Enable controller initialisation on main event loop

src/fastcs/backend.py

@@ -2,79 +2,68 @@
 from collections import defaultdict
 from collections.abc import Callable
 from types import MethodType
+from typing import Any
+
+from softioc.asyncio_dispatcher import AsyncioDispatcher
 
 from .attributes import AttrR, AttrW, Sender, Updater
+from .controller import Controller
 from .exceptions import FastCSException
 from .mapping import Mapping, SingleMapping
 
 
-def _get_initial_tasks(mapping: Mapping) -> list[Callable]:
-    initial_tasks: list[Callable] = []
-    initial_tasks.append(mapping.controller.connect)
-    return initial_tasks
-
-
-def _create_periodic_scan_task(period, methods: list[Callable]) -> Callable:
-    async def scan_task() -> None:
-        while True:
-            await asyncio.gather(*[method() for method in methods])
-            await asyncio.sleep(period)
-
-    return scan_task
-
-
-def _get_periodic_scan_tasks(scan_dict: dict[float, list[Callable]]) -> list[Callable]:
-    periodic_scan_tasks: list[Callable] = []
-    for period, methods in scan_dict.items():
-        periodic_scan_tasks.append(_create_periodic_scan_task(period, methods))
-
-    return periodic_scan_tasks
-
-
-def _add_scan_method_tasks(
-    scan_dict: dict[float, list[Callable]], single_mapping: SingleMapping
-):
-    for method in single_mapping.scan_methods.values():
-        scan_dict[method.period].append(
-            MethodType(method.fn, single_mapping.controller)
+class Backend:
+    _initial_tasks: list[Callable] = []
+    _context: dict[str, Any] = {}
+
+    def __init__(
+        self, controller: Controller, loop: asyncio.AbstractEventLoop | None = None
+    ):
+        self._dispatcher = AsyncioDispatcher(loop)
+        self._loop = self._dispatcher.loop
+        self._controller = controller
+
+        self._initial_tasks.append(controller.connect)
+
+        asyncio.run_coroutine_threadsafe(
+            self._controller.initialise(), self._loop
+        ).result()
+
+        self._mapping = Mapping(self._controller)
+        self._link_process_tasks()
+
+        self._context.update(
+            {
+                "dispatcher": self._dispatcher,
+                "controller": self._controller,
+                "mapping": self._mapping,
+            }
         )
 
+    def _link_process_tasks(self):
+        for single_mapping in self._mapping.get_controller_mappings():
+            _link_single_controller_put_tasks(single_mapping)
+            _link_attribute_sender_class(single_mapping)
 
-def _create_updater_callback(attribute, controller):
-    async def callback():
-        try:
-            await attribute.updater.update(controller, attribute)
-        except Exception as e:
-            print(
-                f"Update loop in {attribute.updater} stopped:\n"
-                f"{e.__class__.__name__}: {e}"
-            )
-            raise
-
-    return callback
-
+    def run(self):
+        self._run_initial_tasks()
+        self._start_scan_tasks()
 
-def _add_attribute_updater_tasks(
-    scan_dict: dict[float, list[Callable]], single_mapping: SingleMapping
-):
-    for attribute in single_mapping.attributes.values():
-        match attribute:
-            case AttrR(updater=Updater(update_period=update_period)) as attribute:
-                callback = _create_updater_callback(
-                    attribute, single_mapping.controller
-                )
-                scan_dict[update_period].append(callback)
+        self._run()
 
+    def _run_initial_tasks(self):
+        for task in self._initial_tasks:
+            future = asyncio.run_coroutine_threadsafe(task(), self._loop)
+            future.result()
 
-def _get_scan_tasks(mapping: Mapping) -> list[Callable]:
-    scan_dict: dict[float, list[Callable]] = defaultdict(list)
+    def _start_scan_tasks(self):
+        scan_tasks = _get_scan_tasks(self._mapping)
 
-    for single_mapping in mapping.get_controller_mappings():
-        _add_scan_method_tasks(scan_dict, single_mapping)
-        _add_attribute_updater_tasks(scan_dict, single_mapping)
+        for task in scan_tasks:
+            asyncio.run_coroutine_threadsafe(task(), self._loop)
 
-    scan_tasks = _get_periodic_scan_tasks(scan_dict)
-    return scan_tasks
+    def _run(self):
+        raise NotImplementedError("Specific Backend must implement _run")
 
 
 def _link_single_controller_put_tasks(single_mapping: SingleMapping) -> None:
@@ -94,13 +83,6 @@ def _link_single_controller_put_tasks(single_mapping: SingleMapping) -> None:
                 )
 
 
-def _create_sender_callback(attribute, controller):
-    async def callback(value):
-        await attribute.sender.put(controller, attribute, value)
-
-    return callback
-
-
 def _link_attribute_sender_class(single_mapping: SingleMapping) -> None:
     for attr_name, attribute in single_mapping.attributes.items():
         match attribute:
@@ -113,25 +95,71 @@ def _link_attribute_sender_class(single_mapping: SingleMapping) -> None:
                 attribute.set_process_callback(callback)
 
 
-class Backend:
-    def __init__(self, mapping: Mapping, loop: asyncio.AbstractEventLoop):
-        self._mapping = mapping
-        self._loop = loop
+def _create_sender_callback(attribute, controller):
+    async def callback(value):
+        await attribute.sender.put(controller, attribute, value)
 
-    def link_process_tasks(self):
-        for single_mapping in self._mapping.get_controller_mappings():
-            _link_single_controller_put_tasks(single_mapping)
-            _link_attribute_sender_class(single_mapping)
+    return callback
 
-    def run_initial_tasks(self):
-        initial_tasks = _get_initial_tasks(self._mapping)
 
-        for task in initial_tasks:
-            future = asyncio.run_coroutine_threadsafe(task(), self._loop)
-            future.result()
+def _get_scan_tasks(mapping: Mapping) -> list[Callable]:
+    scan_dict: dict[float, list[Callable]] = defaultdict(list)
 
-    def start_scan_tasks(self):
-        scan_tasks = _get_scan_tasks(self._mapping)
+    for single_mapping in mapping.get_controller_mappings():
+        _add_scan_method_tasks(scan_dict, single_mapping)
+        _add_attribute_updater_tasks(scan_dict, single_mapping)
 
-        for task in scan_tasks:
-            asyncio.run_coroutine_threadsafe(task(), self._loop)
+    scan_tasks = _get_periodic_scan_tasks(scan_dict)
+    return scan_tasks
+
+
+def _add_scan_method_tasks(
+    scan_dict: dict[float, list[Callable]], single_mapping: SingleMapping
+):
+    for method in single_mapping.scan_methods.values():
+        scan_dict[method.period].append(
+            MethodType(method.fn, single_mapping.controller)
+        )
+
+
+def _add_attribute_updater_tasks(
+    scan_dict: dict[float, list[Callable]], single_mapping: SingleMapping
+):
+    for attribute in single_mapping.attributes.values():
+        match attribute:
+            case AttrR(updater=Updater(update_period=update_period)) as attribute:
+                callback = _create_updater_callback(
+                    attribute, single_mapping.controller
+                )
+                scan_dict[update_period].append(callback)
+
+
+def _create_updater_callback(attribute, controller):
+    async def callback():
+        try:
+            await attribute.updater.update(controller, attribute)
+        except Exception as e:
+            print(
+                f"Update loop in {attribute.updater} stopped:\n"
+                f"{e.__class__.__name__}: {e}"
+            )
+            raise
+
+    return callback
+
+
+def _get_periodic_scan_tasks(scan_dict: dict[float, list[Callable]]) -> list[Callable]:
+    periodic_scan_tasks: list[Callable] = []
+    for period, methods in scan_dict.items():
+        periodic_scan_tasks.append(_create_periodic_scan_task(period, methods))
+
+    return periodic_scan_tasks
+
+
+def _create_periodic_scan_task(period, methods: list[Callable]) -> Callable:
+    async def scan_task() -> None:
+        while True:
+            await asyncio.gather(*[method() for method in methods])
+            await asyncio.sleep(period)
+
+    return scan_task

src/fastcs/backends/asyncio_backend.py

@@ -1,30 +1,13 @@
-from softioc import asyncio_dispatcher, softioc
+from softioc import softioc
 
 from fastcs.backend import Backend
-from fastcs.mapping import Mapping
+from fastcs.controller import Controller
 
 
-class AsyncioBackend:
-    def __init__(self, mapping: Mapping):
-        self._mapping = mapping
-
-    def run_interactive_session(self):
-        # Create an asyncio dispatcher; the event loop is now running
-        dispatcher = asyncio_dispatcher.AsyncioDispatcher()
-
-        backend = Backend(self._mapping, dispatcher.loop)
-
-        backend.link_process_tasks()
-        backend.run_initial_tasks()
-        backend.start_scan_tasks()
+class AsyncioBackend(Backend):
+    def __init__(self, controller: Controller):  # noqa: F821
+        super().__init__(controller)
 
+    def _run(self):
         # Run the interactive shell
-        global_variables = globals()
-        global_variables.update(
-            {
-                "dispatcher": dispatcher,
-                "mapping": self._mapping,
-                "controller": self._mapping.controller,
-            }
-        )
-        softioc.interactive_ioc(globals())
+        softioc.interactive_ioc(self._context)

src/fastcs/backends/epics/backend.py

@@ -1,22 +1,23 @@
-from fastcs.mapping import Mapping
+from fastcs.backend import Backend
+from fastcs.controller import Controller
 
 from .docs import EpicsDocs, EpicsDocsOptions
 from .gui import EpicsGUI, EpicsGUIOptions
-from .ioc import EpicsIOC
+from .ioc import EpicsIOC, EpicsIOCOptions
 
 
-class EpicsBackend:
-    def __init__(self, mapping: Mapping, pv_prefix: str = "MY-DEVICE-PREFIX"):
-        self._mapping = mapping
+class EpicsBackend(Backend):
+    def __init__(self, controller: Controller, pv_prefix: str = "MY-DEVICE-PREFIX"):
+        super().__init__(controller)
+
         self._pv_prefix = pv_prefix
+        self._ioc = EpicsIOC(pv_prefix, self._mapping)
 
     def create_docs(self, options: EpicsDocsOptions | None = None) -> None:
-        docs = EpicsDocs(self._mapping)
-        docs.create_docs(options)
+        EpicsDocs(self._mapping).create_docs(options)
 
     def create_gui(self, options: EpicsGUIOptions | None = None) -> None:
-        gui = EpicsGUI(self._mapping, self._pv_prefix)
-        gui.create_gui(options)
+        EpicsGUI(self._mapping, self._pv_prefix).create_gui(options)
 
-    def get_ioc(self) -> EpicsIOC:
-        return EpicsIOC(self._mapping, self._pv_prefix)
+    def _run(self, options: EpicsIOCOptions | None = None):
+        self._ioc.run(self._dispatcher, self._context, options)