Merge pull request #350 from hello-robot/docs/is_thread_safe

Document experiments on thread-safety

docs/is_thread_safe/README.md

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+# Is Stretch Body thread safe?
+
+The short answer: yes, if you don't use asyncio. This tutorial builds up to a few kinds of threading experiments that prove this, and hopefully will serve as a launching point for further exploration.
+
+First, let's define what it means to be thread-safe. If we create an instance of the `Robot` class, we'd like to know if we can safely use it in Python threads. Using the `Robot`, there's two ways we interact with the underlying hardware: reading sensor data and writing motion commands. Our experiments will cover:
+
+ 1. Single threaded reading and writing
+ 2. Single writer, but multithreaded readers
+ 3. Multithreading for both reading and writing
+
+Having multiple readers, even if only one thread can send commands, would be useful for visualization purposes.
+
+## Writing
+
+Let's create an instance of the `Robot`:
+
+```python
+import stretch_body.robot
+
+r = stretch_body.robot.Robot()
+assert r.startup()
+assert r.is_homed()
+```
+
+Then create a "writer", that will send motion commands:
+
+```python
+import random
+
+def write():
+    r.lift.move_to(random.uniform(0.3, 1.1))
+    r.arm.move_to(random.uniform(0.0, 0.4))
+    r.end_of_arm.move_to('wrist_roll', random.uniform(-1.0, 1.0))
+    r.head.move_to('head_pan', random.uniform(-1.0, 1.0))
+    r.push_command()
+```
+
+Then let's define a writing-only runner, that sends motion commands at 10hz:
+
+```python
+def wo_runner():
+    """write-only runner"""
+    while True:
+        write()
+        time.sleep(0.1)
+```
+
+### Results
+
+We can run `wo_runner()` in the main thread:
+
+```python
+wo_runner()
+```
+
+or launch it in a thread:
+
+```python
+import threading
+threading.Thread(target=wo_runner).start()
+```
+
+When AsyncIO is turned on, the program exits with no error. Likely an exception is being thrown in the thread, but isn't being surfaced to the user. Surfacing this exception is the first step towards making this library thread-safe with AsyncIO.
+
+However, if we [disable AsyncIO](https://github.com/hello-robot/stretch_body/blob/master/docs/robot_parameters.md#use_asyncio), we'll see the robot start to jitter and it tracks random motion goals.
+
+Next, we can run multiple threads with no problem:
+
+```python
+import threading
+
+threading.Thread(target=wo_runner).start()
+threading.Thread(target=wo_runner).start()
+```
+
+### High-Low Competition
+
+In the previous experiment, it's hard to tell the two-thread jitter apart from the one-thread jitter. So let's write two competing writers:
+
+```python
+def low_write():
+    r.lift.move_to(0.3)
+    r.arm.move_to(0.0)
+    r.end_of_arm.move_to('wrist_roll', -1.0)
+    r.head.move_to('head_pan', -1.0)
+    r.push_command()
+
+def high_write():
+    r.lift.move_to(1.1)
+    r.arm.move_to(0.4)
+    r.end_of_arm.move_to('wrist_roll', 1.0)
+    r.head.move_to('head_pan', 1.0)
+    r.push_command()
+```
+
+and create runners for each:
+
+```python
+def low_rw_runner():
+    """read-and-write runner"""
+    pl=NBPlot()
+    while True:
+        low_write()
+        read(pl)
+        time.sleep(0.1)
+
+def high_rw_runner():
+    """read-and-write runner"""
+    pl=NBPlot()
+    s = time.time()
+    while time.time() - s < 10:
+        high_write()
+        read(pl)
+        time.sleep(0.1)
+```
+
+Then, launch them with:
+
+```python
+if __name__ == "__main__":
+    import threading
+    threading.Thread(target=low_rw_runner).start()
+    threading.Thread(target=high_rw_runner).start()
+```
+
+Running this, we'll see the threads compete with one another, and the joints will oscillate between their limits, depending on which thread is given more processing time by the operating system at that moment. After 10 seconds, the high writer dies, and the robot moves to its lower joint limits.
+
+## Reading
+
+Let's create a "reader", that will plot the joint states for the four joints:
+
+```python
+def read(plotter):
+    lift_pos = r.lift.status['pos']
+    arm_pos = r.arm.status['pos']
+    roll_pos = r.end_of_arm.get_joint('wrist_roll').status['pos']
+    pan_pos = r.head.get_joint('head_pan').status['pos']
+    plotter.plot(lift_pos, arm_pos, roll_pos, pan_pos)
+```
+
+Then let's define a reading-only runner, that will plot joint state at 10hz:
+
+```python
+def ro_runner():
+    """read-only runner"""
+    pl=NBPlot()
+    while True:
+        read(pl)
+        time.sleep(0.1)
+```
+
+`NBPlot` is defined within `multiprocessing_plotter.py` in this folder. It enables Matplotlib to plot within threads.
+
+### Results
+
+We can run `ro_runner()` in the main thread without any issues, but if we launch `ro_runner()` in a thread:
+
+```python
+import threading
+threading.Thread(target=ro_runner).start()
+```
+
+Once again, the program exits with no error if we use asyncio and works fine if we disable it. Surfacing the underlying error will be helpful to debug.
+
+## Reading and Writing
+
+For completion, we have `wr_runner()`:
+
+```python
+def rw_runner():
+    """read-and-write runner"""
+    pl=NBPlot()
+    while True:
+        write()
+        read(pl)
+        time.sleep(0.1)
+```
+
+We run it with:
+
+```python
+import threading
+
+threading.Thread(target=rw_runner).start()
+threading.Thread(target=rw_runner).start()
+```
+
+And we'll see two live plots pop up and show the robot tracking the motion commands being sent by the two threads.
+
+![live plots](./liveplots.png)
+
+## Code
+
+The code for this experiment lives in two files within this same directory:
+
+ - `read_write.py`: which defines the reading and writing runners
+ - `low_high_competition.py`: which defines the low & high writers that compete in two threads
+ - `multiprocessing_plotter.py`: which is a helper library for plotting within Python threads. The logic does not impact these experiments.
+
+## Takeaway
+
+This document captures a few experiments around Stretch Body's thread safety. It shows that the library is currently thread safe only if you disable AsyncIO, and highlights some possible ways to start debugging how to make the library thread-safe with AsyncIO.

docs/is_thread_safe/low_high_competition.py

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+import time
+import random
+import stretch_body.robot
+# Required Hack whenever importing cv2 (stretch_body does it implicitly). Details: https://forum.hello-robot.com/t/1047
+import os; os.environ['QT_QPA_PLATFORM_PLUGIN_PATH'] = '/usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqxcb.so'
+from multiprocessing_plotter import NBPlot
+
+r = stretch_body.robot.Robot()
+assert r.startup()
+assert r.is_homed()
+
+def low_write():
+    r.lift.move_to(0.3)
+    r.arm.move_to(0.0)
+    r.end_of_arm.move_to('wrist_roll', -1.0)
+    r.head.move_to('head_pan', -1.0)
+    r.push_command()
+
+def high_write():
+    r.lift.move_to(1.1)
+    r.arm.move_to(0.4)
+    r.end_of_arm.move_to('wrist_roll', 1.0)
+    r.head.move_to('head_pan', 1.0)
+    r.push_command()
+
+def read(plotter):
+    lift_pos = r.lift.status['pos']
+    arm_pos = r.arm.status['pos']
+    roll_pos = r.end_of_arm.get_joint('wrist_roll').status['pos']
+    pan_pos = r.head.get_joint('head_pan').status['pos']
+    plotter.plot(lift_pos, arm_pos, roll_pos, pan_pos)
+
+def low_rw_runner():
+    """read-and-write runner"""
+    pl=NBPlot()
+    while True:
+        low_write()
+        read(pl)
+        time.sleep(0.1)
+
+def high_rw_runner():
+    """read-and-write runner"""
+    pl=NBPlot()
+    s = time.time()
+    while time.time() - s < 10:
+        high_write()
+        read(pl)
+        time.sleep(0.1)
+
+if __name__ == "__main__":
+    import threading
+    threading.Thread(target=low_rw_runner).start()
+    threading.Thread(target=high_rw_runner).start()

docs/is_thread_safe/multiprocessing_plotter.py

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+# Based on the multiprocessing tutorial here:
+# https://matplotlib.org/stable/gallery/misc/multiprocess_sgskip.html
+
+import threading
+import multiprocessing as mp
+import time
+import random
+
+import matplotlib.pyplot as plt
+import numpy as np
+
+
+class ProcessPlotter:
+    def __init__(self):
+        self.time = []
+        self.lift = []
+        self.arm = []
+        self.wrist_roll = []
+        self.head_pan = []
+
+    def terminate(self):
+        plt.close('all')
+
+    def call_back(self):
+        while self.pipe.poll():
+            command = self.pipe.recv()
+            if command is None:
+                self.terminate()
+                return False
+            else:
+                self.time.append(command[0])
+                self.lift.append(command[1])
+                self.arm.append(command[2])
+                self.wrist_roll.append(command[3])
+                self.head_pan.append(command[4])
+                self.ax[0].plot(self.time, self.lift, color='red')
+                self.ax[1].plot(self.time, self.arm, color='green')
+                self.ax[2].plot(self.time, self.wrist_roll, color='blue')
+                self.ax[3].plot(self.time, self.head_pan, color='purple')
+        self.fig.canvas.draw()
+        return True
+
+    def __call__(self, pipe):
+        self.pipe = pipe
+        self.fig, self.ax = plt.subplots(4)
+        self.ax[0].set_ylim([0.0, 1.1])
+        self.ax[1].set_ylim([0.0, 0.5])
+        self.ax[2].set_ylim([-1.57, 1.57])
+        self.ax[3].set_ylim([-4.04, 1.73])
+        timer = self.fig.canvas.new_timer(interval=250)
+        timer.add_callback(self.call_back)
+        timer.start()
+
+        plt.show()
+
+
+class NBPlot:
+    def __init__(self):
+        self.plot_pipe, plotter_pipe = mp.Pipe()
+        self.plotter = ProcessPlotter()
+        self.plot_process = mp.Process(
+            target=self.plotter, args=(plotter_pipe,), daemon=True)
+        self.plot_process.start()
+        self.start_time = time.time()
+
+    def plot(self, lift_pos, arm_pos, roll_pos, pan_pos, finished=False):
+        send = self.plot_pipe.send
+        if finished:
+            send(None)
+        else:
+            data = np.array([time.time() - self.start_time, lift_pos, arm_pos, roll_pos, pan_pos])
+            send(data)
+
+
+def main(flag):
+    pl=NBPlot()
+    while not flag.is_set():
+        pl.plot(random.uniform(0.0, 1.1), random.uniform(0.0, 0.5), random.uniform(-1.57, 1.57), random.uniform(-4.04, 1.5))
+        time.sleep(0.25)
+    pl.plot(None, None, None, None, finished=True)
+
+
+# if __name__ == '__main__':
+#     shutdown_flag = threading.Event()
+#     threading.Thread(target=main, args=(shutdown_flag,)).start()
+#     threading.Thread(target=main, args=(shutdown_flag,)).start()
+#     print('Press Ctrl-C to exit')
+#     try:
+#         while True:
+#             pass
+#     except:
+#         pass
+#     finally:
+#         shutdown_flag.set()
+#         time.sleep(1)
+
+
+if __name__ == '__main__':
+    shutdown_flag = threading.Event()
+    threading.Thread(target=main, args=(shutdown_flag,)).start()
+    threading.Thread(target=main, args=(shutdown_flag,)).start()
+    time.sleep(5)
+    shutdown_flag.set()