Uasyncio sleep problem. #11236

vahithosan · 2023-04-11T10:02:28Z

vahithosan
Apr 11, 2023

Hi. I have a problem with uasyncio sleep. There is a function that I activate with the button. rc servo will go back and forth at certain intervals.
await uasyncio.sleep_ms(100) is waiting more than 400ms.
the screen I use is st7735.

async def yikama1_as(ayar):
    global y1_flag
    y1_flag=True
    if ayar[gelen+'-S1Y']==2:
        bekleme1=2
        sabit1=50
    elif ayar[gelen+'-S1Y']==1:
        bekleme1=10
        sabit1=0
    basamak1 = abs(ayar[gelen+"-1"] - ayar[gelen+"-2"])
    while True:
        if basamak1 != 0:
            start1 = time.ticks_ms()
            start11 = time.ticks_ms()
            pwm1.duty(servom(ayar[gelen+"-1"]))
            delta11 = time.ticks_diff(time.ticks_ms(), start11)
            start12 = time.ticks_ms()
            await uasyncio.sleep_ms(200)
            delta12 = time.ticks_diff(time.ticks_ms(), start12)
            print(sabit1+(bekleme1*basamak1))
            start21 = time.ticks_ms()
            pwm1.duty(servom(ayar[gelen+"-2"]))
            delta21 = time.ticks_diff(time.ticks_ms(), start21)
            start22 = time.ticks_ms()
            await uasyncio.sleep_ms(100)
            delta22 = time.ticks_diff(time.ticks_ms(), start22)
            print(sabit1+(bekleme1*basamak1))
            delta1 = time.ticks_diff(time.ticks_ms(), start1)
            print("1. Yıkama frekansı : ",delta1," ms'dir. ")
            print(delta11," ",delta12," ",delta21," ",delta22)
        else:
            await uasyncio.sleep_ms(100)

I put a timer step by step. Even if I write 100ms for sleep, there is a 400ms wait.

1. Yıkama frekansı : 809 ms'dir.
0 405 0 403

I tried both for 1.18 and 1.19. both have the same problem. I wonder what I am doing wrong?

from color_setup import ssd  # Create a display instance
from gui.core.colors import RED, BLUE, DARKBLUE, GREEN, WHITE, BLACK, LIGHTRED, YELLOW, GREY, DARKGREEN
from writer import CWriter
from machine import Pin, SPI, Timer, PWM, ADC, UART
from rotary_irq_esp import RotaryIRQ
from primitives.pushbutton import Pushbutton
import time
import uasyncio
from machine import Timer
import micropython
import ujson
import esp32
import eux15
import eux34
import buzzer
import gc
import framebuf
import math

gc.enable()
gc.threshold(gc.mem_free() // 4 + gc.mem_alloc())
micropython.alloc_emergency_exception_buf(100)

ok=[(1/32,"H5")]
bad=[(1/8,"H5"),(1/8,"0"),(1/8,"H5")]
pwm=PWM(Pin(27,Pin.OUT))
buzzer=buzzer.Buzzer(pwm)
tim0 = Timer(0)

def ayarYukle():
    with open('ayarlar.json') as ayarDosya:
        return ujson.load(ayarDosya)


def ayarGuncelle():
    global ayar
    start = time.ticks_ms()
    with open('ayarlar.json', 'w') as ayarDosya:

        ujson.dump(ayar, ayarDosya)
        delta = time.ticks_diff(time.ticks_ms(), start)
        print("Dosya güncelleme için geçen zaman :"+ str(delta)+" ms'dir.")
        uasyncio.create_task(buzzer.async_play(ok,tempo=60,freq_multiple=3,output=1,channel=0))

def servom(x):
    global acid
    acid =  int((x - 0) * (120 - 20) // (180 - 0) + 20)
    return acid

ayar = {'gelen': '', 'min_us': '', 'max_us': '', 'freq': '', 'angle': '','fboud': '', 'fbits': '', 'fparity': '', 'fstop': '',  'T00-1': '', 'T00-2': '', 'T00-3': '', 'T00-4': '', 'T00-S1Y': '', 'T00-S2Y': '', 'T01-1': '', 'T01-2': '', 'T01-3': '', 'T01-4': '', 'T01-S1Y': '', 'T01-S2Y': '', 'T02-1': '', 'T02-2': '', 'T02-3': '', 'T02-4': '', 'T02-S1Y': '', 'T02-S2Y': '', 'T03-1': '', 'T03-2': '', 'T03-3': '', 'T03-4': '', 'T03-S1Y': '', 'T03-S2Y': '', 'T04-1': '', 'T04-2': '', 'T04-3': '', 'T04-4': '', 'T04-S1Y': '', 'T04-S2Y': '', 'T05-1': '', 'T05-2': '', 'T05-3': '', 'T05-4': '', 'T05-S1Y': '', 'T05-S2Y': '', 'T06-1': '', 'T06-2': '', 'T06-3': '', 'T06-4': '', 'T06-S1Y': '', 'T06-S2Y': '', 'T07-1': '', 'T07-2': '', 'T07-3': '', 'T07-4': '', 'T07-S1Y': '', 'T07-S2Y': '', 'T08-1': '', 'T08-2': '', 'T08-3': '', 'T08-4': '', 'T08-S1Y': '', 'T08-S2Y': '', 'T09-1': '', 'T09-2': '', 'T09-3': '', 'T09-4': '', 'T09-S1Y': '', 'T09-S2Y': '', 'T10-1': '', 'T10-2': '', 'T10-3': '', 'T10-4': '', 'T10-S1Y': '', 'T10-S2Y': ''}

yum = {
  0 : "Kapalı",
  1 : "Yavaş",
  2 : "Hızlı"
}

u_brate=[110, 300, 600, 1200, 2400, 4800, 9600, 14400, 19200, 38400, 57600, 115200, 128000, 256000]
u_bits=[7,8]
u_parity_dict={
  None : "None",
  0 : "Even",
  1 : "Odd"
}
u_parity=[None, 0, 1]
u_stop=[1,2]

sabit1=0
sabit2=0
basamak1=0
basamak2=0
bekleme1=0
bekleme2=0

ayar = ayarYukle()
gelen = ayar['gelen']
gelen = ayar['gelen']
s1sayac = ayar[gelen+'-S1Y']
s2sayac = ayar[gelen+'-S2Y']
y1_flag=False
y2_flag=False

# if s1sayac > 0:
#     y1 = uasyncio.create_task(yikama1_as(ayar))
#
# if s2sayac > 0:
#     y2 = uasyncio.create_task(yikama2_as(ayar))


uart = UART(2, tx=21, rx=22)
uart.init(baudrate=ayar['fboud'], bits=ayar['fbits'], parity=ayar['fparity'], stop=ayar['fstop'])

pwm1 = PWM(Pin(26), freq=50, duty=servom(ayar[gelen+"-1"]))
pwm2 = PWM(Pin(25), freq=50, duty=servom(ayar[gelen+"-3"]))

font22 = CWriter(ssd, eux34)
font11 = CWriter(ssd, eux15)

r = RotaryIRQ(pin_num_clk=34,
            pin_num_dt=35,
            min_val=0,
            max_val=0,
            reverse=False,
            invert=True,
            range_mode=RotaryIRQ.RANGE_BOUNDED)

sw = Pin(39,Pin.IN)
pb = Pushbutton(sw, suppress=True)
s1_buton = Pin(32,Pin.IN)
s1b = Pushbutton(s1_buton, suppress=True)
s2_buton = Pin(33,Pin.IN)
s2b = Pushbutton(s2_buton, suppress=True)

gc.collect()

time.sleep(1)
pwm1.duty(servom(ayar[gelen+"-1"]))
pwm2.duty(servom(ayar[gelen+"-3"]))

async def ana_sayfa_as(r, ayar):
    # pb.release_func(menu,)
    s1b.press_func(False)
    s1b.release_func(s1Y,)
    s2b.press_func(False)
    s2b.release_func(s2Y,)
    # pb.long_func(gizli_menu,)
    # sb.press_func(seri,)
    while True:
        ssd.fill(BLACK)
        ssd.fill_rect(0,0,128,40,RED)
        font22.setcolor(WHITE, RED)
        font22.set_textpos(ssd, 3, 20)
        font22.printstring("{:>4}".format(gelen))
        ssd.pixel(2,1,WHITE)
        font11.setcolor(WHITE, BLACK)
        font11.set_textpos(ssd, 50, 4)
        font11.printstring("Servo.1-1.Açı")
        font11.set_textpos(ssd, 50, 80)
        font11.printstring(":")
        font11.printstring("{:>4}".format(ayar[gelen+'-1'])+" °")
        font11.set_textpos(ssd, 65, 4)
        font11.printstring("Servo.1-2.Açı")
        font11.set_textpos(ssd, 65, 80)
        font11.printstring(":")
        font11.printstring("{:>4}".format(ayar[gelen+'-2'])+" °")
        font11.set_textpos(ssd, 80, 4)
        font11.printstring("Yıkama")
        font11.set_textpos(ssd, 80, 80)
        font11.printstring(":")
        font11.set_textpos(ssd, 80, 85)
        font11.printstring(yum[ayar[gelen+'-S1Y']])
        font11.set_textpos(ssd, 95, 4)
        font11.printstring("Servo.2-1.Açı")
        font11.set_textpos(ssd, 95, 80)
        font11.printstring(":")
        font11.printstring("{:>4}".format(ayar[gelen+'-3'])+" °")
        font11.set_textpos(ssd, 110, 4)
        font11.printstring("Servo.2-2.Açı")
        font11.set_textpos(ssd, 110, 80)
        font11.printstring(":")
        font11.printstring("{:>4}".format(ayar[gelen+'-4'])+" °")
        font11.set_textpos(ssd, 125, 4)
        font11.printstring("Yıkama")
        font11.set_textpos(ssd, 125, 80)
        font11.printstring(":")
        font11.set_textpos(ssd, 125, 85)
        font11.printstring(yum[ayar[gelen+'-S2Y']])
        ssd.show()
        await uasyncio.sleep_ms(50)


async def rotar(r, ayar):
    global sf
    global val_old
    val_old = r.value()
    while True:
        global val_new
        val_new = r.value()
        if val_old != val_new:
            val_old = val_new
            print('result =', val_new)
            print(gc.mem_alloc())
            print(gc.mem_free())
            #print(ayar)
        await uasyncio.sleep_ms(50)




async def yikama1_as(ayar):
    global y1_flag
    y1_flag=True
    if ayar[gelen+'-S1Y']==2:
        bekleme1=2
        sabit1=50
    elif ayar[gelen+'-S1Y']==1:
        bekleme1=10
        sabit1=0
    basamak1 = abs(ayar[gelen+"-1"] - ayar[gelen+"-2"])
    while True:
        if basamak1 != 0:
            start1 = time.ticks_ms()
            start11 = time.ticks_ms()
            pwm1.duty(servom(ayar[gelen+"-1"]))
            delta11 = time.ticks_diff(time.ticks_ms(), start11)
            start12 = time.ticks_ms()
            await uasyncio.sleep_ms(100)
            delta12 = time.ticks_diff(time.ticks_ms(), start12)
            start21 = time.ticks_ms()
            pwm1.duty(servom(ayar[gelen+"-2"]))
            delta21 = time.ticks_diff(time.ticks_ms(), start21)
            start22 = time.ticks_ms()
            await uasyncio.sleep_ms(100)
            delta22 = time.ticks_diff(time.ticks_ms(), start22)
            delta1 = time.ticks_diff(time.ticks_ms(), start1)
            print("1. Yıkama frekansı : ",delta1," ms'dir. ")
            print(delta11," ",delta12," ",delta21," ",delta22)
        else:
            await uasyncio.sleep_ms(100)

async def yikama2_as(ayar):
    global y2_flag, sabit2, bekleme2, basamak2
    ilk_1=ayar[gelen+"-3"]
    son_2=ayar[gelen+"-4"]
    if ayar[gelen+'-S2Y']==2:
        bekleme2=2
        sabit2=50
    elif ayar[gelen+'-S2Y']==1:
        bekleme2=10
        sabit2=0
    y2_flag=True
    basamak2 = abs(ilk_1 - son_2)
    while True:
        if basamak2 != 0:
            start2 = time.ticks_ms()
            pwm2.duty(servom(ilk_1))
            await uasyncio.sleep_ms(100)
            pwm2.duty(servom(son_2))
            await uasyncio.sleep_ms(100)
            delta2 = time.ticks_diff(time.ticks_ms(), start2)
            print("2. Yıkama frekansı : ",delta2," ms'dir. ")

        else:
            await uasyncio.sleep_ms(100)

def s1Y():
    global s1sayac, y1, y1_flag
    s1sayac += 1
    if s1sayac > 2:
        s1sayac=0
        y1_flag=False
        y1.cancel()
        pwm1.duty(servom(ayar[gelen+"-1"]))
    ayar[gelen+'-S1Y'] = s1sayac
    print("S1 Yıkama " + yum[ayar[gelen+'-S1Y']])
    ayarGuncelle()
    time.sleep_ms(500)
    if ayar[gelen+'-S1Y']>0:
        if y1_flag:
            pass
            y1.cancel()
            y1 = uasyncio.create_task(yikama1_as(ayar))
        else:
            y1 = uasyncio.create_task(yikama1_as(ayar))

def s2Y():
    global s2sayac, y2, y2_flag
    s2sayac += 1
    if s2sayac > 2:
        s2sayac=0
        y2_flag=False
        y2.cancel()
        pwm2.duty(servom(ayar[gelen+"-3"]))
    ayar[gelen+'-S2Y'] = s2sayac
    print("S2 Yıkama " + yum[ayar[gelen+'-S2Y']])
    ayarGuncelle()
    time.sleep_ms(500)
    if ayar[gelen+'-S2Y']>0:
        if y2_flag:
            pass
            y2.cancel()
            y2 = uasyncio.create_task(yikama2_as(ayar))
        else:
            y2 = uasyncio.create_task(yikama2_as(ayar))



async def main():
    global a1
    global t1
    t1 = uasyncio.create_task(rotar(r, ayar))
    a1 = uasyncio.create_task(ana_sayfa_as(r, ayar))
    await uasyncio.gather(t1,a1,return_exceptions=False)

uasyncio.run(main())

GM-Script-Writer-62850 · 2023-04-11T17:21:34Z

GM-Script-Writer-62850
Apr 11, 2023

i think uasync sleep is far less accurate that time.sleep (scheduling overhead), in addition to this if you have a separate process running that takes say 250ms that runs while your 100ms sleep is in progress you are not getting less than 250ms sleep

i suggest running anything time sensitive in a second _thread

as far as i know you can only use 1 core with uasynio at this time, you can use as many _thread as you core count - 1 though if you have a core with SMT you probably can use that as a core, are there microcontroller CPUs with SMT support?

STAMP=time.ticks_us()
uasyncio.sleep_ms(100)
DELTA=time.ticks_diff(time.ticks_us(),STAMP)
print("uasyncio.sleep_ms took",DELTA,"us (",DELTA/1000,"ms)")

0 replies

bixb922 · 2023-04-11T19:07:50Z

bixb922
Apr 11, 2023

Asyncio.sleep_ms and time.sleep_ms have similar precision. However, asyncio needs the other tasks to yield control. You may want to check, for example, how long the display update and other task take without await to yield control. Try measuring execution time of these tasks. Try inserting await asyncio.sleep_ms(1) frequently in long running code to give the time critical task to get control in time.

0 replies

vahithosan · 2023-04-11T20:29:17Z

vahithosan
Apr 11, 2023
Author

I set the time as screen refresh rate to 500ms.

.
.

ssd.show()
await uasyncio.sleep_ms(500)

I then measured the wait in the loop for the rc servo.

1. Yıkama frekansı :  150  ms'dir.  
0   79   0   70

1. Yıkama frekansı :  150  ms'dir. 
0   79   0   70

1. Yıkama frekansı :  430  ms'dir.  
0   351   0   77

1. Yıkama frekansı :  149  ms'dir.  
0   79   0   70

1. Yıkama frekansı :  150  ms'dir.  
1   79   0   70

I think there is more than the delay required by await uasyncio.sleep_ms() during SPI communication when refreshing the screen.

0 replies

bixb922 · 2023-04-12T03:40:44Z

bixb922
Apr 12, 2023

How much does the screen refresh take? I can see the refresh frequency but don't understand what the duration of the refresh is.

Also: be aware that during time.sleep_ms(500) no other asyncio task can execute. That also will delay asyncio.sleep until time.sleep_ms is over.

2 replies

vahithosan Apr 12, 2023
Author

I measured a screen refresh time of ~290ms.

async def ana_sayfa_as(r, ayar):
    # pb.release_func(menu,)
    s1b.press_func(False)
    s1b.release_func(s1Y,)
    s2b.press_func(False)
    s2b.release_func(s2Y,)
    # pb.long_func(gizli_menu,)
    # sb.press_func(seri,)
    while True:
        start3 = time.ticks_ms()
        ssd.fill(BLACK)
        ssd.fill_rect(0,0,128,40,RED)
        font22.setcolor(WHITE, RED)
        .
        .
        .

        font11.printstring(yum[ayar[gelen+'-S2Y']])
        ssd.show()
        delta3 = time.ticks_diff(time.ticks_ms(), start3)
        print(delta3)
        await uasyncio.sleep_ms(500)

MicroPython cfd3b70-dirty on 2023-04-11; ESP32 module with ESP32
Type "help()" for more information.
>>> 
>>> 
MPY: soft reboot
Orientation: Horizontal. Reversal: False. Width: 132. Height: 162.
Start row = 0 col = 0
Orientation: Horizontal. Reversal: False. Width: 132. Height: 162.
Start row = 0 col = 0
296
289
292
291
290
292
291
290
293

I think I should study the topics in the links below a little more.

https://github.com/peterhinch/micropython-nano-gui/blob/master/ASYNC.md#nanogui-use-in-asynchronous-code

https://github.com/peterhinch/micropython-nano-gui/blob/master/README.md#313-display-update-mechanism

bixb922 Apr 12, 2023

You can improve asyncio response of that display routine by inserting await asyncio.sleep_ms(0) every few statements.

peterhinch · 2023-04-12T09:36:41Z

peterhinch
Apr 12, 2023
Collaborator

Using time.sleep in a uasyncio program is incorrect. It monpolises the CPU preventing the scheduler from running. In consequence, in a program with (say) time.sleep_ms(500) issuing

await asyncio.sleep_ms(n)

will produce delays ranging from n to 500 ms.

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