Asyncio integration

classCAN.py

@@ -2,14 +2,14 @@ import threading
 import canopen
 import time
 import os
-
+import asyncio
 
 class CANBackend:
     def __init__(self, eds_file =None):
         self.network = None
         self.nodes = {}  # {1: RemoteNode(0x02), 2: RemoteNode(0x03), ...}
         self.connected = False
-        self.lock = threading.Lock()
+        self.lock = asyncio.Lock()
         self.polling_thread = None
         self.polling_active = False
         self.latest_data = {
@@ -58,10 +58,12 @@ class CANBackend:
         if self.polling_thread and self.polling_thread.is_alive():
             return
         self.polling_active = True
-        self.polling_thread = threading.Thread(target=self._sdo_polling_loop, daemon=True)
-        self.polling_thread.start()
+        # self.polling_thread = threading.Thread(target=self._sdo_polling_loop, daemon=True)
+        # self.polling_thread.start()
+        self.polling_task = asyncio.create_task(self._sdo_polling_loop())
 
-    def _sdo_polling_loop(self):
+
+    async def _sdo_polling_loop(self):
         while self.polling_active:
             with self.lock:
                 try:
@@ -127,10 +129,10 @@ class CANBackend:
                 except Exception as outer_e:
                     print(f"[SDO POLL ERROR] {outer_e}")
 
-            time.sleep(1.0)
+            asyncio.sleep(0.1)
 
-    def get_latest_data(self, pu_number: int):
-        with self.lock:
+    async def get_latest_data(self, pu_number: int):
+        async with self.lock:
             return self.latest_data.get(pu_number, {}).copy()
 
     def read_current_state(self, pu_number: int):

main.py

@@ -81,7 +81,7 @@ def format_data(data):
         "Pro": np.round(data.get("PS2", 0.0), 2),
         "Pdilute": np.round(data.get("PS3", 0.0), 2),
         "Pretentate": np.round(data.get("PS1", 0.0), 2),
-        "Conductivity": np.round(data.get("Cond", 0.0), 1),
+        "Conductivity": np.round(data.get("Cond", 0.0), 2),
         "MV02": np.round(data.get("MV02", 0.0), 1),
         "MV02_sp": np.round(data.get("MV02_sp", 0.0), 1),
         "MV03": np.round(data.get("MV03", 0.0), 1),
@@ -242,12 +242,12 @@ async def update_latest_data():
             1,
             2,
         ]:  # TODO: REPLACE THIS WITH CONNECTED PUs, IS GET PU STATUS SLOW?
-            data = can_backend.get_latest_data(pu_number=pu)
+            data = await can_backend.get_latest_data(pu_number=pu)
             latest_data[f"PU_{pu}"] = format_data(data)
             current_data = latest_data[f"PU_{pu}"]
             logging.debug(f"[MONITOR BUFFER] PU{pu}: {current_data}")
         # logging.info(f"[MONITOR BUFFER] latest_data: {latest_data}")
-        await asyncio.sleep(0.05)
+        await asyncio.sleep(0.1)
 
 
 @app.get("/monitor")