labthings / labthings/labthings-sangaboard
Improve move cancellation
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- Dominant language
- Python
- Stars
- 0
- Forks
- 0
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Description
Currently, moves >5000 steps are done non-blocking. This is slightly inelegant, because it involves quite a few queries:
- Disable blocking moves
- Start the move
- LOOP
- Query if we're moving
- Wait
- Re-enable blocking moves
There's also jitter that will come from the Python code waiting in between polls.
A much more elegant way would be to add a timeout to wait_until_stopped (would require firmware update) so that we can long-poll it. I'd be pretty confident that this wouldn't affect the timings noticeably, so we could then make moves non-blocking by default.
Contributor guide
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First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start by locating the Python implementation of wait_until_stopped and the firmware code that handles it. Trace the current polling loop and move-blocking configuration before assessing the protocol changes needed. Done means the stop wait supports a timeout and moves can be non-blocking by default without the polling jitter described.
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Assessment
- Tech stack
- python
- Domain
- embedded-iot
- Issue type
- Feature
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 35/100