Simplified Uart comunications

shared/uart_comm.py

@@ -5,98 +5,42 @@ import ujson
 
 class SafeUART:
     def __init__(self, uart_id, tx_pin, rx_pin, baudrate=115200):
-        # Initialize the hardware UART channel
+        # Setting timeout allows readline() to be non-blocking
         self.uart = UART(uart_id, baudrate=baudrate, tx=tx_pin, rx=rx_pin, timeout=10, rxbuf=1024)
-        
-        # Core thread-safety assets
         self.lock = _thread.allocate_lock()
         self.rx_queue = []
-        self.buffer = b""
         
-        # Start the background data worker thread
-        _thread.stack_size(4096) # Cap the stack size for the UART listener
+        _thread.stack_size(4096)
         _thread.start_new_thread(self._listener_worker, ())
-        _thread.stack_size(0) 
-        
-        print(f"[UART] Thread initialized on UART{uart_id} (TX:{tx_pin}, RX:{rx_pin})")
+        _thread.stack_size(0)
 
     def _listener_worker(self):
-        """Worker loop that handles nested JSON structures by tracking brace depth."""
+        """Simple worker that relies on newline framing instead of manual JSON parsing."""
         while True:
-            messages_found = []
-            
-            with self.lock:
-                if self.uart.any():
-                    chunk = self.uart.read()
-                    if chunk is not None and isinstance(chunk, bytes):
-                        self.buffer += chunk
+            if self.uart.any():
+                with self.lock:
+                    line = self.uart.readline()
                 
-                # Extract complete JSON objects while accounting for nested braces
-                while True:
-                    start_idx = self.buffer.find(b'{')
-                    if start_idx == -1:
-                        # No starting brace; clear any garbage bytes currently in buffer
-                        self.buffer = b""
-                        break
-                    
-                    # Trim any leading noise before the first '{'
-                    if start_idx > 0:
-                        self.buffer = self.buffer[start_idx:]
-                    
-                    # Track depth to find the matching OUTER '}'
-                    depth = 0
-                    in_string = False
-                    escape = False
-                    end_idx = -1
-                    
-                    for i in range(len(self.buffer)):
-                        b = self.buffer[i]
-                        
-                        # Ignore braces inside string literals ("...")
-                        if b == 34 and not escape:  # 34 is ASCII for '"'
-                            in_string = not in_string
-                        elif b == 92 and in_string: # 92 is ASCII for '\'
-                            escape = not escape
-                            continue
-                        elif not in_string:
-                            if b == 123:   # '{'
-                                depth += 1
-                            elif b == 125: # '}'
-                                depth -= 1
-                                if depth == 0:
-                                    end_idx = i
-                                    break
-                        escape = False
-                    
-                    if end_idx != -1:
-                        # Full nested JSON object extracted safely
-                        json_bytes = self.buffer[:end_idx + 1]
-                        self.buffer = self.buffer[end_idx + 1:]
-                        messages_found.append(json_bytes)
-                    else:
-                        # The complete outer JSON hasn't fully arrived yet; wait for next UART chunk
-                        break
-
-            # Process valid complete frames outside the lock
-            for json_bytes in messages_found:
-                try:
-                    decoded_str = json_bytes.decode('utf-8')
-                    with self.lock:
-                        self.rx_queue.append(decoded_str)
-                except Exception as e:
-                    print(f"[UART Parse Error]: {e}")
-                    
+                if line:
+                    try:
+                        decoded = line.decode('utf-8').strip()
+                        if decoded:  # Ignore empty lines
+                            with self.lock:
+                                self.rx_queue.append(decoded)
+                    except UnicodeError:
+                        pass  # Drop corrupted bytes cleanly
+            
             time.sleep_ms(10)
 
     def send(self, message):
-        """Safely pushes strings across the serial wire from any thread context."""
         if not message.endswith('\n'):
             message += '\n'
-        
-        data = message.encode('utf-8')
-        
         with self.lock:
-            self.uart.write(data)
+            self.uart.write(message.encode('utf-8'))
+
+    def read(self):
+        with self.lock:
+            return self.rx_queue.pop(0) if self.rx_queue else None
             
     def send_as_command(self, command: 'UARTCommand'):
         """Safely sends a structured command over UART."""
@@ -107,13 +51,6 @@ class SafeUART:
         """Checks if any complete messages are waiting to be read."""
         with self.lock:
             return len(self.rx_queue) > 0
-
-    def read(self):
-        """Pulls the oldest unread string from the queue. Returns None if empty."""
-        with self.lock:
-            if self.rx_queue:
-                return self.rx_queue.pop(0)
-        return None
     
     def read_as_command(self) -> 'UARTCommand | None':
         """Attempts to read the oldest unread string and parse it as a UARTCommand. Returns None if empty or invalid."""