Merge pull request #285 from pioneers/executor_rewrite

[EXECUTOR] Modified executor to place loops on student end

Author: BrandonWong14

executor/executor.c

@@ -195,77 +195,56 @@ static void executor_init(char* student_code) {
  *      3: Timed out by executor
  *      4: Unable to find the given function in the student code
  */
-static uint8_t run_py_function(const char* func_name, struct timespec* timeout, int loop, PyObject* args, PyObject** py_ret) {
+static uint8_t run_py_function(const char* func_name, struct timespec* timeout, PyObject* args, PyObject** py_ret) {
     uint8_t ret = 0;
 
     // retrieve the Python function from the student code
     PyObject* pFunc = PyObject_GetAttrString(pModule, func_name);
     PyObject* pValue = NULL;
+    log_printf(ERROR, "%s", func_name);
     if (pFunc && PyCallable_Check(pFunc)) {
-        struct timespec start, end;
-        uint64_t time, max_time = 0;
-        if (timeout != NULL) {
-            max_time = timeout->tv_sec * 1e9 + timeout->tv_nsec;
+        pValue = PyObject_CallObject(pFunc, args);  // make call to Python function
+
+        // Set return value
+        if (py_ret != NULL) {
+            Py_XDECREF(*py_ret);  // Decrement previous reference, if it exists
+            *py_ret = pValue;
+        } else {
+            Py_XDECREF(pValue);
         }
 
-        do {
-            clock_gettime(CLOCK_MONOTONIC, &start);
-            pValue = PyObject_CallObject(pFunc, args);  // make call to Python function
-            clock_gettime(CLOCK_MONOTONIC, &end);
-
-            // if the time the Python function took was greater than max_time, warn that it's taking too long
-            time = (end.tv_sec - start.tv_sec) * 1e9 + (end.tv_nsec - start.tv_nsec);
-            if (timeout != NULL && time > max_time) {
-                log_printf(WARN, "Function %s is taking longer than %lu milliseconds, indicating a loop or sleep in the code. You probably forgot to put a Robot.sleep call into a robot action instead of a regular function.", func_name, (long) (max_time / 1e6));
-            }
-            // if the time the Python function took was less than min_time, sleep to slow down execution
-            if (time < min_time) {
-                usleep((min_time - time) / 1000);  // Need to convert nanoseconds to microseconds
-            }
-
-            // Set return value
-            if (py_ret != NULL) {
-                Py_XDECREF(*py_ret);  // Decrement previous reference, if it exists
-                *py_ret = pValue;
+        // catch execution error
+        if (pValue == NULL) {
+            if (!PyErr_ExceptionMatches(PyExc_TimeoutError)) {
+                PyErr_Print();
+                log_printf(ERROR, "Python function %s call failed", func_name);
+                ret = 2;
             } else {
-                Py_XDECREF(pValue);
+                ret = 3;  // Timed out by parent process
             }
-
-            // catch execution error
-            if (pValue == NULL) {
+        } else if (mode == AUTO || mode == TELEOP) {
+            // Need to check if error occurred in action thread
+            PyObject* event = PyObject_GetAttrString(pRobot, "error_event");
+            if (event == NULL) {
+                PyErr_Print();
+                log_printf(ERROR, "Could not get error_event from Robot instance");
+                exit(2);
+            }
+            PyObject* event_set = PyObject_CallMethod(event, "is_set", NULL);
+            if (event_set == NULL) {
                 if (!PyErr_ExceptionMatches(PyExc_TimeoutError)) {
                     PyErr_Print();
-                    log_printf(ERROR, "Python function %s call failed", func_name);
-                    ret = 2;
+                    log_printf(DEBUG, "Could not get if error is set from error_event");
+                    exit(2);
                 } else {
                     ret = 3;  // Timed out by parent process
                 }
-                break;
-            } else if (mode == AUTO || mode == TELEOP) {
-                // Need to check if error occurred in action thread
-                PyObject* event = PyObject_GetAttrString(pRobot, "error_event");
-                if (event == NULL) {
-                    PyErr_Print();
-                    log_printf(ERROR, "Could not get error_event from Robot instance");
-                    exit(2);
-                }
-                PyObject* event_set = PyObject_CallMethod(event, "is_set", NULL);
-                if (event_set == NULL) {
-                    if (!PyErr_ExceptionMatches(PyExc_TimeoutError)) {
-                        PyErr_Print();
-                        log_printf(DEBUG, "Could not get if error is set from error_event");
-                        exit(2);
-                    } else {
-                        ret = 3;  // Timed out by parent process
-                    }
-                    break;
-                } else if (PyObject_IsTrue(event_set) == 1) {
-                    log_printf(ERROR, "Stopping %s due to error in action", func_name);
-                    ret = 1;
-                    break;
-                }
+            } else if (PyObject_IsTrue(event_set) == 1) {
+                log_printf(ERROR, "Stopping %s due to error in action", func_name);
+                ret = 1;
             }
-        } while (loop);
+        }
+
         Py_DECREF(pFunc);
     } else {
         if (PyErr_Occurred()) {
@@ -278,32 +257,6 @@ static uint8_t run_py_function(const char* func_name, struct timespec* timeout,
 }
 
 
-/**
- *  Begins the given game mode and calls setup and main appropriately. Will run main forever.
- *
- *  Behavior: This is a blocking function and will block the calling thread forever.
- *  This should only be run as a separate thread.
- *
- *  Inputs:
- *      args: string of the mode to start running
- */
-static void run_mode(robot_desc_val_t mode) {
-    // Set up the arguments to the threads that will run the setup and main threads
-    char* mode_str = get_mode_str(mode);
-    char setup_str[20], main_str[20];
-    sprintf(setup_str, "%s_setup", mode_str);
-    sprintf(main_str, "%s_main", mode_str);
-
-    int err = run_py_function(setup_str, &setup_time, 0, NULL, NULL);  // Run setup function once
-    if (err == 0) {
-        err = run_py_function(main_str, &main_interval, 1, NULL, NULL);  // Run main function on loop
-    } else {
-        log_printf(WARN, "Won't run %s due to error %d in %s", main_str, err, setup_str);
-    }
-    return;
-}
-
-
 /**
  *  Handler for killing the child mode subprocess
  */
@@ -361,7 +314,12 @@ static pid_t start_mode_subprocess(char* student_code) {
         signal(SIGINT, SIG_IGN);  // Disable Ctrl+C for child process
         executor_init(student_code);
         signal(SIGTERM, python_exit_handler);  // Set handler for killing subprocess
-        run_mode(mode);
+
+        char* mode_str = get_mode_str(mode);
+        int err = run_py_function(mode_str, &main_interval, NULL, NULL);  // Run main function
+        if (err) {
+            log_printf(WARN, "NEED TO EDIT STATEMENT");  // "Problem Child"
+        }
         exit(0);
         return pid;  // Never reach this statement due to exit, needed to fix compiler warning
     } else {

executor/studentcode.py

@@ -1,12 +1,5 @@
+def autonomous():
+    print("Autonomous has begun!")
 
-def autonomous_setup():
-    print('Autonomous setup has begun!')
-
-def autonomous_main():
-    pass
-
-def teleop_setup():
-    print('Teleop setup has begun!')
-
-def teleop_main():
-    pass
+def teleop():
+    print("Teleop has begun!")

systemd/runtime_update.service

@@ -3,9 +3,9 @@ Description=Update process for Runtime
 
 [Service]
 Type=oneshot
-User=pi
-WorkingDirectory=/home/pi/runtime
-ExecStart=/home/pi/runtime/scripts/update.sh
+User=ubuntu
+WorkingDirectory=/home/ubuntu/runtime
+ExecStart=/home/ubuntu/runtime/scripts/update.sh
 KillSignal=SIGINT
 
 [Install]

tests/integration/tc_71_2.c

@@ -8,7 +8,7 @@
  */
 
 char check_output_6[] =
-    "  File \"/home/runner/work/runtime/runtime/tests/student_code/executor_sanity.py\", line 25, in teleop_main\n"
+    "  File \"/home/runner/work/runtime/runtime/tests/student_code/executor_sanity.py\", line 19, in teleop\n"
     "    oops = 1 / 0\n"
     "           ~~^~~\n"
     "ZeroDivisionError: division by zero\n";
@@ -37,7 +37,7 @@ int main() {
     send_run_mode(SHEPHERD, TELEOP);
     add_ordered_string_output("Traceback (most recent call last):\n");
     add_ordered_string_output(check_output_6);
-    add_ordered_string_output("Python function teleop_main call failed\n");
+    add_ordered_string_output("Python function teleop call failed\n");
     check_run_mode(TELEOP);
 
     send_run_mode(DAWN, IDLE);

tests/student_code/executor_sanity.py

@@ -8,18 +8,12 @@ def constant_print(msg):
 		print(f"{msg} printing again")
 		time.sleep(2)
 
-def autonomous_setup():
+def autonomous():
 	print('Autonomous setup has begun!')
 	print(f"Starting position: {Robot.start_pos}")
 	Robot.run(constant_print, "autonomous")
 
-def autonomous_main():
-	pass
-
 # This teleop code generates a DivisionByZero Python error
 
-def teleop_setup():
-	pass
-
-def teleop_main():
+def teleop():
 	oops = 1 / 0

tests/student_code/keyboard_input.py

@@ -1,18 +1,13 @@
 
 simple_device = "62_20"
 
-def autonomous_setup():
+def autonomous():
     pass
 
-def autonomous_main():
-    pass
-
-def teleop_setup():
-    pass
-
-def teleop_main():
-    if Keyboard.get_value('a'):
-        Robot.set_value(simple_device, "MY_INT", 123454321)
-    elif Keyboard.get_value('y'):
-        print(Robot.get_value(simple_device, "MY_INT"))
-        Robot.sleep(.45)
+def teleop():
+    while True:
+        if Keyboard.get_value('a'):
+            Robot.set_value(simple_device, "MY_INT", 123454321)
+        elif Keyboard.get_value('y'):
+            print(Robot.get_value(simple_device, "MY_INT"))
+            Robot.sleep(.45)

tests/student_code/net_handler_integration.py

@@ -20,13 +20,12 @@ def modify_my_int():
             Robot.set_value(SIMPLE_DEV, "MY_INT", Robot.get_value(SIMPLE_DEV, "MY_INT") - 1)
         Robot.sleep(1)
 
-def teleop_setup():
+def teleop():
     print("Teleop setup has begun!")
     Robot.run(print_if_button_a)
     Robot.run(modify_my_int)
-
-def teleop_main():
     global i
-    if i < 3 and Gamepad.get_value('joystick_left_x') != 0.0:
-        print("Left joystick moved in x direction!")
-        i += 1
+    while True:
+        if i < 3 and Gamepad.get_value('joystick_left_x') != 0.0:
+            print("Left joystick moved in x direction!")
+            i += 1

tests/student_code/runtime_latency.py

@@ -2,15 +2,10 @@
 
 time_dev = '60_123'
 
-def autonomous_setup():
+def autonomous():
     pass
 
-def autonomous_main():
-    pass
-
-def teleop_setup():
-    pass
-
-def teleop_main():
-    if Gamepad.get_value('button_a'):
-        Robot.set_value(time_dev, "GET_TIME", True)
+def teleop():
+    while True:
+        if Gamepad.get_value('button_a'):
+            Robot.set_value(time_dev, "GET_TIME", True)

tests/student_code/sanity_write.py

@@ -15,18 +15,14 @@ def constant_write():
         Robot.set_value(GeneralTestDevice, "RED_INT", int_val)
         Robot.set_value(GeneralTestDevice, "ORANGE_FLOAT", float_val)
         Robot.set_value(GeneralTestDevice, "YELLOW_BOOL", bool_val)
-        int_val += 2;
+        int_val += 2
         float_val += 3.14
         bool_val = not bool_val
 
-def autonomous_setup():
+def autonomous():
     Robot.run(constant_write)
+    while True:
+        pass
 
-def autonomous_main():
-    pass
-
-def teleop_setup():
-    pass
-
-def teleop_main():
+def teleop():
     pass

tests/student_code/sound_device.py

@@ -1,4 +1,5 @@
 # Student code that plays pitches from keyboard inputs
+# Commented out print_buttons and play_notes functions as they are not run 
 import time
 
 SOUND = '59_1'
@@ -23,8 +24,8 @@
 
 ################################## AUTONOMOUS ##################################
 
-def autonomous_setup():
-    print("Now executing AUTONOMOUS SETUP")
+def autonomous():
+    print("Now executing AUTONOMOUS")
     # Write pitches
     for note in NOTES:
         if (note == ' '):
@@ -35,35 +36,30 @@ def autonomous_setup():
             Robot.set_value(SOUND, "PITCH", MAP[note])
             time.sleep(NOTE_DURATION)
 
-def autonomous_main():
-    pass
-
 #################################### TELEOP ####################################
 
-def teleop_setup():
-    print("Now executing TELEOP SETUP")
+def teleop():
+    print("Now executing TELEOP")
     # Robot.run(print_button)
     # Robot.run(play_notes)
-    pass
-
-def teleop_main():
-    if Gamepad.get_value('button_a'):
-        Robot.set_value(SOUND, "PITCH", MAP['C'])
-        print("Wrote Button A: Pitch C")
-        time.sleep(NOTE_DURATION);
-    if Gamepad.get_value('button_b'):
-        Robot.set_value(SOUND, "PITCH", MAP['B'])
-        print("Wrote Button B: Pitch B")
-        time.sleep(NOTE_DURATION);
+    while True:
+        if Gamepad.get_value('button_a'):
+            Robot.set_value(SOUND, "PITCH", MAP['C'])
+            print("Wrote Button A: Pitch C")
+            time.sleep(NOTE_DURATION);
+        if Gamepad.get_value('button_b'):
+            Robot.set_value(SOUND, "PITCH", MAP['B'])
+            print("Wrote Button B: Pitch B")
+            time.sleep(NOTE_DURATION);
 
 ################################### THREADS ####################################
 
-def print_button():
-    while (1):
-        if Gamepad.get_value('button_a'):
-            print("BUTTON A IS PRESSED")
-        if Gamepad.get_value('button_b'):
-            print("BUTTON B IS PRESSED")
+# def print_button():
+#    while (1):
+#        if Gamepad.get_value('button_a'):
+#            print("BUTTON A IS PRESSED")
+#        if Gamepad.get_value('button_b'):
+#            print("BUTTON B IS PRESSED")
 
 # def play_notes():
 #     while (1):