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Charles Weir
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cw: Initial work with Sphinx documentation for Scheduler
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‎BrickPython/Scheduler.py‎

Lines changed: 28 additions & 26 deletions
Original file line numberDiff line numberDiff line change
@@ -3,28 +3,31 @@
33
import datetime
44
import sys
55

6-
# Exception used to stop a coroutine:
76
class StopCoroutineException( Exception ):
7+
'''Exception used to stop a coroutine:'''
88
pass
99

1010
ProgramStartTime = datetime.datetime.now()
1111

12+
1213
class Scheduler():
14+
''' This manages an arbitrary number of coroutines (implemented as generator functions), supporting
15+
invoking each every *timeMillisBetweenWorkCalls*, and detecting when each has completed.
1316
14-
# Public members:
15-
# latestSensorCoroutine - the most recent sensor/control coroutine to have been added.
16-
# latestActionCoroutine - the most recent motor control coroutine to have been added.
17+
It supports one special coroutine - the updatorCoroutine, which is invoked before and after all the other ones.
18+
'''
1719

18-
# Answers the time in ms since program start.
1920
@staticmethod
2021
def currentTimeMillis():
22+
'Answers the time in floating point milliseconds since program start.'
2123
global ProgramStartTime
2224
c = datetime.datetime.now() - ProgramStartTime
2325
return c.days * (3600.0 * 1000 * 24) + c.seconds * 1000.0 + c.microseconds / 1000.0
2426

25-
# Noop coroutine - does nothing
27+
2628
@staticmethod
2729
def nullCoroutine():
30+
# Noop coroutine - does nothing
2831
while True:
2932
yield
3033

@@ -34,8 +37,9 @@ def __init__(self, timeMillisBetweenWorkCalls = 20):
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self.timeOfLastCall = Scheduler.currentTimeMillis()
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self.updateCoroutine = self.nullCoroutine() # for testing - usually replaced.
3639

37-
# Private: Executes all the coroutines, handling exceptions.
3840
def doWork(self):
41+
# Private: Executes all the coroutines, handling exceptions.
42+
3943
timeNow = Scheduler.currentTimeMillis()
4044
if timeNow == self.timeOfLastCall: # Ensure each call gets a different timer value.
4145
return
@@ -52,51 +56,49 @@ def doWork(self):
5256

5357
self.updateCoroutine.next()
5458

55-
# Private: Wait time before the next doWork call should be called.
5659
def timeMillisToNextCall(self):
60+
# Private: Wait time before the next doWork call should be called.
5761
timeRequired = self.timeMillisBetweenWorkCalls + self.timeOfLastCall - Scheduler.currentTimeMillis()
5862
return max( timeRequired, 0 )
5963

60-
# Add one or more new sensor/program coroutines to be scheduled, answering the last one.
64+
6165
def addSensorCoroutine(self, *coroutineList):
66+
'Add one or more new sensor/program coroutines to be scheduled, answering the last one to be added.'
6267
self.coroutines[0:0] = coroutineList
63-
self.latestSensorCoroutine = coroutineList[-1]
64-
return self.latestSensorCoroutine
68+
return coroutineList[-1]
6569

66-
# Add one or more new motor control coroutines to be scheduled, answering the last coroutine to be added.
6770
def addActionCoroutine(self, *coroutineList):
71+
'Add one or more new motor control coroutines to be scheduled, answering the last coroutine to be added.'
6872
self.coroutines.extend( coroutineList )
69-
self.latestActionCoroutine = coroutineList[-1]
70-
return self.latestActionCoroutine
73+
return coroutineList[-1]
7174

72-
# Private - set the coroutine that manages the interaction with the BrickPi.
73-
# This will be invoked once at the start of each doWork call, and then again at the end.
7475
def addUpdateCoroutine(self, coroutine):
76+
# Private - set the coroutine that manages the interaction with the BrickPi.
77+
# The coroutine will be invoked once at the start and once at the end of each doWork call.
7578
self.updateCoroutine = coroutine
7679

77-
# Terminate the given one or more coroutines
7880
def stopCoroutine( self, *coroutineList ):
81+
'Terminate the given one or more coroutines'
7982
for coroutine in coroutineList:
8083
try:
8184
coroutine.throw(StopCoroutineException)
8285
except (StopCoroutineException,StopIteration): # If the coroutine doesn't catch the exception to tidy up, it comes back here.
8386
self.coroutines.remove( coroutine )
8487

85-
# Terminate all coroutines - use with care, of course!
8688
def stopAllCoroutines(self):
89+
'Terminate all coroutines (except the updater one) - use with care, of course!'
8790
self.stopCoroutine(*self.coroutines[:]) # Makes a copy of the list - don't want to be changing it.
8891

89-
# Number of active coroutines
9092
def numCoroutines( self ):
93+
'Answers the number of active coroutines'
9194
return len(self.coroutines)
9295

93-
# Answers whether any of the given coroutines are still executing
9496
def stillRunning( self, *coroutineList ):
97+
'Answers whether any of the given coroutines are still executing'
9598
return any( c in self.coroutines for c in coroutineList )
9699

97-
98-
# Coroutine that executes the given coroutines until the first completes, then stops the others and finishes.
99100
def runTillFirstCompletes( self, *coroutineList ):
101+
'Coroutine that executes the given coroutines until the first completes, then stops the others and finishes.'
100102
while True:
101103
for coroutine in coroutineList:
102104
try:
@@ -108,8 +110,8 @@ def runTillFirstCompletes( self, *coroutineList ):
108110
return
109111
yield
110112

111-
# Coroutine that executes the given coroutines until all have completed.
112113
def runTillAllComplete(self, *coroutineList ):
114+
'Coroutine that executes the given coroutines until all have completed.'
113115
coroutines = list( coroutineList )
114116
while coroutines != []:
115117
for coroutine in coroutines:
@@ -122,17 +124,17 @@ def runTillAllComplete(self, *coroutineList ):
122124
return
123125
yield
124126

125-
# Coroutine that waits for timeMillis, then finishes.
126127
def doWait( self, timeMillis ):
128+
'Coroutine that waits for timeMillis, then finishes.'
127129
t = Scheduler.currentTimeMillis()
128130
while Scheduler.currentTimeMillis() - t < timeMillis:
129131
yield
130132

131-
# Coroutine that wraps the given coroutine with a timeout:
132133
def withTimeout( self, timeoutMillis, coroutine ):
134+
'Coroutine that wraps the given coroutine with a timeout'
133135
return self.runTillFirstCompletes( coroutine, self.doWait( timeoutMillis ) )
134136

135-
# Coroutine that waits until the given function (with optional parameters) returns True.
136137
def waitFor(self, function, *args ):
138+
'Coroutine that waits until the given function (with optional parameters) returns True.'
137139
while not function(*args):
138140
yield

‎docs/Makefile‎

Lines changed: 177 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,177 @@
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# Makefile for Sphinx documentation
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#
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# You can set these variables from the command line.
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SPHINXOPTS =
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SPHINXBUILD = sphinx-build
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PAPER =
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BUILDDIR = generated
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# User-friendly check for sphinx-build
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ifeq ($(shell which $(SPHINXBUILD) >/dev/null 2>&1; echo $$?), 1)
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$(error The '$(SPHINXBUILD)' command was not found. Make sure you have Sphinx installed, then set the SPHINXBUILD environment variable to point to the full path of the '$(SPHINXBUILD)' executable. Alternatively you can add the directory with the executable to your PATH. If you don't have Sphinx installed, grab it from http://sphinx-doc.org/)
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endif
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# Internal variables.
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PAPEROPT_a4 = -D latex_paper_size=a4
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PAPEROPT_letter = -D latex_paper_size=letter
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ALLSPHINXOPTS = -d $(BUILDDIR)/doctrees $(PAPEROPT_$(PAPER)) $(SPHINXOPTS) .
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# the i18n builder cannot share the environment and doctrees with the others
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I18NSPHINXOPTS = $(PAPEROPT_$(PAPER)) $(SPHINXOPTS) .
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.PHONY: help clean html dirhtml singlehtml pickle json htmlhelp qthelp devhelp epub latex latexpdf text man changes linkcheck doctest gettext
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help:
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@echo "Please use \`make <target>' where <target> is one of"
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@echo " html to make standalone HTML files"
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@echo " dirhtml to make HTML files named index.html in directories"
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@echo " singlehtml to make a single large HTML file"
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@echo " pickle to make pickle files"
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@echo " json to make JSON files"
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@echo " htmlhelp to make HTML files and a HTML help project"
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@echo " qthelp to make HTML files and a qthelp project"
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@echo " devhelp to make HTML files and a Devhelp project"
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@echo " epub to make an epub"
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@echo " latex to make LaTeX files, you can set PAPER=a4 or PAPER=letter"
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@echo " latexpdf to make LaTeX files and run them through pdflatex"
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@echo " latexpdfja to make LaTeX files and run them through platex/dvipdfmx"
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@echo " text to make text files"
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@echo " man to make manual pages"
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@echo " texinfo to make Texinfo files"
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@echo " info to make Texinfo files and run them through makeinfo"
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@echo " gettext to make PO message catalogs"
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@echo " changes to make an overview of all changed/added/deprecated items"
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@echo " xml to make Docutils-native XML files"
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@echo " pseudoxml to make pseudoxml-XML files for display purposes"
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@echo " linkcheck to check all external links for integrity"
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@echo " doctest to run all doctests embedded in the documentation (if enabled)"
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clean:
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rm -rf $(BUILDDIR)/*
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html:
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$(SPHINXBUILD) -b html $(ALLSPHINXOPTS) $(BUILDDIR)/html
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@echo
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@echo "Build finished. The HTML pages are in $(BUILDDIR)/html."
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dirhtml:
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$(SPHINXBUILD) -b dirhtml $(ALLSPHINXOPTS) $(BUILDDIR)/dirhtml
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@echo
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@echo "Build finished. The HTML pages are in $(BUILDDIR)/dirhtml."
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singlehtml:
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$(SPHINXBUILD) -b singlehtml $(ALLSPHINXOPTS) $(BUILDDIR)/singlehtml
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@echo
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@echo "Build finished. The HTML page is in $(BUILDDIR)/singlehtml."
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pickle:
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$(SPHINXBUILD) -b pickle $(ALLSPHINXOPTS) $(BUILDDIR)/pickle
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@echo
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@echo "Build finished; now you can process the pickle files."
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json:
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$(SPHINXBUILD) -b json $(ALLSPHINXOPTS) $(BUILDDIR)/json
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@echo
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@echo "Build finished; now you can process the JSON files."
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htmlhelp:
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$(SPHINXBUILD) -b htmlhelp $(ALLSPHINXOPTS) $(BUILDDIR)/htmlhelp
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@echo
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@echo "Build finished; now you can run HTML Help Workshop with the" \
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".hhp project file in $(BUILDDIR)/htmlhelp."
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qthelp:
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$(SPHINXBUILD) -b qthelp $(ALLSPHINXOPTS) $(BUILDDIR)/qthelp
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@echo
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@echo "Build finished; now you can run "qcollectiongenerator" with the" \
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".qhcp project file in $(BUILDDIR)/qthelp, like this:"
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@echo "# qcollectiongenerator $(BUILDDIR)/qthelp/BrickPython.qhcp"
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@echo "To view the help file:"
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@echo "# assistant -collectionFile $(BUILDDIR)/qthelp/BrickPython.qhc"
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devhelp:
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$(SPHINXBUILD) -b devhelp $(ALLSPHINXOPTS) $(BUILDDIR)/devhelp
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@echo
95+
@echo "Build finished."
96+
@echo "To view the help file:"
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@echo "# mkdir -p $$HOME/.local/share/devhelp/BrickPython"
98+
@echo "# ln -s $(BUILDDIR)/devhelp $$HOME/.local/share/devhelp/BrickPython"
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@echo "# devhelp"
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epub:
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$(SPHINXBUILD) -b epub $(ALLSPHINXOPTS) $(BUILDDIR)/epub
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@echo
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@echo "Build finished. The epub file is in $(BUILDDIR)/epub."
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latex:
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$(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex
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@echo
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@echo "Build finished; the LaTeX files are in $(BUILDDIR)/latex."
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@echo "Run \`make' in that directory to run these through (pdf)latex" \
111+
"(use \`make latexpdf' here to do that automatically)."
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latexpdf:
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$(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex
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@echo "Running LaTeX files through pdflatex..."
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$(MAKE) -C $(BUILDDIR)/latex all-pdf
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@echo "pdflatex finished; the PDF files are in $(BUILDDIR)/latex."
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latexpdfja:
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$(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex
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@echo "Running LaTeX files through platex and dvipdfmx..."
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$(MAKE) -C $(BUILDDIR)/latex all-pdf-ja
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@echo "pdflatex finished; the PDF files are in $(BUILDDIR)/latex."
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text:
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$(SPHINXBUILD) -b text $(ALLSPHINXOPTS) $(BUILDDIR)/text
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@echo
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@echo "Build finished. The text files are in $(BUILDDIR)/text."
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man:
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$(SPHINXBUILD) -b man $(ALLSPHINXOPTS) $(BUILDDIR)/man
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@echo
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@echo "Build finished. The manual pages are in $(BUILDDIR)/man."
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texinfo:
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$(SPHINXBUILD) -b texinfo $(ALLSPHINXOPTS) $(BUILDDIR)/texinfo
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@echo
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@echo "Build finished. The Texinfo files are in $(BUILDDIR)/texinfo."
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@echo "Run \`make' in that directory to run these through makeinfo" \
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"(use \`make info' here to do that automatically)."
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info:
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$(SPHINXBUILD) -b texinfo $(ALLSPHINXOPTS) $(BUILDDIR)/texinfo
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@echo "Running Texinfo files through makeinfo..."
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make -C $(BUILDDIR)/texinfo info
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@echo "makeinfo finished; the Info files are in $(BUILDDIR)/texinfo."
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gettext:
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$(SPHINXBUILD) -b gettext $(I18NSPHINXOPTS) $(BUILDDIR)/locale
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@echo
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@echo "Build finished. The message catalogs are in $(BUILDDIR)/locale."
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changes:
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$(SPHINXBUILD) -b changes $(ALLSPHINXOPTS) $(BUILDDIR)/changes
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@echo
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@echo "The overview file is in $(BUILDDIR)/changes."
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linkcheck:
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$(SPHINXBUILD) -b linkcheck $(ALLSPHINXOPTS) $(BUILDDIR)/linkcheck
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@echo
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@echo "Link check complete; look for any errors in the above output " \
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"or in $(BUILDDIR)/linkcheck/output.txt."
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doctest:
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$(SPHINXBUILD) -b doctest $(ALLSPHINXOPTS) $(BUILDDIR)/doctest
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@echo "Testing of doctests in the sources finished, look at the " \
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"results in $(BUILDDIR)/doctest/output.txt."
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xml:
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$(SPHINXBUILD) -b xml $(ALLSPHINXOPTS) $(BUILDDIR)/xml
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@echo
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@echo "Build finished. The XML files are in $(BUILDDIR)/xml."
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pseudoxml:
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$(SPHINXBUILD) -b pseudoxml $(ALLSPHINXOPTS) $(BUILDDIR)/pseudoxml
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@echo
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@echo "Build finished. The pseudo-XML files are in $(BUILDDIR)/pseudoxml."

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