Refresh config values at 1 Hz, only the axis state at 10 Hz

src/controls.py

@@ -225,11 +225,14 @@ def _create_axis_column(index: int, axis: Any) -> None:
     axis_state, ctr_cfg, mtr_cfg, enc_cfg, trp_cfg = mirrors
     cc = axis.motor.current_control
 
-    async def sync_mirrors() -> None:
-        for mirror in mirrors:
-            await mirror.sync()
+    async def sync_state() -> None:
+        await axis_state.sync()
         show_state(axis_state.current_state)
 
+    async def sync_config() -> None:
+        for mirror in mirrors[1:]:
+            await mirror.sync()
+
     async def update_power() -> None:
         if (watts := await _on_usb(axis, lambda: cc.Iq_measured * cc.v_current_control_integral_q)) is not None:
             power.set_text(f'{watts:.1f} W')
@@ -239,9 +242,11 @@ async def update_error() -> None:
             button.set_enabled(error != 0)
 
     # every property read is a USB round-trip, so keep the 10 Hz path to the two values
-    # that must feel live; the error flag only enables a button and can follow at 1 Hz.
+    # that must feel live. The error flag only enables a button, and config values only
+    # change when someone edits them (an edit here shows at once), so they follow at 1 Hz.
     ui.timer(0.1, update_power)
-    ui.timer(0.1, sync_mirrors)
+    ui.timer(0.1, sync_state)
+    ui.timer(1.0, sync_config)
     ui.timer(1.0, update_error)
 
     def request_state(state: int) -> None:

tests/test_main.py

@@ -174,7 +174,7 @@ async def test_gain_edits_reach_the_device_and_device_changes_reach_the_ui(user:
     assert field.value == 42.0
 
     config.pos_gain = 7.0  # changed behind the UI's back (odrivetool, another client)
-    await asyncio.sleep(1.2)
+    await asyncio.sleep(2.0)  # config values are refreshed at 1 Hz
     assert field.value == 7.0
 
 

tests/test_render.py

@@ -81,6 +81,18 @@ async def test_live_values_are_not_read_on_the_event_loop(user: User) -> None:
     assert READS['odrive-usb_0'] > before['odrive-usb_0']  # the live values are still read, on the worker
 
 
+async def test_config_values_are_not_polled_at_10_hz(user: User) -> None:
+    """Every worker read delays the writes and commands queued behind it. Only the axis
+    state and the power label must feel live; the ~22 bound config values per axis are
+    refreshed at 1 Hz (two calibrated axes: ~105 reads per second instead of ~480)."""
+    await user.open('/')
+    await user.should_see('Axis 1')
+    await asyncio.sleep(0.5)  # past the reads of the panel build
+    before = READS['odrive-usb_0']
+    await asyncio.sleep(2.0)
+    assert (READS['odrive-usb_0'] - before) / 2.0 < 150
+
+
 async def test_a_refresh_that_read_before_an_edit_does_not_undo_it(user: User, mock_odrive) -> None:
     """A refresh reads on the USB worker while the user may edit the same value: the read
     sees the old device value, and applying it would snap the widget back -- whose change