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Add rate limiter to Radio link #259

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Merged
merged 1 commit into from
Dec 23, 2021
Merged

Add rate limiter to Radio link #259

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67 changes: 40 additions & 27 deletions cflib/crtp/radiodriver.py
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,7 @@
import re
import struct
import threading
import time
from enum import Enum
from queue import Queue
from threading import Semaphore
Expand All @@ -46,8 +47,11 @@
from typing import Dict
from typing import Iterable
from typing import List
from typing import Optional
from typing import Tuple
from typing import Union
from urllib.parse import parse_qs
from urllib.parse import urlparse

import cflib.drivers.crazyradio as crazyradio
from .crtpstack import CRTPPacket
Expand Down Expand Up @@ -258,7 +262,7 @@ def connect(self, uri, link_quality_callback, link_error_callback):
an error message.
"""

devid, channel, datarate, address = self.parse_uri(uri)
devid, channel, datarate, address, rate_limit = self.parse_uri(uri)
self.uri = uri

if self._radio is None:
Expand All @@ -285,56 +289,59 @@ def connect(self, uri, link_quality_callback, link_error_callback):
self.out_queue,
link_quality_callback,
link_error_callback,
self)
self,
rate_limit)
self._thread.start()

self.link_error_callback = link_error_callback

@staticmethod
def parse_uri(uri):
def parse_uri(uri: str):
# check if the URI is a radio URI
if not re.search('^radio://', uri):
if not uri.startswith('radio://'):
raise WrongUriType('Not a radio URI')

# Open the USB dongle
if not re.search('^radio://([0-9a-fA-F]+)((/([0-9]+))'
'((/(250K|1M|2M))?(/([A-F0-9]+))?)?)?(\\?.+)?$', uri):
raise WrongUriType('Wrong radio URI format!')

uri_data = re.search('^radio://([0-9a-fA-F]+)((/([0-9]+))'
'((/(250K|1M|2M))?(/([A-F0-9]+))?)?)?(\\?.+)?$', uri)
parsed_uri = urlparse(uri)
parsed_query = parse_qs(parsed_uri.query)
parsed_path = parsed_uri.path.strip('/').split('/')

if len(uri_data.group(1)) < 10 and uri_data.group(1).isdigit():
devid = int(uri_data.group(1))
# Open the USB dongle
if len(parsed_uri.netloc) < 10 and parsed_uri.netloc.isdigit():
devid = int(parsed_uri.netloc)
else:
try:
devid = crazyradio.get_serials().index(
uri_data.group(1).upper())
parsed_uri.netloc.upper())
except ValueError:
raise Exception('Cannot find radio with serial {}'.format(
uri_data.group(1)))
parsed_uri.netloc))

channel = 2
if uri_data.group(4):
channel = int(uri_data.group(4))
if len(parsed_path) > 0:
channel = int(parsed_path[0])

datarate = Crazyradio.DR_2MPS
if uri_data.group(7) == '250K':
datarate = Crazyradio.DR_250KPS
if uri_data.group(7) == '1M':
datarate = Crazyradio.DR_1MPS
if uri_data.group(7) == '2M':
datarate = Crazyradio.DR_2MPS
if len(parsed_path) > 1:
if parsed_path[1] == '250K':
datarate = Crazyradio.DR_250KPS
if parsed_path[1] == '1M':
datarate = Crazyradio.DR_1MPS
if parsed_path[1] == '2M':
datarate = Crazyradio.DR_2MPS

address = DEFAULT_ADDR_A
if uri_data.group(9):
if len(parsed_path) > 2:
# We make sure to pad the address with zeros if we do not have the
# correct length.
addr = '{:0>10}'.format(uri_data.group(9))
addr = '{:0>10}'.format(parsed_path[2])
new_addr = struct.unpack('<BBBBB', binascii.unhexlify(addr))
address = new_addr

return devid, channel, datarate, address
rate_limit = None
if 'rate_limit' in parsed_query:
rate_limit = int(parsed_query['rate_limit'][0])

return devid, channel, datarate, address, rate_limit

def receive_packet(self, wait=0):
"""
Expand Down Expand Up @@ -517,7 +524,7 @@ class _RadioDriverThread(threading.Thread):
Crazyradio USB driver. """

def __init__(self, radio, inQueue, outQueue,
link_quality_callback, link_error_callback, link):
link_quality_callback, link_error_callback, link, rate_limit: Optional[int]):
""" Create the object """
threading.Thread.__init__(self)
self._radio = radio
Expand All @@ -529,6 +536,7 @@ def __init__(self, radio, inQueue, outQueue,
self._retry_before_disconnect = _nr_of_retries
self._retries = collections.deque()
self._retry_sum = 0
self.rate_limit = rate_limit

self._curr_up = 0
self._curr_down = 1
Expand Down Expand Up @@ -641,6 +649,11 @@ def run(self):
else:
waitTime = 0

# If there is a rate limit setup, sleep here to force the rate limit
if self.rate_limit:
time.sleep(1.0/self.rate_limit)
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Just a thought, nowhere in the code does anything state that rate_limit is in Hz ... should this be more explicit?

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An SI rate is normally Hz so I did not think about precising it. Are you envisioning a comment or renaming the variable with "_hz" in the name?

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I am not sure, perhaps just some cognitive help while reading this part:

            # If there is a rate limit setup, sleep here to force the rate limit (Hz)
            if self.rate_limit:
                time.sleep(1.0/self.rate_limit)

waitTime = 0

# get the next packet to send of relaxation (wait 10ms)
outPacket = None
try:
Expand Down