool = False, websocket_server: bool = True) -> None:
         start_time = time.time()
         if wait:
             while not self.is_ready and not self.stop_event.is_set():
-                time.sleep(0.1)
+                time.sleep(2)
                 if time.time() - start_time > connection_controller_timeout:
                     raise TimeoutError("Controller took too long to start, check arm client")
 

controller/src/ribot/tests/test_controller.py

@@ -32,7 +32,13 @@ def setUpClass(cls) -> None:
         arm_params.a5x = 64.1
         arm_params.a6x = 169
 
-        cls.controller = ArmController(arm_parameters=arm_params)
+        controler_server_port = int(os.environ.get("CONTROLLER_SERVER_PORT", 8500))
+        controller_websocket_port = int(os.environ.get("CONTROLLER_WEBSOCKET_PORT", 8430))
+        print("controller_websocket_port", controller_websocket_port)
+        print("controller_server_port", controler_server_port)
+
+        cls.controller = ArmController(arm_parameters=arm_params,
+                                       server_port=controler_server_port, websocket_port=controller_websocket_port)
         cls.controller.start(websocket_server=False, wait=True)
 
         cls.controller.print_status = os.environ.get("CONTROLLER_PRINT_STATUS", "False").upper() == "TRUE"

docker_services/controller.yaml

@@ -22,4 +22,6 @@ services:
       - PDM_OVERRIDE_VERSION=$CONTROLLER_PDM_OVERRIDE_VERSION
       - PDM_INCREMENT_VERSION=$CONTROLLER_PDM_INCREMENT_VERSION
       - CONTROLLER_PRINT_STATUS
+      - CONTROLLER_WEBSOCKET_PORT
+      - CONTROLLER_SERVER_PORT
 

firmware/components/controller/controller.cpp

@@ -162,7 +162,7 @@ bool Controller::start() {
     if (succesful_setup != ArmClientCode::SUCCESS) {
         std::cout << "Failed to setup arm client, retrying in 3 seconds"
                   << std::endl;
-        run_delay(2000);
+        run_delay(3000);
         return false;
     }
     this->run_step_task();
@@ -712,9 +712,22 @@ void Controller::stop_step_task() {}
 #else
 
 void Controller::step_target_fun() {
+    task_add();
+
+    uint64_t iter = 0;
+    uint64_t iter_delay = 500;
+
     while (this->stop_flag == false) {
+        if (iter > iter_delay) {
+            task_feed();
+            run_delay(10);
+            iter = 0;
+        }
+
         this->step();
+        iter++;
     }
+    task_end();
 }
 
 void Controller::run_step_task() {

firmware/components/utils/utils.cpp

@@ -1,5 +1,6 @@
 
 #include "utils.h"
+#include <cstdint>
 
 #ifdef ESP_PLATFORM
 #include <rom/ets_sys.h>
@@ -155,7 +156,7 @@ void task_feed() {}
 void task_end() {}
 
 void run_delay(uint32_t delay_ms) {
-    std::this_thread::sleep_for(std::chrono::milliseconds(delay_ms));
+    std::this_thread::sleep_for(std::chrono::milliseconds(delay_ms*5));
 }
 
 void run_delay_microseconds(uint32_t delay_us) {

instanciator/backend/src/config/firmware-controller-compose.yaml

@@ -3,7 +3,7 @@ version: '3.8'
 services:
   backend:
     image: "uintuser/ribot-backend"
-    command: pdm run  uvicorn src.main:app --host 0.0.0.0 --port ${BACKEND_HTTP_PORT} --reload
+    command: pdm run  uvicorn src.main:app --host 0.0.0.0 --port ${BACKEND_HTTP_PORT}
     volumes:
       - ./web_arm.toml:/app/src/config/main_arm.toml 
     ports:

instanciator/backend/src/instance_generator.py

@@ -26,7 +26,7 @@ def __init__(self) -> None:
         )
         self.start_instance_checker()
 
-    def isntance_checker_target_fun(self) -> None:
+    def instance_checker_target_fun(self) -> None:
         while True:
             instances = self.instances
             free_instances = 0
@@ -43,7 +43,9 @@ def isntance_checker_target_fun(self) -> None:
 
             if free_instances <= 3:
                 new_uuid = str(uuid.uuid4())
+                self.instances = instances
                 new_instance = self.create_instance(new_uuid)
+                instances = self.instances
                 new_instance["free"] = True
                 instances[new_uuid] = new_instance
 
@@ -52,7 +54,7 @@ def isntance_checker_target_fun(self) -> None:
             time.sleep(5)
 
     def start_instance_checker(self) -> None:
-        thread = threading.Thread(target=self.isntance_checker_target_fun)
+        thread = threading.Thread(target=self.instance_checker_target_fun)
         thread.start()
 
     def get_instances(self) -> Dict[str, Any]:

manage.py

@@ -403,6 +403,7 @@ def lint(self, **kwargs):
 
     def test_debug(self, **_):
         os.environ["CONTROLLER_PRINT_STATUS"] = "true"
+
         self.docker_manager.dc_up(['controller.yaml', 'firmware.yaml'], env={
             "ESP_CONTROLLER_SERVER_HOST": "controller", "CONTROLLER_COMMAND": "test"})
         self.docker_manager.dc_down(['controller.yaml', 'firmware.yaml'])