Initial import of ORISYS arm workstation

2026-10-16 17:27:30 +08:00
commit 2b74c50ba8
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+"""Exercise Qt and backend shutdown with no device transport in the UI."""
+import sys
+import os
+import time
+from station import runtime_client as runtime
+runtime.start(offline=True)
+import station.operator_app as ui
+app=ui.QApplication.instance();app.setFont(ui.QFont('Noto Sans SC',11));app.setStyleSheet(ui._STYLE)
+window=ui.StationApp();window.resize(1440,900);window.show()
+window._apply_theme('dark',persist=False)
+assert app.property('darkTheme') is True
+assert window._theme_selector.currentData()=='dark'
+window._apply_theme('light',persist=False)
+assert app.property('darkTheme') is False
+assert window._theme_selector.currentData()=='light'
+assert 'rclpy' not in sys.modules
+assert 'serial' not in sys.modules
+assert 'station.operator_console' not in sys.modules
+assert set(window._pages) == {'main','calibration','settings','ros_monitor'}
+# A photo must preserve the current RGB frame; no capture/device operation is needed.
+import tempfile
+from unittest.mock import patch
+sample=bytes([12,84,192])*(32*18)
+selected=next(cam for _page,cam,_label in window._camera_labels if cam.get('arm')==window._arm)
+with tempfile.TemporaryDirectory() as pictures:
+    with patch.object(ui.Path,'home',return_value=ui.Path(pictures)), patch.object(ui.camera_view,'previews',return_value={selected['id']+'_color':(sample,32,18)}):
+        window._take_photo()
+        photos=list(ui.Path(pictures).rglob('*.png'))
+        assert len(photos)==1
+        image=ui.QImage(str(photos[0]))
+        assert (image.width(),image.height())==(32,18)
+        assert image.pixelColor(0,0).getRgb()[:3]==(12,84,192)
+        window._open_camera(selected['id'])
+        assert selected['id'] in window._camera_windows
+        window._camera_windows[selected['id']].close()
+assert not window._camera_windows
+errors=[];ticks=[]
+duration=float(os.environ.get("ORISYS_GUI_TEST_SECONDS","2.2"))
+started=time.monotonic()
+frames=[bytes([v,40,80])*(320*180) for v in (30,70,120)]
+def tick():
+    ticks.append(time.monotonic())
+    if duration>10:
+        if len(ticks)%100==0:
+            window._show_page(("main","calibration")[(len(ticks)//100)%2])
+        for key in ui.camera_view._PREVIEW_WANT:
+            ui.camera_view._PREVIEW[key]=(frames[len(ticks)%3],320,180)
+            ui.camera_view._META[key]=(320,180,20.)
+original=sys.excepthook
+def fail(*args): errors.append(str(args[1]));original(*args)
+sys.excepthook=fail
+beat=ui.QTimer();beat.timeout.connect(tick);beat.start(50)
+ui.QTimer.singleShot(200,lambda:window._start(lambda:(time.sleep(.7),{'ok':True,'message':'test'})[1],'test'))
+ui.QTimer.singleShot(500,lambda:window._show_page('calibration'))
+ui.QTimer.singleShot(1000,lambda:window._show_page('calibration'))
+ui.QTimer.singleShot(1500,lambda:window._show_page('ros_monitor'))
+ui.QTimer.singleShot(1900,lambda:window._show_page('main'))
+ui.QTimer.singleShot(round(duration*1000),window.close)
+ui.QTimer.singleShot(round((duration+15)*1000),app.quit)
+app.exec()
+assert len(ticks)>20,len(ticks)
+assert not errors,errors
+assert runtime._runtime is None
+assert not any(job.isRunning() for job in window._jobs.values())
+print('Qt responsive, no device modules, async task and graceful shutdown PASS',
+      {'seconds':round(time.monotonic()-started,2),'ticks':len(ticks),
+       'max_gap':round(max((b-a for a,b in zip(ticks,ticks[1:])),default=0),3),'errors':errors},flush=True)