55 scan tasks should be stopped cleanly when process stopped

src/fastcs/backend.py

@@ -1,7 +1,6 @@
 import asyncio
 from collections import defaultdict
 from collections.abc import Callable
-from concurrent.futures import Future
 from types import MethodType
 
 from softioc.asyncio_dispatcher import AsyncioDispatcher
@@ -21,7 +20,7 @@ def __init__(
         self._controller = controller
 
         self._initial_tasks = [controller.connect]
-        self._scan_tasks: list[Future] = []
+        self._scan_tasks: list[asyncio.Task] = []
 
         asyncio.run_coroutine_threadsafe(
             self._controller.initialise(), self._loop
@@ -41,22 +40,31 @@ def _link_process_tasks(self):
             _link_single_controller_put_tasks(single_mapping)
             _link_attribute_sender_class(single_mapping)
 
+    def __del__(self):
+        self.stop_scan_tasks()
+
     def run(self):
         self._run_initial_tasks()
-        self._start_scan_tasks()
-
+        self.start_scan_tasks()
         self._run()
 
     def _run_initial_tasks(self):
         for task in self._initial_tasks:
             future = asyncio.run_coroutine_threadsafe(task(), self._loop)
             future.result()
 
-    def _start_scan_tasks(self):
-        scan_tasks = _get_scan_tasks(self._mapping)
+    def start_scan_tasks(self):
+        self._scan_tasks = [
+            self._loop.create_task(coro()) for coro in _get_scan_coros(self._mapping)
+        ]
 
-        for task in scan_tasks:
-            asyncio.run_coroutine_threadsafe(task(), self._loop)
+    def stop_scan_tasks(self):
+        for task in self._scan_tasks:
+            if not task.done():
+                try:
+                    task.cancel()
+                except asyncio.CancelledError:
+                    pass
 
     def _run(self):
         raise NotImplementedError("Specific Backend must implement _run")
@@ -98,15 +106,15 @@ async def callback(value):
     return callback
 
 
-def _get_scan_tasks(mapping: Mapping) -> list[Callable]:
+def _get_scan_coros(mapping: Mapping) -> list[Callable]:
     scan_dict: dict[float, list[Callable]] = defaultdict(list)
 
     for single_mapping in mapping.get_controller_mappings():
         _add_scan_method_tasks(scan_dict, single_mapping)
         _add_attribute_updater_tasks(scan_dict, single_mapping)
 
-    scan_tasks = _get_periodic_scan_tasks(scan_dict)
-    return scan_tasks
+    scan_coros = _get_periodic_scan_coros(scan_dict)
+    return scan_coros
 
 
 def _add_scan_method_tasks(
@@ -144,18 +152,18 @@ async def callback():
     return callback
 
 
-def _get_periodic_scan_tasks(scan_dict: dict[float, list[Callable]]) -> list[Callable]:
-    periodic_scan_tasks: list[Callable] = []
+def _get_periodic_scan_coros(scan_dict: dict[float, list[Callable]]) -> list[Callable]:
+    periodic_scan_coros: list[Callable] = []
     for period, methods in scan_dict.items():
-        periodic_scan_tasks.append(_create_periodic_scan_task(period, methods))
+        periodic_scan_coros.append(_create_periodic_scan_coro(period, methods))
 
-    return periodic_scan_tasks
+    return periodic_scan_coros
 
 
-def _create_periodic_scan_task(period, methods: list[Callable]) -> Callable:
-    async def scan_task() -> None:
+def _create_periodic_scan_coro(period, methods: list[Callable]) -> Callable:
+    async def scan_coro() -> None:
         while True:
             await asyncio.gather(*[method() for method in methods])
             await asyncio.sleep(period)
 
-    return scan_task
+    return scan_coro

tests/test_backend.py

@@ -1,4 +1,4 @@
-from time import sleep
+import asyncio
 
 import pytest
 
@@ -16,7 +16,7 @@ async def init_task(self):
         self.init_task_called = True
 
     def _run(self):
-        pass
+        asyncio.run_coroutine_threadsafe(asyncio.sleep(0.3), self._loop)
 
 
 @pytest.mark.asyncio
@@ -41,5 +41,7 @@ async def test_backend(controller):
     # Scan tasks should be running
     for _ in range(3):
         count = controller.count
-        sleep(0.05)
+        await asyncio.sleep(0.1)
         assert controller.count > count
+
+    backend.stop_scan_tasks()