mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-09-26 03:23:39 +08:00
refactor fiber cache
This commit is contained in:
Ben Wang
Samuel Sadok
@@ -13,7 +13,7 @@ import fibre.utils
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import fibre.remote_object
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from fibre.utils import Event, Logger
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from fibre.protocol import ChannelBrokenException, TimeoutError
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import tempfile
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import appdirs
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import os
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# Load all installed transport layers
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@@ -54,6 +54,32 @@ def find_all(path, serial_number,
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channel_termination_token,
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logger):
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"""
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Load a json file from disk, return None if it does not exist or is invalid json
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"""
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def load_json_file(name):
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try:
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file = open(name, "r+")
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except:
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logger.debug(f"Failed to open json file {name}")
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return None
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try:
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file_str = file.read()
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except:
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logger.debug(f"Failed to read json file {name}")
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return None
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try:
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json_data = json.loads(file_str)
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except:
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logger.debug(f"Failed to deserialize json file {name}")
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return None
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file.close()
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return json_data
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"""
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Starts scanning for Fibre nodes that match the specified path spec and calls
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the callback for each Fibre node that is found.
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This function is non-blocking.
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@@ -68,75 +94,52 @@ def find_all(path, serial_number,
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try:
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logger.debug("Connecting to device on " + channel._name)
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temp_dir = tempfile.gettempdir()
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temp_dir = appdirs.user_cache_dir("odrivetool")
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try:
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os.mkdir(temp_dir)
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except FileExistsError:
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pass
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cache_miss = True
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cache_path = ""
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# Fetching the json crc to check cache
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try:
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json_crc16 = channel.remote_endpoint_operation(0, struct.pack("<I", 0xffffffff), True, 2)
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json_crc16 = struct.unpack("<H", json_crc16)[0]
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logger.debug("Device JSON checksum: 0x{:02X} 0x{:02X}".format(json_crc16 & 0xff, (json_crc16 >> 8) & 0xff))
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cache_path = temp_dir + '/fibre_schema_cache_' + str(json_crc16)
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except:
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logger.debug("Failed to get JSON checksum")
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cache_path = temp_dir + '/fibre_schema_cache_' + str(json_crc16)
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try:
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json_cache = open(cache_path, 'r+')
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logger.debug("Found cache file with crc")
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cache_miss = False
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except:
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logger.debug("Cache miss, there is no cache file")
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cache_miss = True
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# Download the JSON data
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if(cache_miss == True):
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try:
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logger.debug("Getting JSON schema from USB... this is slow...")
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json_bytes = channel.remote_endpoint_read_buffer(0)
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try:
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json_string = json_bytes.decode("ascii")
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except UnicodeDecodeError:
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logger.debug("Device responded on endpoint 0 with something that is not ASCII")
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return
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json_cache = open(cache_path, 'w+')
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json_cache.write(json_string)
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logger.debug("Saved JSON to cache file " + cache_path)
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except (TimeoutError, ChannelBrokenException):
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logger.debug("No response - probably incompatible")
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return
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else:
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try:
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json_string = json_cache.read()
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logger.debug("Loaded JSON from cache file " + cache_path)
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except (TimeoutError, ChannelBrokenException):
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logger.debug("Could not read cache file " + cache_path)
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return
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except Exception as error:
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logger.debug("Error fetching JSON CRC, falling back to downloading full JSON")
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logger.debug("Getting json schema from USB... this is slow...")
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if cache_path == "" or load_json_file(cache_path) is None:
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# Downloading json data
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logger.info("Downloading json data from ODrive... (this might take a while)")
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json_bytes = channel.remote_endpoint_read_buffer(0)
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try:
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json_string = json_bytes.decode("ascii")
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except UnicodeDecodeError:
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logger.debug("Device responded on endpoint 0 with something that is not ASCII")
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return
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raise UnicodeDecodeError
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json_crc16 = fibre.protocol.calc_crc16(fibre.protocol.PROTOCOL_VERSION, json_bytes)
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cache_path = temp_dir + '/fibre_schema_cache_' + str(json_crc16)
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logger.debug(f"Opening json cache file {cache_path}")
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with open(cache_path, 'w+') as json_cache:
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json_cache.write(json_string)
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logger.debug("Saved JSON to cache file " + cache_path)
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json_data = load_json_file(cache_path)
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else:
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with open(cache_path, "rb") as f:
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json_crc16 = fibre.protocol.calc_crc16(fibre.protocol.PROTOCOL_VERSION, f.read())
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json_data = load_json_file(cache_path)
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channel._interface_definition_crc = json_crc16
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logger.debug("JSON: " + json_string.replace('{"name"', '\n{"name"'))
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logger.debug("JSON: " + str(json_data).replace('{"name"', '\n{"name"'))
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logger.debug("JSON checksum: 0x{:02X} 0x{:02X}".format(json_crc16 & 0xff, (json_crc16 >> 8) & 0xff))
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try:
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json_data = json.loads(json_string)
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except json.decoder.JSONDecodeError as error:
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logger.debug("Device responded on endpoint 0 with something that is not JSON: " + str(error))
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return
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json_data = {"name": "fibre_node", "members": json_data}
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obj = fibre.remote_object.RemoteObject(json_data, None, channel, logger)
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@@ -76,7 +76,9 @@ setup(
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license='MIT',
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url = 'https://github.com/samuelsadok/fibre',
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keywords = ['communication', 'transport-layer', 'rpc'],
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install_requires = [],
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install_requires = [
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'appdirs', # Used to find caching directory
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],
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#package_data={'': ['version.txt']},
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classifiers = [],
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)
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