path: root/pw_hdlc/py/pw_hdlc/rpc.py

# Copyright 2020 The Pigweed Authors
#
# Licensed under the Apache License, Version 2.0 (the "License"); you may not
# use this file except in compliance with the License. You may obtain a copy of
# the License at
#
#     https://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
# License for the specific language governing permissions and limitations under
# the License.
"""Utilities for using HDLC with pw_rpc."""

from abc import ABC, abstractmethod
from concurrent.futures import ThreadPoolExecutor
import io
import logging
import os
import platform
import queue
import select
import sys
import threading
import time
import socket
import subprocess
from typing import (
    Any,
    BinaryIO,
    Callable,
    Dict,
    Iterable,
    List,
    Optional,
    Sequence,
    TypeVar,
    Union,
)
import warnings

import serial

from pw_protobuf_compiler import python_protos
import pw_rpc
from pw_rpc import callback_client

from pw_hdlc.decode import Frame, FrameDecoder
from pw_hdlc import encode

_LOG = logging.getLogger('pw_hdlc.rpc')

STDOUT_ADDRESS = 1
DEFAULT_ADDRESS = ord('R')
DEFAULT_CHANNEL_ID = 1
_VERBOSE = logging.DEBUG - 1


def channel_output(
    writer: Callable[[bytes], Any],
    address: int = DEFAULT_ADDRESS,
    delay_s: float = 0,
) -> Callable[[bytes], None]:
    """Returns a function that can be used as a channel output for pw_rpc."""

    if delay_s:

        def slow_write(data: bytes) -> None:
            """Slows down writes in case unbuffered serial is in use."""
            for byte in data:
                time.sleep(delay_s)
                writer(bytes([byte]))

        return lambda data: slow_write(encode.ui_frame(address, data))

    def write_hdlc(data: bytes):
        frame = encode.ui_frame(address, data)
        _LOG.log(_VERBOSE, 'Write %2d B: %s', len(frame), frame)
        writer(frame)

    return write_hdlc


FrameHandlers = Dict[int, Callable[[Frame], Any]]
FrameTypeT = TypeVar('FrameTypeT')


class CancellableReader(ABC):
    """Wraps communication interfaces used for reading incoming data with the
    guarantee that the read request can be cancelled. Derived classes must
    implement the :py:func:`cancel_read()` method.

    Cancelling a read invalidates ongoing and future reads. The
    :py:func:`cancel_read()` method can only be called once.
    """

    def __init__(self, base_obj: Any, *read_args, **read_kwargs):
        """
        Args:
            base_obj: Object that offers a ``read()`` method with optional args
                and kwargs.
            read_args: Arguments for ``base_obj.read()`` function.
            read_kwargs: Keyword arguments for ``base_obj.read()`` function.
        """
        self._base_obj = base_obj
        self._read_args = read_args
        self._read_kwargs = read_kwargs

    def __enter__(self) -> 'CancellableReader':
        return self

    def __exit__(self, *exc_info) -> None:
        self.cancel_read()

    def read(self) -> bytes:
        """Reads bytes that contain parts of or full RPC packets."""
        return self._base_obj.read(*self._read_args, **self._read_kwargs)

    @abstractmethod
    def cancel_read(self) -> None:
        """Cancels a blocking read request and all future reads.

        Can only be called once.
        """


class SelectableReader(CancellableReader):
    """
    Wraps interfaces that work with select() to signal when data is received.

    These interfaces must provide a ``fileno()`` method.
    WINDOWS ONLY: Only sockets that originate from WinSock can be wrapped. File
    objects are not acceptable.
    """

    _STOP_CMD = b'STOP'

    def __init__(self, base_obj: Any, *read_args, **read_kwargs):
        assert hasattr(base_obj, 'fileno')
        if platform.system() == 'Windows' and not isinstance(
            base_obj, socket.socket
        ):
            raise ValueError('Only socket objects are selectable on Windows')
        super().__init__(base_obj, *read_args, **read_kwargs)
        self._cancel_signal_pipe_r_fd, self._cancel_signal_pipe_w_fd = os.pipe()
        self._waiting_for_read_or_cancel_lock = threading.Lock()

    def __exit__(self, *exc_info) -> None:
        self.cancel_read()
        with self._waiting_for_read_or_cancel_lock:
            if self._cancel_signal_pipe_r_fd > 0:
                os.close(self._cancel_signal_pipe_r_fd)
                self._cancel_signal_pipe_r_fd = -1

    def read(self) -> bytes:
        if self._wait_for_read_or_cancel():
            return super().read()
        return b''

    def _wait_for_read_or_cancel(self) -> bool:
        """Returns True when ready to read."""
        with self._waiting_for_read_or_cancel_lock:
            if self._base_obj.fileno() < 0 or self._cancel_signal_pipe_r_fd < 0:
                # The interface might've been closed already.
                return False
            ready_to_read, _, exception_list = select.select(
                [self._cancel_signal_pipe_r_fd, self._base_obj],
                [],
                [self._base_obj],
            )
            if self._cancel_signal_pipe_r_fd in ready_to_read:
                # A signal to stop the reading process was received.
                os.read(self._cancel_signal_pipe_r_fd, len(self._STOP_CMD))
                os.close(self._cancel_signal_pipe_r_fd)
                self._cancel_signal_pipe_r_fd = -1
                return False

            if exception_list:
                _LOG.error('Error reading interface')
                return False
        return True

    def cancel_read(self) -> None:
        if self._cancel_signal_pipe_w_fd > 0:
            os.write(self._cancel_signal_pipe_w_fd, self._STOP_CMD)
            os.close(self._cancel_signal_pipe_w_fd)
            self._cancel_signal_pipe_w_fd = -1


class SocketReader(SelectableReader):
    """Wraps a socket ``recv()`` function."""

    def __init__(self, base_obj: socket.socket, *read_args, **read_kwargs):
        super().__init__(base_obj, *read_args, **read_kwargs)

    def read(self) -> bytes:
        if self._wait_for_read_or_cancel():
            return self._base_obj.recv(*self._read_args, **self._read_kwargs)
        return b''

    def __exit__(self, *exc_info) -> None:
        self.cancel_read()
        self._base_obj.close()


class SerialReader(CancellableReader):
    """Wraps a :py:class:`serial.Serial` object."""

    def __init__(self, base_obj: serial.Serial, *read_args, **read_kwargs):
        super().__init__(base_obj, *read_args, **read_kwargs)

    def cancel_read(self) -> None:
        self._base_obj.cancel_read()

    def __exit__(self, *exc_info) -> None:
        self.cancel_read()
        self._base_obj.close()


# TODO: b/301496598 - Remove this class once a callable is deprecated from the
# RpcClient objects.
class _StubReader(CancellableReader):
    def read(self) -> bytes:
        return self._base_obj()

    def cancel_read(self) -> None:
        pass


class DataReaderAndExecutor:
    """Reads incoming bytes, data processor that delegates frame handling.

    Executing callbacks in a ThreadPoolExecutor decouples reading the input
    stream from handling the data. That way, if a handler function takes a
    long time or crashes, this reading thread is not interrupted.
    """

    def __init__(
        self,
        reader: CancellableReader,
        on_read_error: Callable[[Exception], None],
        data_processor: Callable[[bytes], Iterable[FrameTypeT]],
        frame_handler: Callable[[FrameTypeT], None],
        handler_threads: Optional[int] = 1,
    ):
        """Creates the data reader and frame delegator.

        Args:
            reader: Reads incoming bytes from the given transport, blocks until
              data is available or an exception is raised. Otherwise the reader
              will exit.
            on_read_error: Called when there is an error reading incoming bytes.
            data_processor: Processes read bytes and returns a frame-like object
              that the frame_handler can process.
            frame_handler: Handles a received frame.
            handler_threads: The number of threads in the executor pool.
        """

        self._reader = reader
        self._on_read_error = on_read_error
        self._data_processor = data_processor
        self._frame_handler = frame_handler
        self._handler_threads = handler_threads

        # TODO: b/301496598 - Make thread non-daemon when RpcClients stop
        # accepting reader's Callable type.
        self._reader_thread = threading.Thread(
            target=self._run, daemon=isinstance(self._reader, _StubReader)
        )
        self._reader_thread_stop = threading.Event()

    def start(self) -> None:
        """Starts the reading process."""
        _LOG.debug('Starting read process')
        self._reader_thread_stop.clear()
        self._reader_thread.start()

    def stop(self) -> None:
        """Stops the reading process.

        This requests that the reading process stop and waits
        for the background thread to exit.

        NOTE: Currently the thread is not joined when providing a ``read()``
        callback instead of a :py:class:`CancellableReader` through a
        :py:class:`RpcClient` or :py:class:`Device` object. This will be
        deprecated in b/301496598.
        """
        _LOG.debug('Stopping read process')
        self._reader_thread_stop.set()
        self._reader.cancel_read()

        # TODO: b/301496598 - Unconditionally join the thread when RpcClients
        # stop accepting reader's Callable type.
        if not isinstance(self._reader, _StubReader):
            self._reader_thread.join()

    def _run(self) -> None:
        """Reads raw data in a background thread."""
        with ThreadPoolExecutor(max_workers=self._handler_threads) as executor:
            while not self._reader_thread_stop.is_set():
                try:
                    data = self._reader.read()
                except Exception as exc:  # pylint: disable=broad-except
                    # Don't report the read error if the thread is stopping.
                    # The stream or device backing _read was likely closed,
                    # so errors are expected.
                    if not self._reader_thread_stop.is_set():
                        self._on_read_error(exc)
                    _LOG.debug(
                        'DataReaderAndExecutor thread exiting due to exception',
                        exc_info=exc,
                    )
                    return

                if not data:
                    continue

                _LOG.log(_VERBOSE, 'Read %2d B: %s', len(data), data)

                for frame in self._data_processor(data):
                    executor.submit(self._frame_handler, frame)


# Writes to stdout by default, but sys.stdout.buffer is not guaranteed to exist
# (see https://docs.python.org/3/library/io.html#io.TextIOBase.buffer). Defer
# to sys.__stdout__.buffer if sys.stdout is wrapped with something that does not
# offer it.
def write_to_file(
    data: bytes,
    output: BinaryIO = getattr(sys.stdout, 'buffer', sys.__stdout__.buffer),
) -> None:
    output.write(data + b'\n')
    output.flush()


def default_channels(write: Callable[[bytes], Any]) -> List[pw_rpc.Channel]:
    return [pw_rpc.Channel(DEFAULT_CHANNEL_ID, channel_output(write))]


PathsModulesOrProtoLibrary = Union[
    Iterable[python_protos.PathOrModule], python_protos.Library
]


class RpcClient:
    """An RPC client with configurable incoming data processing."""

    def __init__(
        self,
        reader_and_executor: DataReaderAndExecutor,
        paths_or_modules: PathsModulesOrProtoLibrary,
        channels: Iterable[pw_rpc.Channel],
        client_impl: Optional[pw_rpc.client.ClientImpl] = None,
    ):
        """Creates an RPC client.

        Args:
          reader_and_executor: DataReaderAndExecutor instance.
          paths_or_modules: paths to .proto files or proto modules.
          channels: RPC channels to use for output.
          client_impl: The RPC Client implementation. Defaults to the callback
            client implementation if not provided.
        """
        if isinstance(paths_or_modules, python_protos.Library):
            self.protos = paths_or_modules
        else:
            self.protos = python_protos.Library.from_paths(paths_or_modules)

        if client_impl is None:
            client_impl = callback_client.Impl()

        self.client = pw_rpc.Client.from_modules(
            client_impl, channels, self.protos.modules()
        )

        # Start background thread that reads and processes RPC packets.
        self._reader_and_executor = reader_and_executor
        self._reader_and_executor.start()

    def __enter__(self):
        return self

    def __exit__(self, *exc_info):
        self.close()

    def close(self) -> None:
        self._reader_and_executor.stop()

    def rpcs(self, channel_id: Optional[int] = None) -> Any:
        """Returns object for accessing services on the specified channel.

        This skips some intermediate layers to make it simpler to invoke RPCs
        from an HdlcRpcClient. If only one channel is in use, the channel ID is
        not necessary.
        """
        if channel_id is None:
            return next(iter(self.client.channels())).rpcs

        return self.client.channel(channel_id).rpcs

    def handle_rpc_packet(self, packet: bytes) -> None:
        if not self.client.process_packet(packet):
            _LOG.error('Packet not handled by RPC client: %s', packet)


class HdlcRpcClient(RpcClient):
    """An RPC client configured to run over HDLC.

    Expects HDLC frames to have addresses that dictate how to parse the HDLC
    payloads.
    """

    # TODO: b/301496598 - Deprecate reader's Callable type and accept only
    # CancellableReader classes in downstream projects.
    def __init__(
        self,
        reader: Union[CancellableReader, Callable[[], bytes]],
        paths_or_modules: PathsModulesOrProtoLibrary,
        channels: Iterable[pw_rpc.Channel],
        output: Callable[[bytes], Any] = write_to_file,
        client_impl: Optional[pw_rpc.client.ClientImpl] = None,
        *,
        _incoming_packet_filter_for_testing: Optional[
            pw_rpc.ChannelManipulator
        ] = None,
        rpc_frames_address: int = DEFAULT_ADDRESS,
        log_frames_address: int = STDOUT_ADDRESS,
        extra_frame_handlers: Optional[FrameHandlers] = None,
    ):
        """Creates an RPC client configured to communicate using HDLC.

        Args:
          reader: Readable object used to receive RPC packets.
          paths_or_modules: paths to .proto files or proto modules.
          channels: RPC channels to use for output.
          output: where to write "stdout" output from the device.
          client_impl: The RPC Client implementation. Defaults to the callback
            client implementation if not provided.
          rpc_frames_address: the address used in the HDLC frames for RPC
            packets. This can be the channel ID, or any custom address.
          log_frames_address: the address used in the HDLC frames for "stdout"
            output from the device.
          extra_fram_handlers: Optional mapping of HDLC frame addresses to their
            callbacks.
        """
        # Set up frame handling.
        rpc_output: Callable[[bytes], Any] = self.handle_rpc_packet
        if _incoming_packet_filter_for_testing is not None:
            _incoming_packet_filter_for_testing.send_packet = rpc_output
            rpc_output = _incoming_packet_filter_for_testing

        frame_handlers: FrameHandlers = {
            rpc_frames_address: lambda frame: rpc_output(frame.data),
            log_frames_address: lambda frame: output(frame.data),
        }
        if extra_frame_handlers:
            frame_handlers.update(extra_frame_handlers)

        def handle_frame(frame: Frame) -> None:
            # Suppress raising any frame errors to avoid crashes on data
            # processing, which may hide or drop other data.
            try:
                if not frame.ok():
                    _LOG.error('Failed to parse frame: %s', frame.status.value)
                    _LOG.debug('%s', frame.data)
                    return

                try:
                    frame_handlers[frame.address](frame)
                except KeyError:
                    _LOG.warning(
                        'Unhandled frame for address %d: %s',
                        frame.address,
                        frame,
                    )
            except:  # pylint: disable=bare-except
                _LOG.exception('Exception in HDLC frame handler thread')

        decoder = FrameDecoder()

        def on_read_error(exc: Exception) -> None:
            _LOG.error('data reader encountered an error', exc_info=exc)

        if not isinstance(reader, CancellableReader):
            warnings.warn(
                'The reader as Callablle is deprecated. Use CancellableReader'
                'instead.',
                DeprecationWarning,
            )
            reader = _StubReader(reader)

        reader_and_executor = DataReaderAndExecutor(
            reader, on_read_error, decoder.process_valid_frames, handle_frame
        )
        super().__init__(
            reader_and_executor, paths_or_modules, channels, client_impl
        )


class NoEncodingSingleChannelRpcClient(RpcClient):
    """An RPC client without any frame encoding with a single channel output.

    The caveat is that the provided read function must read entire frames.
    """

    # TODO: b/301496598 - Deprecate reader's Callable type and accept only
    # CancellableReader classes in downstream projects.
    def __init__(
        self,
        reader: Union[CancellableReader, Callable[[], bytes]],
        paths_or_modules: PathsModulesOrProtoLibrary,
        channel: pw_rpc.Channel,
        client_impl: Optional[pw_rpc.client.ClientImpl] = None,
    ):
        """Creates an RPC client over a single channel with no frame encoding.

        Args:
          reader: Readable object used to receive RPC packets.
          paths_or_modules: paths to .proto files or proto modules.
          channel: RPC channel to use for output.
          client_impl: The RPC Client implementation. Defaults to the callback
            client implementation if not provided.
        """

        def process_data(data: bytes):
            yield data

        def on_read_error(exc: Exception) -> None:
            _LOG.error('data reader encountered an error', exc_info=exc)

        if not isinstance(reader, CancellableReader):
            warnings.warn(
                'The reader as Callablle is deprecated. Use CancellableReader'
                'instead.',
                DeprecationWarning,
            )
            reader = _StubReader(reader)

        reader_and_executor = DataReaderAndExecutor(
            reader, on_read_error, process_data, self.handle_rpc_packet
        )
        super().__init__(
            reader_and_executor, paths_or_modules, [channel], client_impl
        )


def _try_connect(port: int, attempts: int = 10) -> socket.socket:
    """Tries to connect to the specified port up to the given number of times.

    This is helpful when connecting to a process that was started by this
    script. The process may need time to start listening for connections, and
    that length of time can vary. This retries with a short delay rather than
    having to wait for the worst case delay every time.
    """
    timeout_s = 0.001
    while True:
        time.sleep(timeout_s)

        try:
            sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
            sock.connect(('localhost', port))
            return sock
        except ConnectionRefusedError:
            sock.close()
            attempts -= 1
            if attempts <= 0:
                raise

            timeout_s *= 2


class SocketSubprocess:
    """Executes a subprocess and connects to it with a socket."""

    def __init__(self, command: Sequence, port: int) -> None:
        self._server_process = subprocess.Popen(command, stdin=subprocess.PIPE)
        self.stdin = self._server_process.stdin

        try:
            self.socket: socket.socket = _try_connect(port)  # 🧦
        except:
            self._server_process.terminate()
            self._server_process.communicate()
            raise

    def close(self) -> None:
        try:
            self.socket.close()
        finally:
            self._server_process.terminate()
            self._server_process.communicate()

    def __enter__(self) -> 'SocketSubprocess':
        return self

    def __exit__(self, exc_type, exc_value, traceback) -> None:
        self.close()


class HdlcRpcLocalServerAndClient:
    """Runs an RPC server in a subprocess and connects to it over a socket.

    This can be used to run a local RPC server in an integration test.
    """

    def __init__(
        self,
        server_command: Sequence,
        port: int,
        protos: PathsModulesOrProtoLibrary,
        *,
        incoming_processor: Optional[pw_rpc.ChannelManipulator] = None,
        outgoing_processor: Optional[pw_rpc.ChannelManipulator] = None,
    ) -> None:
        """Creates a new HdlcRpcLocalServerAndClient."""

        self.server = SocketSubprocess(server_command, port)

        self._bytes_queue: 'queue.SimpleQueue[bytes]' = queue.SimpleQueue()
        self._read_thread = threading.Thread(target=self._read_from_socket)
        self._read_thread.start()

        self.output = io.BytesIO()

        self.channel_output: Any = self.server.socket.sendall

        self._incoming_processor = incoming_processor
        if outgoing_processor is not None:
            outgoing_processor.send_packet = self.channel_output
            self.channel_output = outgoing_processor

        class QueueReader(CancellableReader):
            def read(self) -> bytes:
                try:
                    return self._base_obj.get(timeout=3)
                except queue.Empty:
                    return b''

            def cancel_read(self) -> None:
                pass

        self._rpc_client = HdlcRpcClient(
            QueueReader(self._bytes_queue),
            protos,
            default_channels(self.channel_output),
            self.output.write,
            _incoming_packet_filter_for_testing=incoming_processor,
        )
        self.client = self._rpc_client.client

    def _read_from_socket(self):
        while True:
            data = self.server.socket.recv(4096)
            self._bytes_queue.put(data)
            if not data:
                return

    def close(self):
        self.server.close()
        self.output.close()
        self._rpc_client.close()
        self._read_thread.join()

    def __enter__(self) -> 'HdlcRpcLocalServerAndClient':
        return self

    def __exit__(self, exc_type, exc_value, traceback) -> None:
        self.close()