Add scheduler for scan tasks

pyproject.toml

@@ -12,6 +12,7 @@ classifiers = [
 description = "Control system agnostic framework for building Device support in Python that will work for both EPICS and Tango"
 dependencies = [
     "aioserial",
+    "apscheduler",
     "numpy",
     "pydantic",
     "pvi~=0.10.0",

src/fastcs/backend.py

@@ -1,9 +1,7 @@
 import asyncio
-from collections import defaultdict
-from collections.abc import Callable
-from concurrent.futures import Future
 from types import MethodType
 
+from apscheduler.schedulers.asyncio import AsyncIOScheduler
 from softioc.asyncio_dispatcher import AsyncioDispatcher
 
 from .attributes import AttrR, AttrW, Sender, Updater
@@ -21,7 +19,6 @@ def __init__(
         self._controller = controller
 
         self._initial_tasks = [controller.connect]
-        self._scan_tasks: list[Future] = []
 
         asyncio.run_coroutine_threadsafe(
             self._controller.initialise(), self._loop
@@ -30,6 +27,9 @@ def __init__(
         self._mapping = Mapping(self._controller)
         self._link_process_tasks()
 
+        self._scheduler = AsyncIOScheduler(event_loop=self._loop)
+        self._add_scan_tasks()
+
         self._context = {
             "dispatcher": self._dispatcher,
             "controller": self._controller,
@@ -41,9 +41,14 @@ def _link_process_tasks(self):
             _link_single_controller_put_tasks(single_mapping)
             _link_attribute_sender_class(single_mapping)
 
+    def _add_scan_tasks(self):
+        for single_mapping in self._mapping.get_controller_mappings():
+            _add_scan_method_tasks(self._scheduler, single_mapping)
+            _add_attribute_updater_tasks(self._scheduler, single_mapping)
+
     def run(self):
         self._run_initial_tasks()
-        self._start_scan_tasks()
+        self._scheduler.start()
 
         self._run()
 
@@ -52,12 +57,6 @@ def _run_initial_tasks(self):
             future = asyncio.run_coroutine_threadsafe(task(), self._loop)
             future.result()
 
-    def _start_scan_tasks(self):
-        scan_tasks = _get_scan_tasks(self._mapping)
-
-        for task in scan_tasks:
-            asyncio.run_coroutine_threadsafe(task(), self._loop)
-
     def _run(self):
         raise NotImplementedError("Specific Backend must implement _run")
 
@@ -98,36 +97,35 @@ async def callback(value):
     return callback
 
 
-def _get_scan_tasks(mapping: Mapping) -> list[Callable]:
-    scan_dict: dict[float, list[Callable]] = defaultdict(list)
-
-    for single_mapping in mapping.get_controller_mappings():
-        _add_scan_method_tasks(scan_dict, single_mapping)
-        _add_attribute_updater_tasks(scan_dict, single_mapping)
-
-    scan_tasks = _get_periodic_scan_tasks(scan_dict)
-    return scan_tasks
-
-
-def _add_scan_method_tasks(
-    scan_dict: dict[float, list[Callable]], single_mapping: SingleMapping
-):
+def _add_scan_method_tasks(scheduler: AsyncIOScheduler, single_mapping: SingleMapping):
     for method in single_mapping.scan_methods.values():
-        scan_dict[method.period].append(
-            MethodType(method.fn, single_mapping.controller)
+        path = single_mapping.controller.path
+        scheduler.add_job(
+            MethodType(method.fn, single_mapping.controller),
+            "interval",
+            seconds=method.period,
+            name=f"{'_'.join(path)}_{method.fn.__name__}"
+            if path
+            else method.fn.__name__,
         )
 
 
 def _add_attribute_updater_tasks(
-    scan_dict: dict[float, list[Callable]], single_mapping: SingleMapping
+    scheduler: AsyncIOScheduler, single_mapping: SingleMapping
 ):
-    for attribute in single_mapping.attributes.values():
+    for attr_name, attribute in single_mapping.attributes.items():
         match attribute:
             case AttrR(updater=Updater(update_period=update_period)) as attribute:
                 callback = _create_updater_callback(
                     attribute, single_mapping.controller
                 )
-                scan_dict[update_period].append(callback)
+                path = single_mapping.controller.path
+                scheduler.add_job(
+                    callback,
+                    "interval",
+                    seconds=update_period,
+                    name=f"{'_'.join(path)}_{attr_name}" if path else attr_name,
+                )
 
 
 def _create_updater_callback(attribute, controller):
@@ -142,20 +140,3 @@ async def callback():
             raise
 
     return callback
-
-
-def _get_periodic_scan_tasks(scan_dict: dict[float, list[Callable]]) -> list[Callable]:
-    periodic_scan_tasks: list[Callable] = []
-    for period, methods in scan_dict.items():
-        periodic_scan_tasks.append(_create_periodic_scan_task(period, methods))
-
-    return periodic_scan_tasks
-
-
-def _create_periodic_scan_task(period, methods: list[Callable]) -> Callable:
-    async def scan_task() -> None:
-        while True:
-            await asyncio.gather(*[method() for method in methods])
-            await asyncio.sleep(period)
-
-    return scan_task