Merge branch 'stopping' of https://github.com/trikset/trikRuntime

Author: yurii-litvinov

trikControl/src/led.cpp

@@ -39,8 +39,6 @@ Led::Led(const trikKernel::Configurer &configurer, const trikHal::HardwareAbstra
 
 Led::~Led()
 {
-	red();
-
 	mRedDeviceFile->close();
 	mGreenDeviceFile->close();
 }

trikControl/src/powerMotor.cpp

@@ -35,9 +35,6 @@ PowerMotor::PowerMotor(const QString &port, const trikKernel::Configurer &config
 
 PowerMotor::~PowerMotor()
 {
-	if (mState.isReady()) {
-		powerOff();
-	}
 }
 
 PowerMotor::Status PowerMotor::status() const

trikGui/controller.cpp

@@ -143,6 +143,16 @@ void Controller::scriptExecutionCompleted(const QString &error, int scriptId)
 		mCommunicator->sendMessage("error: " + error);
 		emit showError(error, scriptId);
 	}
+
+	mBrick->reset();
+
+	if (mMailbox) {
+		mMailbox->clearQueue();
+	}
+
+	if (mGamepad) {
+		mGamepad->reset();
+	}
 }
 
 void Controller::scriptExecutionFromFileStarted(const QString &fileName, int scriptId)

trikNetwork/include/trikNetwork/mailboxInterface.h

@@ -45,8 +45,11 @@ class TRIKNETWORK_EXPORT MailboxInterface : public QObject
 	/// Returns our IP address, or empty QHostAddress if we are not connected.
 	virtual QHostAddress myIp() const = 0;
 
-	/// Stops waiting for messages, clears message queue.
-	virtual void reset() = 0;
+	/// Clears message queue.
+	virtual void clearQueue() = 0;
+
+	/// Stops waiting for messages.
+	virtual void stopWaiting() = 0;
 
 	/// Returns true if mailbox is enabled in current configuration.
 	virtual bool isEnabled() = 0;

trikNetwork/src/mailbox.cpp

@@ -73,14 +73,18 @@ QHostAddress Mailbox::myIp() const
 	return mWorker->myIp();
 }
 
-void Mailbox::reset()
+void Mailbox::clearQueue()
 {
-	emit stopWaiting();
 	while (mWorker->hasMessages()) {
 		mWorker->receive();
 	}
 }
 
+void Mailbox::stopWaiting()
+{
+	emit stopWaitingSignal();
+}
+
 bool Mailbox::isEnabled()
 {
 	return !mWorker.isNull();
@@ -116,7 +120,7 @@ QString Mailbox::receive(bool wait)
 	QString result;
 
 	QEventLoop loop;
-	QObject::connect(this, SIGNAL(stopWaiting()), &loop, SLOT(quit()));
+	QObject::connect(this, SIGNAL(stopWaitingSignal()), &loop, SLOT(quit()));
 	if (!mWorker->hasMessages() && wait) {
 		loop.exec();
 	}
@@ -132,7 +136,7 @@ void Mailbox::init(int port)
 {
 	mWorker.reset(new MailboxServer(port));
 	QObject::connect(mWorker.data(), SIGNAL(newMessage(int, QString)), this, SIGNAL(newMessage(int, QString)));
-	QObject::connect(mWorker.data(), SIGNAL(newMessage(int, QString)), this, SIGNAL(stopWaiting()));
+	QObject::connect(mWorker.data(), SIGNAL(newMessage(int, QString)), this, SIGNAL(stopWaitingSignal()));
 	QObject::connect(mWorker.data(), SIGNAL(connected()), this, SLOT(updateConnectionStatus()));
 	QObject::connect(mWorker.data(), SIGNAL(disconnected()), this, SLOT(updateConnectionStatus()));
 

trikNetwork/src/mailbox.h

@@ -55,10 +55,12 @@ class Mailbox : public MailboxInterface
 
 	QHostAddress myIp() const override;
 
-	void reset() override;
+	void clearQueue() override;
 
 	bool isEnabled() override;
 
+	void stopWaiting() override;
+
 public slots:
 	void connect(const QString &ip, int port) override;
 
@@ -76,7 +78,7 @@ public slots:
 
 signals:
 	/// Used to interrupt waiting for new message.
-	void stopWaiting();
+	void stopWaitingSignal();
 
 private slots:
 	void updateConnectionStatus();

trikScriptRunner/include/trikScriptRunner/trikScriptRunner.h

@@ -55,8 +55,7 @@ class TrikScriptRunner : public QObject
 
 public slots:
 	/// Executes given script asynchronously. If some script is already executing, it will be aborted.
-	/// Execution state will be reset (and robot fully stopped) before and
-	/// after script execution. For event-driven mode (where script has brick.run() command) script counts as finished
+	/// For event-driven mode (where script has brick.run() command) script counts as finished
 	/// when it requests to quit by itself or was aborted. When script is finished, completed() signal will be emitted.
 	/// @param script - script in Qt Script language to be executed.
 	/// @param fileName - name of a file from which the script was loaded.

trikScriptRunner/src/scriptEngineWorker.cpp

@@ -87,7 +87,7 @@ ScriptEngineWorker::ScriptEngineWorker(trikControl::BrickInterface &brick
 	, mMailbox(mailbox)
 	, mGamepad(gamepad)
 	, mScriptControl(scriptControl)
-	, mThreadingVariable(this, scriptControl)
+	, mThreading(this, scriptControl)
 	, mDirectScriptsEngine(nullptr)
 	, mScriptId(0)
 	, mState(ready)
@@ -102,48 +102,65 @@ void ScriptEngineWorker::brickBeep()
 	mBrick.playSound(trikKernel::Paths::mediaPath() + "media/beep_soft.wav");
 }
 
-void ScriptEngineWorker::reset()
+void ScriptEngineWorker::stopScript()
 {
-	if (mState == resetting) {
+	if (mState == stopping) {
+		// Already stopping, so we can do nothing.
 		return;
 	}
 
-	while (mState == starting) {
-		QThread::yieldCurrentThread();
-	}
-
 	if (mState == ready) {
-		/// Engine is ready for execution, but we need to clear brick state before we go.
-		QLOG_INFO() << "ScriptEngineWorker: 'soft' reset";
-		mState = resetting;
-		clearMailboxAndGamepadState();
-		clearBrickState();
-		mState = ready;
+		// Engine is ready for execution.
 		return;
 	}
 
-	QLOG_INFO() << "ScriptEngineWorker: reset started";
+	while (mState == starting) {
+		// Some script is starting right now, so we are in inconsistent state. Let it start, then stop it.
+		QThread::yieldCurrentThread();
+	}
+
+	QLOG_INFO() << "ScriptEngineWorker: stopping script";
 
-	mState = resetting;
+	mState = stopping;
 
 	mScriptControl.reset();
 
-	mThreadingVariable.reset();
-	clearMailboxAndGamepadState();
+	mThreading.reset();
+	mMailbox->stopWaiting();
 
 	if (mDirectScriptsEngine) {
 		mDirectScriptsEngine->abortEvaluation();
 		QLOG_INFO() << "ScriptEngineWorker : ending interpretation";
 		emit completed(mDirectScriptsEngine->hasUncaughtException()
-				? mDirectScriptsEngine->uncaughtException().toString()
-				: "", mScriptId);
+						? mDirectScriptsEngine->uncaughtException().toString()
+						: ""
+				, mScriptId);
+
 		mDirectScriptsEngine->deleteLater();
 		mDirectScriptsEngine = nullptr;
 	}
 
-	clearBrickState();
 	mState = ready;
-	QLOG_INFO() << "ScriptEngineWorker: reset complete";
+
+	/// @todo: is it actually stopped?
+
+	QLOG_INFO() << "ScriptEngineWorker: stopping complete";
+}
+
+void ScriptEngineWorker::resetBrick()
+{
+	QLOG_INFO() << "Stopping robot";
+
+	if (mMailbox) {
+		mMailbox->stopWaiting();
+		mMailbox->clearQueue();
+	}
+
+	if (mGamepad) {
+		mGamepad->reset();
+	}
+
+	mBrick.reset();
 }
 
 void ScriptEngineWorker::run(const QString &script, int scriptId)
@@ -154,11 +171,10 @@ void ScriptEngineWorker::run(const QString &script, int scriptId)
 
 void ScriptEngineWorker::doRun(const QString &script)
 {
-	mThreadingVariable.startMainThread(script);
+	mThreading.startMainThread(script);
 	mState = running;
-	mThreadingVariable.waitForAll();
-	const QString error = mThreadingVariable.errorMessage();
-	reset();
+	mThreading.waitForAll();
+	const QString error = mThreading.errorMessage();
 	QLOG_INFO() << "ScriptEngineWorker: evaluation ended with message" << error;
 	emit completed(error, mScriptId);
 }
@@ -167,7 +183,7 @@ void ScriptEngineWorker::runDirect(const QString &command, int scriptId)
 {
 	if (!mScriptControl.isInEventDrivenMode()) {
 		QLOG_INFO() << "ScriptEngineWorker: starting interpretation";
-		reset();
+		stopScript();
 		startScriptEvaluation(scriptId);
 		mDirectScriptsEngine = createScriptEngine(false);
 		mScriptControl.run();
@@ -182,7 +198,12 @@ void ScriptEngineWorker::doRunDirect(const QString &command)
 	if (mDirectScriptsEngine) {
 		mDirectScriptsEngine->evaluate(command);
 		if (mDirectScriptsEngine->hasUncaughtException()) {
-			reset();
+			QLOG_INFO() << "ScriptEngineWorker : ending interpretation of direct script";
+			emit completed(mDirectScriptsEngine->hasUncaughtException()
+					? mDirectScriptsEngine->uncaughtException().toString()
+					: "", mScriptId);
+			mDirectScriptsEngine->deleteLater();
+			mDirectScriptsEngine = nullptr;
 		}
 	}
 }
@@ -203,7 +224,7 @@ void ScriptEngineWorker::onScriptRequestingToQuit()
 		mScriptControl.run();
 	}
 
-	reset();
+	stopScript();
 }
 
 QScriptEngine * ScriptEngineWorker::createScriptEngine(bool supportThreads)
@@ -242,7 +263,7 @@ QScriptEngine * ScriptEngineWorker::createScriptEngine(bool supportThreads)
 	}
 
 	if (supportThreads) {
-		engine->globalObject().setProperty("Threading", engine->newQObject(&mThreadingVariable));
+		engine->globalObject().setProperty("Threading", engine->newQObject(&mThreading));
 	}
 
 	evalSystemJs(engine);
@@ -290,20 +311,3 @@ void ScriptEngineWorker::evalSystemJs(QScriptEngine * const engine) const
 		engine->globalObject().setProperty(functionName, functionValue);
 	}
 }
-
-void ScriptEngineWorker::clearBrickState()
-{
-	mBrick.reset();
-}
-
-void ScriptEngineWorker::clearMailboxAndGamepadState()
-{
-	if (mMailbox) {
-		mMailbox->reset();
-	}
-
-	if (mGamepad) {
-		mGamepad->reset();
-	}
-}
-

trikScriptRunner/src/scriptEngineWorker.h

@@ -59,6 +59,13 @@ class ScriptEngineWorker : public QObject
 	/// Registers given C++ function as callable from script, with given name.
 	void registerUserFunction(const QString &name, QScriptEngine::FunctionSignature function);
 
+	/// Clears execution state and stops robot.
+	void resetBrick();
+
+	/// Stops script execution and resets script engine. Can be called from another thread. By the end of call the
+	/// worker would be in a ready state.
+	void stopScript();
+
 signals:
 	/// Emitted when current script execution is completed or is aborted by reset() call.
 	/// @param error - localized error message or empty string.
@@ -70,10 +77,6 @@ class ScriptEngineWorker : public QObject
 	void startedScript(int scriptId);
 
 public slots:
-	/// Stops script execution and resets execution state (including script engine and trikControl itself). Can be
-	/// called from another thread. By the end of call to reset() the worker would be in a ready state.
-	void reset();
-
 	/// Starts script evaluation, emits startedScript() signal and returns. Script will be executed asynchronously.
 	/// completed() signal is emitted upon script abortion or completion.
 	/// It is a caller's responsibility to ensure that ScriptEngineWorker is in ready state before a call to run()
@@ -110,7 +113,7 @@ private slots:
 	enum State {
 		ready
 		, starting
-		, resetting
+		, stopping
 		, running
 	};
 
@@ -120,17 +123,11 @@ private slots:
 	/// Evaluates "system.js" file in given engine.
 	void evalSystemJs(QScriptEngine * const engine) const;
 
-	/// Part of reset procedure, clears state of brick.
-	void clearBrickState();
-
-	/// Part of reset procedure, clears state of mailbox and gamepad.
-	void clearMailboxAndGamepadState();
-
 	trikControl::BrickInterface &mBrick;
 	trikNetwork::MailboxInterface * const mMailbox;  // Does not have ownership.
 	trikNetwork::GamepadInterface * const mGamepad;  // Does not have ownership.
 	ScriptExecutionControl &mScriptControl;
-	Threading mThreadingVariable;
+	Threading mThreading;
 	QScriptEngine *mDirectScriptsEngine;  // Has ownership.
 	int mScriptId;
 	State mState;

trikScriptRunner/src/threading.h

@@ -38,7 +38,7 @@ class Threading : public QObject
 public:
 	/// Constructs a Threading object with given script worker as a parent.
 	explicit Threading(ScriptEngineWorker *scriptWorker, ScriptExecutionControl &scriptControl);
-	~Threading();
+	~Threading() override;
 
 	/// Starts the main thread of a script
 	void startMainThread(const QString &script);