Run Limits Responses in Thread to Prevent Blocking Decom

openc3/lib/openc3/microservices/decom_microservice.rb

@@ -1,6 +1,6 @@
 # encoding: ascii-8bit
 
-# Copyright 2022 Ball Aerospace & Technologies Corp.
+# Copyright 2025 Ball Aerospace & Technologies Corp.
 # All Rights Reserved.
 #
 # This program is free software; you can modify and/or redistribute it
@@ -21,12 +21,67 @@
 # if purchased from OpenC3, Inc.
 
 require 'time'
+require 'thread'
 require 'openc3/microservices/microservice'
 require 'openc3/microservices/interface_decom_common'
 require 'openc3/topics/telemetry_decom_topic'
 require 'openc3/topics/limits_event_topic'
 
 module OpenC3
+  class LimitsResponseThread
+    def initialize(microservice_name:, queue:, logger:, metric:, scope:)
+      @microservice_name = microservice_name
+      @queue = queue
+      @logger = logger
+      @metric = metric
+      @scope = scope
+      @count = 0
+      @error_count = 0
+      @metric.set(name: 'limits_response_total', value: @count, type: 'counter')
+      @metric.set(name: 'limits_response_error_total', value: @error_count, type: 'counter')
+    end
+
+    def start
+      @thread = Thread.new do
+        run()
+      rescue Exception => e
+        @logger.error "#{@microservice_name}: Limits Response thread died: #{e.formatted}"
+        raise e
+      end
+    end
+
+    def stop
+      if @thread
+        OpenC3.kill_thread(self, @thread)
+        @thread = nil
+      end
+    end
+
+    def graceful_kill
+      @queue << [nil, nil, nil]
+    end
+
+    def run
+      while true
+        packet, item, old_limits_state = @queue.pop()
+        break if packet.nil?
+
+        begin
+          item.limits.response.call(packet, item, old_limits_state)
+        rescue Exception => e
+          @error_count += 1
+          @metric.set(name: 'limits_response_error_total', value: @error_count, type: 'counter')
+          @logger.error "#{packet.target_name} #{packet.packet_name} #{item.name} Limits Response Exception!"
+          @logger.error "Called with old_state = #{old_limits_state}, new_state = #{item.limits.state}"
+          @logger.error e.filtered
+        end
+
+        @count += 1
+        @metric.set(name: 'limits_response_total', value: @count, type: 'counter')
+      end
+    end
+  end
+
   class DecomMicroservice < Microservice
     include InterfaceDecomCommon
     LIMITS_STATE_INDEX = { RED_LOW: 0, YELLOW_LOW: 1, YELLOW_HIGH: 2, RED_HIGH: 3, GREEN_LOW: 4, GREEN_HIGH: 5 }
@@ -44,9 +99,14 @@ def initialize(*args)
       @error_count = 0
       @metric.set(name: 'decom_total', value: @count, type: 'counter')
       @metric.set(name: 'decom_error_total', value: @error_count, type: 'counter')
+      @limits_response_queue = Queue.new
+      @limits_response_thread = nil
     end
 
     def run
+      @limits_response_thread = LimitsResponseThread.new(microservice_name: @name, queue: @limits_response_queue, logger: @logger, metric: @metric, scope: @scope)
+      @limits_response_thread.start()
+
       setup_microservice_topic()
       while true
         break if @cancel_thread
@@ -81,6 +141,9 @@ def run
           @logger.error("Decom error: #{e.formatted}")
         end
       end
+
+      @limits_response_thread.stop()
+      @limits_response_thread = nil
     end
 
     def decom_packet(_topic, msg_id, msg_hash, _redis)
@@ -179,16 +242,9 @@ def limits_change_callback(packet, item, old_limits_state, value, log_change)
       LimitsEventTopic.write(event, scope: @scope)
 
       if item.limits.response
-        begin
-          # TODO: The limits response is user code and should be run as a separate thread / process
-          # If this code blocks it will delay TelemetryDecomTopic.write_packet
-          item.limits.response.call(packet, item, old_limits_state)
-        rescue Exception => e
-          @error = e
-          @logger.error "#{packet.target_name} #{packet.packet_name} #{item.name} Limits Response Exception!"
-          @logger.error "Called with old_state = #{old_limits_state}, new_state = #{item.limits.state}"
-          @logger.error e.filtered
-        end
+        copied_packet = packet.deep_copy
+        copied_item = packet.items[item.name]
+        @limits_response_queue << [copied_packet, copied_item, old_limits_state]
       end
     end
   end

openc3/lib/openc3/packets/structure.rb

@@ -35,10 +35,10 @@ class Structure
 
     # @return [Hash] Items that make up the structure.
     #   Hash key is the item's name in uppercase
-    attr_reader :items
+    attr_accessor :items
 
     # @return [Array] Items sorted by bit_offset.
-    attr_reader :sorted_items
+    attr_accessor :sorted_items
 
     # @return [Integer] Defined length in bytes (not bits) of the structure
     attr_reader :defined_length
@@ -511,11 +511,28 @@ def clone
       # additional work that isn't necessary here
       structure.instance_variable_set("@buffer".freeze, @buffer.clone) if @buffer
       # Need to update reference packet in the Accessor
+      structure.accessor = @accessor.clone
       structure.accessor.packet = structure
       return structure
     end
     alias dup clone
 
+    # Clone that also deep copies items
+    # @return [Structure] A deep copy of the structure
+    def deep_copy
+      cloned = clone()
+      cloned_items = []
+      cloned.sorted_items.each do |item|
+        cloned_items << item.clone()
+      end
+      cloned.sorted_items = cloned_items
+      cloned.items = {}
+      cloned_items.each do |item|
+        cloned.items[item.name] = item
+      end
+      return cloned
+    end
+
     # Enable the ability to read and write item values as if they were methods
     # to the class
     def enable_method_missing

openc3/lib/openc3/packets/structure_item.rb

@@ -303,6 +303,7 @@ def <=>(other)
     def clone
       item = super()
       item.name = self.name.clone if self.name
+      item.key = self.key.clone if self.key
       item
     end
     alias dup clone

openc3/python/openc3/microservices/decom_microservice.py

@@ -1,4 +1,4 @@
-# Copyright 2024 OpenC3, Inc.
+# Copyright 2025 OpenC3, Inc.
 # All Rights Reserved.
 #
 # This program is free software; you can modify and/or redistribute it
@@ -18,6 +18,8 @@
 import sys
 import time
 import json
+import threading
+import queue
 from openc3.microservices.microservice import Microservice
 from openc3.system.system import System
 from openc3.topics.topic import Topic
@@ -29,7 +31,54 @@
     handle_build_cmd,
     handle_inject_tlm,
 )
+from openc3.top_level import kill_thread
+
+class LimitsResponseThread:
+    def __init__(self, microservice_name, queue, logger, metric, scope):
+        self.microservice_name = microservice_name
+        self.queue = queue
+        self.logger = logger
+        self.metric = metric
+        self.scope = scope
+        self.count = 0
+        self.error_count = 0
+        self.metric.set(name="limits_response_total", value=self.count, type="counter")
+        self.metric.set(name="limits_response_error_total", value=self.error_count, type="counter")
+
+    def start(self):
+        self.thread = threading.Thread(target=self.run, daemon=True)
+        self.thread.start()
+        return self.thread
+
+    def stop(self):
+        if self.thread:
+            kill_thread(self, self.thread)
+            self.thread = None
 
+    def graceful_kill(self):
+        self.queue.put([None, None, None])
+
+    def run(self):
+        try:
+            while True:
+                packet, item, old_limits_state = self.queue.get()
+                if packet is None:
+                    break
+
+                try:
+                    item.limits.response.call(packet, item, old_limits_state)
+                except Exception as error:
+                    self.error_count += 1
+                    self.metric.set(name='limits_response_error_total', value=self.error_count, type='counter')
+                    self.logger.error(f"{packet.target_name} {packet.packet_name} {item.name} Limits Response Exception!")
+                    self.logger.error(f"Called with old_state = {old_limits_state}, new_state = {item.limits.state}")
+                    self.logger.error(repr(error))
+
+                self.count += 1
+                self.metric.set(name='limits_response_total', value=self.count, type='counter')
+        except Exception as error:
+            self.logger.error(f"{self.microservice_name}: Limits Response thread died: {repr(error)}")
+            raise error
 
 class DecomMicroservice(Microservice):
     LIMITS_STATE_INDEX = { "RED_LOW": 0, "YELLOW_LOW": 1, "YELLOW_HIGH": 2, "RED_HIGH": 3, "GREEN_LOW": 4, "GREEN_HIGH": 5 }
@@ -46,8 +95,13 @@ def __init__(self, *args):
         self.error_count = 0
         self.metric.set(name="decom_total", value=self.count, type="counter")
         self.metric.set(name="decom_error_total", value=self.error_count, type="counter")
+        self.limits_response_queue = queue.Queue()
+        self.limits_response_thread = None
 
     def run(self):
+        self.limits_response_thread = LimitsResponseThread(microservice_name=self.name, queue=self.limits_response_queue, logger=self.logger, metric=self.metric, scope=self.scope)
+        self.limits_response_thread.start()
+
         self.setup_microservice_topic()
         while True:
             if self.cancel_thread:
@@ -78,6 +132,9 @@ def run(self):
                 self.error = error
                 self.logger.error(f"Decom error {repr(error)}")
 
+        self.limits_response_thread.stop()
+        self.limits_response_thread = None
+
     def decom_packet(self, topic, msg_id, msg_hash, _redis):
         # OpenC3.in_span("decom_packet") do
         msgid_seconds_from_epoch = int(msg_id.split("-")[0]) / 1000.0
@@ -179,15 +236,9 @@ def limits_change_callback(self, packet, item, old_limits_state, value, log_chan
         LimitsEventTopic.write(event, scope=self.scope)
 
         if item.limits.response is not None:
-            try:
-                # TODO: The limits response is user code and should be run as a separate thread / process
-                # If this code blocks it will delay TelemetryDecomTopic.write_packet
-                item.limits.response.call(packet, item, old_limits_state)
-            except Exception as error:
-                self.error = error
-                self.logger.error(f"{packet.target_name} {packet.packet_name} {item.name} Limits Response Exception!")
-                self.logger.error(f"Called with old_state = {old_limits_state}, new_state = {item.limits.state}")
-                self.logger.error(repr(error))
+            copied_packet = packet.deep_copy()
+            copied_item = packet.items[item.name]
+            self.limits_response_queue.put([copied_packet, copied_item, old_limits_state])
 
 
 if os.path.basename(__file__) == os.path.basename(sys.argv[0]):

openc3/python/openc3/packets/structure.py

@@ -481,9 +481,24 @@ def buffer(self, buffer):
     def clone(self):
         struct = copy.copy(self)
         struct._buffer = self.buffer  # Makes a copy
+        struct.accessor = copy.copy(self.accessor)
         struct.accessor.packet = struct
         return struct
 
+    # Clone that also deep copies items
+    # @return [Structure] A deep copy of the structure
+    def deep_copy(self):
+        cloned = self.clone()
+        cloned_items = []
+        for item in cloned.sorted_items:
+            cloned_items.append(item.clone())
+
+        cloned.sorted_items = cloned_items
+        cloned.items = {}
+        for item in cloned_items:
+            cloned.items[item.name] = item
+        return cloned
+
     CLASS_MUTEX = threading.Lock()
 
     def setup_mutex(self):