improve thread

modules/connection/connection_manager.py

@@ -95,14 +95,24 @@ class SerialConnection(BaseConnection):
         return self.ser is not None and self.ser.is_open
 
     def close(self) -> None:
-        # Run async update_machine_position in sync context
+        # Save current state synchronously first (critical for position persistence)
         try:
-            loop = asyncio.new_event_loop()
-            asyncio.set_event_loop(loop)
-            loop.run_until_complete(update_machine_position())
-            loop.close()
+            state.save()
         except Exception as e:
-            logger.error(f"Error updating machine position on close: {e}")
+            logger.error(f"Error saving state on close: {e}")
+
+        # Schedule async position update if event loop exists, otherwise skip
+        # This avoids creating nested event loops which causes RuntimeError
+        try:
+            loop = asyncio.get_running_loop()
+            # We're in async context - schedule as task (fire-and-forget)
+            asyncio.create_task(update_machine_position())
+            logger.debug("Scheduled async machine position update")
+        except RuntimeError:
+            # No running event loop - we're in sync context
+            # Position was already saved above, skip async update to avoid nested loop
+            logger.debug("No event loop running, skipping async position update")
+
         with self.lock:
             if self.ser.is_open:
                 self.ser.close()
@@ -150,14 +160,24 @@ class WebSocketConnection(BaseConnection):
         return self.ws is not None
 
     def close(self) -> None:
-        # Run async update_machine_position in sync context
+        # Save current state synchronously first (critical for position persistence)
         try:
-            loop = asyncio.new_event_loop()
-            asyncio.set_event_loop(loop)
-            loop.run_until_complete(update_machine_position())
-            loop.close()
+            state.save()
         except Exception as e:
-            logger.error(f"Error updating machine position on close: {e}")
+            logger.error(f"Error saving state on close: {e}")
+
+        # Schedule async position update if event loop exists, otherwise skip
+        # This avoids creating nested event loops which causes RuntimeError
+        try:
+            loop = asyncio.get_running_loop()
+            # We're in async context - schedule as task (fire-and-forget)
+            asyncio.create_task(update_machine_position())
+            logger.debug("Scheduled async machine position update")
+        except RuntimeError:
+            # No running event loop - we're in sync context
+            # Position was already saved above, skip async update to avoid nested loop
+            logger.debug("No event loop running, skipping async position update")
+
         with self.lock:
             if self.ws:
                 self.ws.close()

modules/core/pattern_manager.py

@@ -410,6 +410,9 @@ async def cleanup_pattern_manager():
     global progress_update_task, pattern_lock, pause_event
 
     try:
+        # Signal stop to allow any running pattern to exit gracefully
+        state.stop_requested = True
+
         # Stop motion control thread
         motion_controller.stop()
 
@@ -425,22 +428,27 @@ async def cleanup_pattern_manager():
             except Exception as e:
                 logger.error(f"Error cancelling progress update task: {e}")
 
-        # Clean up pattern lock
-        if pattern_lock:
+        # Clean up pattern lock - wait for it to be released naturally, don't force release
+        # Force releasing an asyncio.Lock can corrupt internal state if held by another coroutine
+        if pattern_lock and pattern_lock.locked():
+            logger.info("Pattern lock is held, waiting for release (max 5s)...")
             try:
-                if pattern_lock.locked():
-                    pattern_lock.release()
-                pattern_lock = None
+                # Wait with timeout for the lock to become available
+                async with asyncio.timeout(5.0):
+                    async with pattern_lock:
+                        pass  # Lock acquired means previous holder released it
+                logger.info("Pattern lock released normally")
+            except asyncio.TimeoutError:
+                logger.warning("Timed out waiting for pattern lock - creating fresh lock")
             except Exception as e:
-                logger.error(f"Error cleaning up pattern lock: {e}")
+                logger.error(f"Error waiting for pattern lock: {e}")
 
-        # Clean up pause event
+        # Clean up pause event - wake up any waiting tasks, then create fresh event
         if pause_event:
             try:
                 pause_event.set()  # Wake up any waiting tasks
-                pause_event = None
             except Exception as e:
-                logger.error(f"Error cleaning up pause event: {e}")
+                logger.error(f"Error setting pause event: {e}")
 
         # Clean up pause condition from state
         if state.pause_condition:
@@ -467,10 +475,11 @@ async def cleanup_pattern_manager():
     except Exception as e:
         logger.error(f"Error during pattern manager cleanup: {e}")
     finally:
-        # Ensure we always reset these
+        # Reset to fresh instances instead of None to allow continued operation
         progress_update_task = None
-        pattern_lock = None
-        pause_event = None
+        pattern_lock = asyncio.Lock()  # Fresh lock instead of None
+        pause_event = asyncio.Event()  # Fresh event instead of None
+        pause_event.set()  # Initially not paused
 
 def list_theta_rho_files():
     files = []
@@ -786,10 +795,13 @@ async def run_theta_rho_file(file_path, is_playlist=False):
 
                     # Wait until both manual pause is released AND we're outside scheduled pause period
                     while state.pause_requested or is_in_scheduled_pause_period():
-                        await asyncio.sleep(1)  # Check every second
-                        # Also wait for the pause event in case of manual pause
                         if state.pause_requested:
+                            # For manual pause, wait directly on the event for immediate response
+                            # The while loop re-checks state after wake to handle rapid pause/resume
                             await pause_event.wait()
+                        else:
+                            # For scheduled pause only, check periodically
+                            await asyncio.sleep(1)
 
                     total_pause_time += time.time() - pause_start  # Add pause duration
                     logger.info("Execution resumed...")

scripts/setup-pi.sh

@@ -0,0 +1,381 @@
+#!/bin/bash
+#
+# Dune Weaver Raspberry Pi Setup Script
+#
+# One-command setup for deploying Dune Weaver on Raspberry Pi
+# Usage: curl -fsSL https://raw.githubusercontent.com/tuanchris/dune-weaver/main/scripts/setup-pi.sh | bash
+#
+# Or with options:
+#   bash setup-pi.sh --no-docker    # Use Python venv instead of Docker
+#   bash setup-pi.sh --no-wifi-fix  # Skip WiFi stability fix
+#   bash setup-pi.sh --help         # Show help
+#
+
+set -e
+
+# Colors for output
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+BLUE='\033[0;34m'
+NC='\033[0m' # No Color
+
+# Default options
+USE_DOCKER=true
+FIX_WIFI=true  # Applied by default for stability
+INSTALL_DIR="$HOME/dune-weaver"
+REPO_URL="https://github.com/tuanchris/dune-weaver"
+
+# Parse arguments
+while [[ $# -gt 0 ]]; do
+    case $1 in
+        --no-docker)
+            USE_DOCKER=false
+            shift
+            ;;
+        --no-wifi-fix)
+            FIX_WIFI=false
+            shift
+            ;;
+        --install-dir)
+            INSTALL_DIR="$2"
+            shift 2
+            ;;
+        --help|-h)
+            echo "Dune Weaver Raspberry Pi Setup Script"
+            echo ""
+            echo "Usage: $0 [OPTIONS]"
+            echo ""
+            echo "Options:"
+            echo "  --no-docker     Use Python venv instead of Docker (for Pi Zero 2W)"
+            echo "  --no-wifi-fix   Skip WiFi stability fix (applied by default)"
+            echo "  --install-dir   Custom installation directory (default: ~/dune-weaver)"
+            echo "  --help, -h      Show this help message"
+            echo ""
+            echo "Examples:"
+            echo "  $0                        # Standard Docker installation + WiFi fix"
+            echo "  $0 --no-docker            # Python venv installation + WiFi fix"
+            echo "  $0 --no-wifi-fix          # Docker without WiFi fix"
+            exit 0
+            ;;
+        *)
+            echo -e "${RED}Unknown option: $1${NC}"
+            echo "Use --help for usage information"
+            exit 1
+            ;;
+    esac
+done
+
+# Helper functions
+print_step() {
+    echo -e "\n${BLUE}==>${NC} ${GREEN}$1${NC}"
+}
+
+print_warning() {
+    echo -e "${YELLOW}Warning:${NC} $1"
+}
+
+print_error() {
+    echo -e "${RED}Error:${NC} $1"
+}
+
+print_success() {
+    echo -e "${GREEN}$1${NC}"
+}
+
+# Check if running on Raspberry Pi
+check_raspberry_pi() {
+    print_step "Checking system compatibility..."
+
+    if [[ ! -f /proc/device-tree/model ]]; then
+        print_warning "Could not detect Raspberry Pi model. Continuing anyway..."
+        return
+    fi
+
+    MODEL=$(cat /proc/device-tree/model)
+    echo "Detected: $MODEL"
+
+    # Check for 64-bit OS
+    ARCH=$(uname -m)
+    if [[ "$ARCH" != "aarch64" && "$ARCH" != "arm64" ]]; then
+        print_error "64-bit OS required. Detected: $ARCH"
+        echo "Please reinstall Raspberry Pi OS (64-bit) using Raspberry Pi Imager"
+        exit 1
+    fi
+    print_success "64-bit OS detected ($ARCH)"
+}
+
+# Disable WLAN power save
+disable_wlan_powersave() {
+    print_step "Disabling WLAN power save for better stability..."
+
+    # Check if already disabled
+    if iwconfig wlan0 2>/dev/null | grep -q "Power Management:off"; then
+        echo "WLAN power save already disabled"
+        return
+    fi
+
+    # Create config to persist across reboots
+    sudo tee /etc/NetworkManager/conf.d/wifi-powersave-off.conf > /dev/null << 'EOF'
+[connection]
+wifi.powersave = 2
+EOF
+
+    # Also try immediate disable
+    sudo iwconfig wlan0 power off 2>/dev/null || true
+
+    print_success "WLAN power save disabled"
+}
+
+# Apply WiFi stability fix
+apply_wifi_fix() {
+    print_step "Applying WiFi stability fix..."
+
+    CMDLINE_FILE="/boot/firmware/cmdline.txt"
+    if [[ ! -f "$CMDLINE_FILE" ]]; then
+        CMDLINE_FILE="/boot/cmdline.txt"
+    fi
+
+    if [[ ! -f "$CMDLINE_FILE" ]]; then
+        print_warning "Could not find cmdline.txt, skipping WiFi fix"
+        return
+    fi
+
+    # Check if fix already applied
+    if grep -q "brcmfmac.feature_disable=0x82000" "$CMDLINE_FILE"; then
+        echo "WiFi fix already applied"
+        return
+    fi
+
+    # Backup and apply fix
+    sudo cp "$CMDLINE_FILE" "${CMDLINE_FILE}.backup"
+    sudo sed -i 's/$/ brcmfmac.feature_disable=0x82000/' "$CMDLINE_FILE"
+
+    print_success "WiFi fix applied. A reboot is recommended after setup."
+    NEEDS_REBOOT=true
+}
+
+# Update system packages
+update_system() {
+    print_step "Updating system packages..."
+    sudo apt update
+    sudo apt full-upgrade -y
+    print_success "System updated"
+}
+
+# Install Docker
+install_docker() {
+    print_step "Installing Docker..."
+
+    if command -v docker &> /dev/null; then
+        echo "Docker already installed: $(docker --version)"
+    else
+        curl -fsSL https://get.docker.com -o /tmp/get-docker.sh
+        sudo sh /tmp/get-docker.sh
+        rm /tmp/get-docker.sh
+        print_success "Docker installed"
+    fi
+
+    # Add user to docker group
+    if ! groups $USER | grep -q docker; then
+        print_step "Adding $USER to docker group..."
+        sudo usermod -aG docker $USER
+        DOCKER_GROUP_ADDED=true
+        print_warning "You'll need to log out and back in for docker group changes to take effect"
+    fi
+}
+
+# Install Python dependencies (non-Docker)
+install_python_deps() {
+    print_step "Installing Python dependencies..."
+
+    # Install system packages
+    sudo apt install -y python3-venv python3-pip git
+
+    print_success "Python dependencies installed"
+}
+
+# Clone repository
+clone_repo() {
+    print_step "Cloning Dune Weaver repository..."
+
+    if [[ -d "$INSTALL_DIR" ]]; then
+        echo "Directory $INSTALL_DIR already exists"
+        read -p "Update existing installation? (y/N) " -n 1 -r
+        echo
+        if [[ $REPLY =~ ^[Yy]$ ]]; then
+            cd "$INSTALL_DIR"
+            git pull
+        else
+            print_error "Installation cancelled"
+            exit 1
+        fi
+    else
+        git clone "$REPO_URL" --single-branch "$INSTALL_DIR"
+    fi
+
+    cd "$INSTALL_DIR"
+    print_success "Repository ready at $INSTALL_DIR"
+}
+
+# Deploy with Docker
+deploy_docker() {
+    print_step "Deploying Dune Weaver with Docker Compose..."
+
+    cd "$INSTALL_DIR"
+
+    # Use newgrp to apply docker group if just added, otherwise use sudo
+    if [[ "$DOCKER_GROUP_ADDED" == "true" ]]; then
+        echo "Starting Docker containers (using sudo since group not yet active)..."
+        sudo docker compose up -d
+    else
+        docker compose up -d
+    fi
+
+    print_success "Docker deployment complete!"
+}
+
+# Deploy with Python venv
+deploy_python() {
+    print_step "Setting up Python virtual environment..."
+
+    cd "$INSTALL_DIR"
+
+    # Create venv
+    python3 -m venv .venv
+    source .venv/bin/activate
+
+    # Install dependencies
+    print_step "Installing Python packages..."
+    pip install --upgrade pip
+    pip install -r requirements.txt
+
+    # Create systemd service
+    print_step "Creating systemd service..."
+
+    sudo tee /etc/systemd/system/dune-weaver.service > /dev/null << EOF
+[Unit]
+Description=Dune Weaver Backend
+After=network.target
+
+[Service]
+ExecStart=$INSTALL_DIR/.venv/bin/python $INSTALL_DIR/main.py
+WorkingDirectory=$INSTALL_DIR
+Restart=always
+User=$USER
+Environment=PYTHONUNBUFFERED=1
+
+[Install]
+WantedBy=multi-user.target
+EOF
+
+    # Enable and start service
+    sudo systemctl daemon-reload
+    sudo systemctl enable dune-weaver
+    sudo systemctl start dune-weaver
+
+    print_success "Python deployment complete!"
+}
+
+# Get IP address
+get_ip_address() {
+    # Try multiple methods to get IP
+    IP=$(hostname -I 2>/dev/null | awk '{print $1}')
+    if [[ -z "$IP" ]]; then
+        IP=$(ip route get 1 2>/dev/null | awk '{print $7}' | head -1)
+    fi
+    if [[ -z "$IP" ]]; then
+        IP="<your-pi-ip>"
+    fi
+    echo "$IP"
+}
+
+# Print final instructions
+print_final_instructions() {
+    IP=$(get_ip_address)
+    HOSTNAME=$(hostname)
+
+    echo ""
+    echo -e "${GREEN}============================================${NC}"
+    echo -e "${GREEN}   Dune Weaver Setup Complete!${NC}"
+    echo -e "${GREEN}============================================${NC}"
+    echo ""
+    echo -e "Access the web interface at:"
+    echo -e "  ${BLUE}http://$IP:8080${NC}"
+    echo -e "  ${BLUE}http://$HOSTNAME.local:8080${NC}"
+    echo ""
+
+    if [[ "$USE_DOCKER" == "true" ]]; then
+        echo "Useful commands:"
+        echo "  View logs:     cd $INSTALL_DIR && docker compose logs -f"
+        echo "  Restart:       cd $INSTALL_DIR && docker compose restart"
+        echo "  Update:        cd $INSTALL_DIR && git pull && docker compose pull && docker compose up -d"
+        echo "  Stop:          cd $INSTALL_DIR && docker compose down"
+    else
+        echo "Useful commands:"
+        echo "  View logs:     sudo journalctl -u dune-weaver -f"
+        echo "  Restart:       sudo systemctl restart dune-weaver"
+        echo "  Status:        sudo systemctl status dune-weaver"
+        echo "  Stop:          sudo systemctl stop dune-weaver"
+    fi
+    echo ""
+
+    if [[ "$DOCKER_GROUP_ADDED" == "true" ]]; then
+        print_warning "Please log out and back in for docker group changes to take effect"
+    fi
+
+    if [[ "$NEEDS_REBOOT" == "true" ]]; then
+        print_warning "A reboot is recommended to apply WiFi fixes"
+        read -p "Reboot now? (y/N) " -n 1 -r
+        echo
+        if [[ $REPLY =~ ^[Yy]$ ]]; then
+            sudo reboot
+        fi
+    fi
+}
+
+# Main installation flow
+main() {
+    echo -e "${GREEN}"
+    echo "  ____                   __        __                        "
+    echo " |  _ \ _   _ _ __   ___\ \      / /__  __ ___   _____ _ __ "
+    echo " | | | | | | | '_ \ / _ \\ \ /\ / / _ \/ _\` \ \ / / _ \ '__|"
+    echo " | |_| | |_| | | | |  __/ \ V  V /  __/ (_| |\ V /  __/ |   "
+    echo " |____/ \__,_|_| |_|\___|  \_/\_/ \___|\__,_| \_/ \___|_|   "
+    echo -e "${NC}"
+    echo "Raspberry Pi Setup Script"
+    echo ""
+
+    # Detect deployment method
+    if [[ "$USE_DOCKER" == "true" ]]; then
+        echo "Deployment method: Docker (recommended)"
+    else
+        echo "Deployment method: Python virtual environment"
+    fi
+    echo "Install directory: $INSTALL_DIR"
+    echo ""
+
+    # Run setup steps
+    check_raspberry_pi
+    update_system
+    disable_wlan_powersave
+
+    if [[ "$FIX_WIFI" == "true" ]]; then
+        apply_wifi_fix
+    fi
+
+    clone_repo
+
+    if [[ "$USE_DOCKER" == "true" ]]; then
+        install_docker
+        deploy_docker
+    else
+        install_python_deps
+        deploy_python
+    fi
+
+    print_final_instructions
+}
+
+# Run main
+main