Autopilot Set and Get GPIO Comparison

example_output_data.json

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test_controller.py

import autopilot
from autopilot.networking.node import Net_Node
from autopilot.networking.message import Message
import time
import threading
from datetime import datetime
import json
from tqdm import trange
import pandas as pd
import numpy as np

# event to track when the return message is received
set_event = threading.Event()

# keep a list of starting and ending times
start_times = []
end_times = []

def response_time(value):
    """
    Callback function to record the time that of receipt from the GPIO-controlling pi.
    """
    end_time = time.perf_counter_ns()
    end_times.append((value, end_time))
    set_event.set()

node = Net_Node(
  id="test_controller",
  upstream="test_gpio",
  port=5560,
  listens = {'SET':response_time},
  upstream_ip="192.168.0.101",
  router_port=5580
)

# make preserialized messages to turn the pins on and off. Normally we would do something like
# node.send(to='test_gpio', key='TOGGLE', value=True)

msg_on = [
  'test_gpio'.encode('utf-8'), 
  Message(
    id='msg_on', sender='test_controller', to='test_gpio', key='TOGGLE', value=True, flags={'NOREPEAT':True}
  ).serialize()
]

msg_off = [
  'test_gpio'.encode('utf-8'), 
  Message(
    id='msg_on', sender='test_controller', to='test_gpio', key='TOGGLE', value=False, flags={'NOREPEAT':True}
  ).serialize()
]


n_tests = 1000

turn_to = False

for i in trange(n_tests):
    turn_to = not turn_to
    set_event.clear()

    # just to make really really sure we don't overlap
    time.sleep(0.010)

    # get the start time of the test
    start_times.append((turn_to, time.perf_counter_ns()))

    # Send the control message to the GPIO controlling pi and wait for the response.
    if turn_to:
        node.sock.send_multipart(msg_on)
    else:
        node.sock.send_multipart(msg_off)
    set_event.wait()

# --------------------------
# analyze data at the end

with open(f"times_{datetime.now().isoformat()}.json", 'w') as jfile:
    json.dump({'start_times':start_times, 'end_times':end_times}, jfile)

data = [[*start, *end] for start, end in zip(start_times, end_times)]
df = pd.DataFrame(data, columns=['start_time', 'start_val', 'end_time', 'end_val'])

# drop the first one because there's connection latency
df = df.iloc[1:]

mean_latency = np.mean(df['end_val']-df['start_val'])/1000000
print(f"Mean latency {mean_latency} ms")

# cleanup our net node.
node.release()

test_gpio.py

import autopilot
from autopilot.networking.node import Net_Node
from autopilot.networking.message import Message
import threading
import time

# Create the hardware objects to control/read from the pins
Digital_Out = autopilot.get('hardware', 'Digital_Out')
Digital_In  = autopilot.get('hardware', 'Digital_In')

out_pin = Digital_Out(11)
in_pin = Digital_In(13, record=False)

# normally we would set a callback like this and respond to the event, but to match the polling behavior we poll!

# change_event = threading.Event()

# def toggled(*args):
#     global change_event
#     change_event.set()

# in_pin.assign_cb(toggled, manual_trigger='B')


def toggle_pin(value):
    """
    Callback function to toggle the state of a GPIO pin and read for its status on another pin.
    """
    global out_pin
    global in_pin
    global node

    # normally we would do something like wait for the change_event to be set in non-polling mode,
    # change_event.clear()
    out_pin.set(value)
    # change_event.wait()

    # but instead we will poll here for accuracy of comparison
    while in_pin.pig.read(in_pin.pin_bcm) != value:
        pass
    
    # we would normally send the message like this, but to match the preserialized message...
    # node.send(to="test_controller",key="SET",value=value, flags={'NOREPEAT':True})
    if value:
        node.router.send_multipart(msg_on)
    else:
        node.router.send_multipart(msg_off)

# Create a networking object to send/receive messages
node = Net_Node(
  id='test_gpio',
  upstream='none',
  port=5570,
  router_port=5560,
  listens = {'TOGGLE': toggle_pin},
)

# make a preserialized response message
msg_on = ['test_controller'.encode('utf-8'), Message(id='msg_on', sender='test_gpio',to='test_controller', key='SET', value=True, flags={'NOREPEAT':True}).serialize()]
msg_off = ['test_controller'.encode('utf-8'), Message(id='msg_off',sender='test_gpio',to='test_controller', key='SET', value=False, flags={'NOREPEAT':True}).serialize()]

# wait for requests to control pin! The node will call the callback in a thread, so we can just sleep here.
while True:
    try:
        time.sleep(0.1)
    except KeyboardInterrupt:
        out_pin.release()
        in_pin.release()
        node.release()
        break