agl-demo-control-panel: Improve gRPC Mode

V1:
    - Remove redundant calls to set instance
    - Start client as soon as connection is established
V2:
    - Enable Subscriptions in gRPC mode
    - Fix UI stutter by blocking signals for specific widgets
    - Fix Vehicle Simulator, no longer run thread as a daemon

SPEC-4905

Signed-off-by: suchinton2001 <suchinton.2001@gmail.com>
Change-Id: Iea3b9ce0532c1ebae530aed9dddd92d72ff4dd7b

5 files changed, 159 insertions, 53 deletions

diff --git a/Widgets/ICPage.py b/Widgets/ICPage.py
index d4d6592..9106249 100644
--- a/Widgets/ICPage.py
+++ b/Widgets/ICPage.py
@@ -68,10 +68,8 @@ class ICWidget(Base, Form):
         self.setupUi(self)
 
         self.IC = IC_Paths()
-        # self.vehicle_simulator = VehicleSimulator(self)
 
         self.feed_kuksa = FeedKuksa()
-        self.feed_kuksa.start()
         self.vehicle_simulator = VehicleSimulator()
 
         header_frame = self.findChild(QWidget, "header_frame")
@@ -380,7 +378,7 @@ class VehicleSimulator(QObject):
         self.engine_speed = self.DEFAULT_IDLE_RPM
         self.running = False
         self.lock = threading.Lock()
-        self.thread = threading.Thread(target=self.run, daemon=True)
+        self.thread = threading.Thread(target=self.run)
 
     def start(self):
         if not self.running:
diff --git a/Widgets/settings.py b/Widgets/settings.py
index d6efb66..72b1bea 100644
--- a/Widgets/settings.py
+++ b/Widgets/settings.py
@@ -12,7 +12,6 @@
 #   See the License for the specific language governing permissions and
 #   limitations under the License.
 
-
 from extras import config
 import extras.Kuksa_Instance as kuksa_instance
 
@@ -40,8 +39,9 @@ Form, Base = uic.loadUiType(os.path.join(
 
 # ========================================
 
+# Global Variables
 Steering_Signal_Type = "Kuksa"
-
+Protocol = None
 
 def create_animated_toggle():
     return AnimatedToggle(
@@ -71,6 +71,7 @@ class settings(Base, Form):
         """
         super(self.__class__, self).__init__(parent)
         self.setupUi(self)
+        self.client = None
 
         self.SSL_toggle = create_animated_toggle()
         self.Protocol_toggle = create_animated_toggle()
@@ -101,6 +102,10 @@ class settings(Base, Form):
         self.startClientBtn.setCheckable(True)
         self.startClientBtn.setStyleSheet("border: 1px solid green;")
 
+        self.Hide_IC = self.findChild(QPushButton, "Hide_IC")
+        self.Hide_HVAC = self.findChild(QPushButton, "Hide_HVAC")
+        self.Hide_HUD = self.findChild(QPushButton, "Hide_HUD")
+
         self.startClientBtn.clicked.connect(self.start_stop_client)
         self.reconnectBtn.clicked.connect(self.reconnectClient)
         self.SSL_toggle.clicked.connect(self.toggleSSL)
@@ -126,7 +131,7 @@ class settings(Base, Form):
     def start_stop_client(self):
         if self.startClientBtn.isChecked():
             self.set_instance()
-        if self.client is not None:
+        elif self.client is not None:
             self.client.stop()
 
         self.refreshThread = RefreshThread(self)
@@ -158,9 +163,12 @@ class settings(Base, Form):
             Steering_Signal_Type = "Kuksa"
 
     def get_protocol(self):
+        global Protocol
         if (not self.Protocol_toggle.isChecked()):
+            Protocol = "ws"
             return "ws"
         else:
+            Protocol = "grpc"
             return "grpc"
 
     def set_instance(self):
@@ -229,20 +237,20 @@ class settings(Base, Form):
         """
         if (self.client is not None):
             try:
-                config = self.make_new_config()
                 self.client.stop()
-                self.client = self.kuksa.reconnect(config, self.kuksa_token)
-                self.client.start()
+                self.client = self.kuksa.reconnect(
+                    self.make_new_config(), self.kuksa_token)
 
                 self.refreshThread = RefreshThread(self)
                 self.refreshThread.start()
 
             except Exception as e:
                 logging.error(e)
-        self.set_instance()
+        else:
+            self.set_instance()
 
-        self.refreshThread = RefreshThread(self)
-        self.refreshThread.start()
+            self.refreshThread = RefreshThread(self)
+            self.refreshThread.start()
 
     def make_new_config(self):
         """
diff --git a/extras/FeedKuksa.py b/extras/FeedKuksa.py
index 75846d5..955361d 100644
--- a/extras/FeedKuksa.py
+++ b/extras/FeedKuksa.py
@@ -16,9 +16,8 @@
 
 import logging
 from PyQt5.QtCore import QThread
-from PyQt5.QtCore import pyqtSignal, QObject
+from PyQt5.QtCore import pyqtSignal
 from . import Kuksa_Instance as kuksa_instance
-from . import UI_Handeler
 import threading
 
 class FeedKuksa(QThread):
@@ -50,9 +49,6 @@ class FeedKuksa(QThread):
         QThread.__init__(self, parent)
         self.stop_flag = False
 
-        self.sending_values.connect(UI_Handeler.UI_Handeler.block_updates)
-        self.finished_sending_values.connect(UI_Handeler.UI_Handeler.unblock_updates)
-
     def run(self):
         """
         Starts the thread and sets the instance of the Kuksa client.
@@ -93,7 +89,7 @@ class FeedKuksa(QThread):
         Exception
             If there is an error sending values to Kuksa.
         """
-
+        
         if self.client is None:
             logging.error("Kuksa client is None, try reconnecting")
             return
diff --git a/extras/Kuksa_Instance.py b/extras/Kuksa_Instance.py
index cda539e..6add5af 100644
--- a/extras/Kuksa_Instance.py
+++ b/extras/Kuksa_Instance.py
@@ -17,7 +17,6 @@
 from typing import Optional
 import kuksa_client as kuksa
 import threading
-import time
 
 
 class KuksaClientSingleton:
@@ -73,6 +72,7 @@ class KuksaClientSingleton:
             raise Exception("This class is a singleton!")
 
         self.client = None
+        self.kuksa_config = None
 
         KuksaClientSingleton._instance = self
 
@@ -89,9 +89,10 @@ class KuksaClientSingleton:
         """
         if self.client:
             self.client.stop()
-
-        self.client = kuksa.KuksaClientThread(config)
-        self.client.authorize(token)
+        self.kuksa_config = config
+        self.token = token
+        self.client = kuksa.KuksaClientThread(self.kuksa_config)
+        self.client.authorize(self.token)
         self.client.start()
 
     def get_client(self):
@@ -114,6 +115,15 @@ class KuksaClientSingleton:
             dict: The configuration for KuksaClientThread.
         """
         return self.kuksa_config
+    
+    def get_token(self):
+        """
+        Returns the path to the token file.
+
+        Returns:
+            str: The path to the token file.
+        """
+        return self.token
 
     def status(self):
         """
diff --git a/extras/UI_Handeler.py b/extras/UI_Handeler.py
index a44cf1a..9139c53 100644
--- a/extras/UI_Handeler.py
+++ b/extras/UI_Handeler.py
@@ -20,26 +20,80 @@ from PyQt5.QtCore import QPropertyAnimation
 from PyQt5.QtWidgets import QWidget
 from PyQt5.QtCore import QEasingCurve
 from PyQt5.QtWidgets import QGraphicsOpacityEffect
+from kuksa_client.grpc import Field, SubscribeEntry, View
+from kuksa_client.grpc.aio import VSSClient
+from PyQt5.QtCore import pyqtSignal
+import asyncio
+from PyQt5.QtCore import QThread
+import pathlib
 import logging
 import json
 
 from . import Kuksa_Instance as kuksa_instance
+from Widgets import settings
 
 # Global variables
 subscribed = False
-block_subscription_updates = False
 
 
-class UI_Handeler(MainWindow):
+class GrpcSubscriptionThread(QThread):
+    updateReceived = pyqtSignal(str, str)
+
+    def __init__(self):
+        QThread.__init__(self)
+        self.client = None
+
+    def run(self):        
+        config = kuksa_instance.KuksaClientSingleton.instance().get_config()
+        token = kuksa_instance.KuksaClientSingleton.instance().get_token()
+
+        SUBSCRIPTION_ENTRIES = [
+            SubscribeEntry('Vehicle.Speed', View.FIELDS, (Field.VALUE,)),
+            SubscribeEntry('Vehicle.Powertrain.CombustionEngine.Speed', View.FIELDS, (Field.VALUE,)),
+            SubscribeEntry('Vehicle.Body.Lights.DirectionIndicator.Left.IsSignaling', View.FIELDS, (Field.VALUE,)),
+            SubscribeEntry('Vehicle.Body.Lights.DirectionIndicator.Right.IsSignaling', View.FIELDS, (Field.VALUE,)),
+            SubscribeEntry('Vehicle.Body.Lights.Hazard.IsSignaling', View.FIELDS, (Field.VALUE,)),
+            SubscribeEntry('Vehicle.Powertrain.FuelSystem.Level', View.FIELDS, (Field.VALUE,)),
+            SubscribeEntry('Vehicle.Powertrain.CombustionEngine.ECT', View.FIELDS, (Field.VALUE,)),
+            SubscribeEntry('Vehicle.Powertrain.Transmission.SelectedGear', View.FIELDS, (Field.VALUE,)),
+            SubscribeEntry('Vehicle.Cabin.HVAC.Station.Row1.Left.Temperature', View.FIELDS, (Field.VALUE,)),
+            SubscribeEntry('Vehicle.Cabin.HVAC.Station.Row1.Left.FanSpeed', View.FIELDS, (Field.VALUE,)),
+            SubscribeEntry('Vehicle.Cabin.HVAC.Station.Row1.Right.Temperature', View.FIELDS, (Field.VALUE,)),
+            SubscribeEntry('Vehicle.Cabin.HVAC.Station.Row1.Right.FanSpeed', View.FIELDS, (Field.VALUE,)),
+        ]
+
+        async def grpc_subscription(client):
+            try:
+                await client.connect()
+                async for updates in client.subscribe(entries=SUBSCRIPTION_ENTRIES):
+                    for update in updates:
+                        if update.entry.value is not None:
+                            self.updateReceived.emit(str(update.entry.path),
+                                                     str(update.entry.value.value))
+                client.disconnect()
+            except Exception as e:
+                logging.error(f"Error during gRPC subscription: {e}")
+
+        try:
+            client = VSSClient(host=config['ip'], 
+                               port=config['port'], 
+                               token=token,
+                               root_certificates=pathlib.Path(config['cacertificate']), 
+                               tls_server_name=config['tls_server_name'])
+            asyncio.set_event_loop(asyncio.new_event_loop())
+            loop = asyncio.get_event_loop()
+            loop.run_until_complete(grpc_subscription(client))
+        except Exception as e:
+            logging.error(f"Error during gRPC subscription: {e}")
+
+
+class UI_Handeler(MainWindow):    
 
     def fullscreen(self):
         self.headerContainer.hide()
         self.setAttribute(QtCore.Qt.WA_TranslucentBackground, False)
         self.showFullScreen()
 
-    def display_sending_message(self):
-        print("message sent")
-
     def block_updates():
         global block_subscription_updates
         block_subscription_updates = True
@@ -133,79 +187,119 @@ class UI_Handeler(MainWindow):
                     "Vehicle.Cabin.HVAC.Station.Row1.Right.Temperature",
                     "Vehicle.Cabin.HVAC.Station.Row1.Right.FanSpeed"]
 
-                for signal in signals:
-                    self.client.subscribe(
-                        signal, lambda data: UI_Handeler.VSS_callback(self, data), 'value')
+                if settings.Protocol == "ws":
+                    for signal in signals:
+                        self.client.subscribe(
+                            signal, lambda data: UI_Handeler.VSS_callback(self, data), 'value')
+                if settings.Protocol == "grpc":
+                    self.worker = GrpcSubscriptionThread()
+                    self.worker.updateReceived.connect(
+                        lambda path, value: UI_Handeler.VSS_callback(self=self, path=path, value=value))
+                    self.worker.start()
                 subscribed = True
             else:
                 subscribed = False
                 logging.error(
                     "Kuksa client is not connected, try reconnecting")
 
-    def VSS_callback(self, data):
+    def VSS_callback(self, data=None, path=None, value=None):
         """
         This method is the callback function for the VSS signals from Kuksa.
 
         Args:
         - data: The data received from the signal.
         """
-        global block_subscription_updates
-        if block_subscription_updates:
-            return
 
         IC_Page = self.stackedWidget.widget(1)
         HVAC_Page = self.stackedWidget.widget(2)
 
-        info = json.loads(data)
-        path = info.get('data', {}).get('path')
-        value = info.get('data', {}).get('dp', {}).get('value')
-
-        print(f"Received subscription event: {path} {value}")
+        if data is not None:
+            info = json.loads(data)
+            path = info.get('data', {}).get('path')
+            value = info.get('data', {}).get('dp', {}).get('value')
 
-        if path == "Vehicle.Speed":
+        if path == "Vehicle.Speed" and int(float(value)):
+            # block connection updates for IC_Page.Speed_slider.
+            IC_Page.Speed_slider.blockSignals(True)
+            IC_Page.Speed_slider.setValue(int(float(value)))
+            IC_Page.Speed_slider.blockSignals(False)
             IC_Page.Speed_monitor.display(int(IC_Page.Speed_slider.value()))
-            IC_Page.Speed_slider.setValue(int(value))
 
-        if path == "Vehicle.Powertrain.CombustionEngine.Speed":
-            IC_Page.RPM_slider.setValue(int(value))
+        if path == "Vehicle.Powertrain.CombustionEngine.Speed" and int(float(value)):
+            # block connection updates for IC_Page.RPM_slider.
+            IC_Page.RPM_slider.blockSignals(True)
             IC_Page.RPM_monitor.display(int(IC_Page.RPM_slider.value()))
+            IC_Page.RPM_slider.setValue(int(float(value)))
+            IC_Page.RPM_slider.blockSignals(False)
 
         if path == "Vehicle.Body.Lights.DirectionIndicator.Left.IsSignaling":
+            IC_Page.leftIndicatorBtn.blockSignals(True)
             IC_Page.leftIndicatorBtn.setChecked(bool(value))
+            IC_Page.leftIndicatorBtn.blockSignals(False)
 
         if path == "Vehicle.Body.Lights.DirectionIndicator.Right.IsSignaling":
+            IC_Page.rightIndicatorBtn.blockSignals(True)
             IC_Page.rightIndicatorBtn.setChecked(bool(value))
+            IC_Page.rightIndicatorBtn.blockSignals(False)
 
         if path == "Vehicle.Body.Lights.Hazard.IsSignaling":
+            IC_Page.hazardBtn.blockSignals(True)
             IC_Page.hazardBtn.setChecked(bool(value))
+            IC_Page.hazardBtn.blockSignals(False)
 
         if path == "Vehicle.Powertrain.FuelSystem.Level":
-            IC_Page.fuelLevel_slider.setValue(int(value))
+            IC_Page.fuelLevel_slider.blockSignals(True)
+            IC_Page.fuelLevel_slider.setValue(int(float(value)))
+            IC_Page.fuelLevel_slider.blockSignals(False)
 
         if path == "Vehicle.Powertrain.CombustionEngine.ECT":
-            IC_Page.coolantTemp_slider.setValue(int(value))
+            IC_Page.coolantTemp_slider.blockSignals(True)
+            IC_Page.coolantTemp_slider.setValue(int(float(value)))
+            IC_Page.coolantTemp_slider.blockSignals(False)
 
         if path == "Vehicle.Powertrain.Transmission.SelectedGear":
-            if int(value) == 127:
+            if int(float(value)) == 127:
+                IC_Page.driveBtn.blockSignals(True)
                 IC_Page.driveBtn.setChecked(True)
-            elif int(value) == 126:
+                IC_Page.driveBtn.blockSignals(False)
+            elif int(float(value)) == 126:
+                IC_Page.parkBtn.blockSignals(True)
                 IC_Page.parkBtn.setChecked(True)
-            elif int(value) == -1:
+                IC_Page.parkBtn.blockSignals(False)
+            elif int(float(value)) == -1:
+                IC_Page.reverseBtn.blockSignals(True)
                 IC_Page.reverseBtn.setChecked(True)
-            elif int(value) == 0:
+                IC_Page.reverseBtn.blockSignals(False)
+            elif int(float(value)) == 0:
+                IC_Page.neutralBtn.blockSignals(True)
                 IC_Page.neutralBtn.setChecked(True)
+                IC_Page.neutralBtn.blockSignals(False)
 
         if path == "Vehicle.Cabin.HVAC.Station.Row1.Left.Temperature":
-            HVAC_Page.left_temp.setValue(int(value))
+            HVAC_Page.leftTempList.blockSignals(True)
+            item = HVAC_Page.leftTempList.findItems(
+                str(int(float(value))) + "°C", QtCore.Qt.MatchExactly)[0]
+            HVAC_Page.leftTempList.setCurrentItem(item)
+            HVAC_Page.leftTempList.scrollToItem(item, 1)
+            HVAC_Page.leftTempList.blockSignals(False)
 
         if path == "Vehicle.Cabin.HVAC.Station.Row1.Left.FanSpeed":
-            HVAC_Page.left_fan.setValue(int(value))
+            HVAC_Page.leftFanSpeed_slider.blockSignals(True)
+            HVAC_Page.leftFanSpeed_slider.setValue(int(float(value)))
+            HVAC_Page.leftFanSpeed_slider.blockSignals(False)
 
         if path == "Vehicle.Cabin.HVAC.Station.Row1.Right.Temperature":
-            HVAC_Page.right_temp.setValue(int(value))
+            HVAC_Page.rightTempList.blockSignals(True)
+            item = HVAC_Page.leftTempList.findItems(
+                str(int(float(value))) + "°C", QtCore.Qt.MatchExactly)[0]
+            HVAC_Page.leftTempList.setCurrentItem(item)
+            HVAC_Page.rightTempList.scrollToItem(item, 1)
+            HVAC_Page.rightTempList.blockSignals(False)
 
         if path == "Vehicle.Cabin.HVAC.Station.Row1.Right.FanSpeed":
-            HVAC_Page.right_fan.setValue(int(value))
+            HVAC_Page.rightFanSpeed_slider.blockSignals(True)
+            HVAC_Page.rightFanSpeed_slider.setValue(int(float(value)))
+            HVAC_Page.rightFanSpeed_slider.blockSignals(False)
 
 
 class FaderWidget(QWidget):