From 67bea5dca130677d38e2be6354a695e1a9a218a0 Mon Sep 17 00:00:00 2001
From: Phil Underwood <beardydoc@gmail.com>
Date: Thu, 1 Jun 2023 23:12:43 +0100
Subject: [PATCH] Add timeouts

---
 laser_egismos.py | 37 ++++++++++++++++++++++++++++++-------
 1 file changed, 30 insertions(+), 7 deletions(-)

diff --git a/laser_egismos.py b/laser_egismos.py
index b1130f6..ed725f2 100644
--- a/laser_egismos.py
+++ b/laser_egismos.py
@@ -27,6 +27,8 @@
 __version__ = "0.0.0+auto.0"
 __repo__ = "https://github.com/furbrain/CircuitPython_laser_egismos.git"
 
+import time
+
 try:
     from typing import Sequence, Tuple
 except ImportError:
@@ -34,6 +36,8 @@
 
 import busio
 
+DEFAULT_TIMEOUT = 5.0
+
 
 class LaserError(RuntimeError):
     """
@@ -65,6 +69,12 @@ class TooBrightError(LaserError):
     """
 
 
+class LaserTimeOutError(LaserError):
+    """
+    Laser took too long to respond
+    """
+
+
 class _LaserBase:
     # pylint: disable=too-few-public-methods
     FRAME_END = 0xA8
@@ -81,16 +91,18 @@ class _LaserBase:
     READ_DEV_TYPE = 0x02
     READ_SW_VERSION = 0x01
 
-    def __init__(self, uart: busio.UART, address=0x01):
+    def __init__(self, uart: busio.UART, address=0x01, timeout=DEFAULT_TIMEOUT):
         """
         Access an Egismos Laser distance module v2
 
         :param ~busio.UART uart: uart to use to connect. Should have baud rate set to 9600
         :param address: address to use, default is 0x01; you should only change this if
           using multiple devices
+        :param timeout: timeout to wait for a response from the device
         """
-        self.uart = uart
-        self.address = address
+        self.uart: busio.UART = uart
+        self.address: int = address
+        self.timeout: float = timeout
 
     def _build_frame(
         self, command: int, address=None, data: Sequence[int] = None
@@ -177,18 +189,23 @@ class Laser(_LaserBase):
 
     def _read_frame(self):
         # wait for an AA to start
-        # F.I.X.M.E. this can hang - needs timeout option
+        timeout_due = time.monotonic() + self.timeout
         buffer = b"\x00"
         while buffer[0] != self.FRAME_START:
             buffer = self.uart.read(1) or b"\x00"
+            if time.monotonic() > timeout_due:
+                raise LaserTimeOutError("Timed Out waiting for FRAME_START")
         while buffer[-1] != self.FRAME_END:
             buffer += self.uart.read(1) or b""
+            if time.monotonic() > timeout_due:
+                raise LaserTimeOutError("Timed Out waiting for FRAME_END")
         return buffer
 
     def _send_and_receive(
         self, command: int, data: int = None, address: int = None
     ) -> bytes:
         frame = self._build_frame(command, address, data)
+        self.uart.reset_input_buffer()  # clear input before writing
         self.uart.write(frame)
         frame = self._read_frame()
         read_data = self._process_frame(address, command, frame)
@@ -278,12 +295,12 @@ class AsyncLaser(_LaserBase):
     Same as `Laser`, but with async methods, requires the `asyncio` module
     """
 
-    def __init__(self, uart: busio.UART, address=0x01):
+    def __init__(self, uart: busio.UART, address=0x01, timeout=DEFAULT_TIMEOUT):
         # pylint: disable=import-outside-toplevel
         import asyncio
 
         uart.timeout = 0
-        super().__init__(uart, address)
+        super().__init__(uart, address, timeout)
         self.async_reader = asyncio.StreamReader(uart)
 
     async def _read_frame(self):
@@ -297,9 +314,15 @@ async def _read_frame(self):
     async def _send_and_receive(
         self, command: int, data: int = None, address: int = None
     ) -> bytes:
+        # pylint: disable=import-outside-toplevel
+        import asyncio
+
         frame = self._build_frame(command, address, data)
         self.uart.write(frame)
-        frame = await self._read_frame()
+        try:
+            frame = await asyncio.wait_for(self._read_frame(), self.timeout)
+        except asyncio.TimeoutError as exc:
+            raise LaserTimeOutError("Did not receive response within timeout") from exc
         read_data = self._process_frame(address, command, frame)
         return read_data