Initial import of ORISYS arm workstation

2026-10-16 17:27:30 +08:00
commit 2b74c50ba8
745 changed files with 1199101 additions and 0 deletions
@@ -0,0 +1,51 @@
+import os
+import subprocess
+import sys
+import tempfile
+import time
+from pathlib import Path
+from unittest import TestCase
+from station.rpc import call
+
+
+class BackendTest(TestCase):
+    def test_offline_rpc_task_lifecycle_and_shutdown(self):
+        with tempfile.TemporaryDirectory() as folder:
+            socket=Path(folder)/'backend.sock'
+            proc=subprocess.Popen([sys.executable,'-m','station.control_service','--socket',str(socket),'--offline'],
+                                  stdout=subprocess.PIPE,stderr=subprocess.STDOUT,text=True)
+            try:
+                deadline=time.monotonic()+10
+                while not socket.exists() and proc.poll() is None and time.monotonic()<deadline: time.sleep(.05)
+                self.assertIsNone(proc.poll())
+                self.assertEqual(call(socket,'ping')['protocol'],1)
+                catalog=call(socket,'catalog')
+                unavailable={r['id'] for r in catalog['actions'] if not r['available']}
+                self.assertIn('gauge_run',unavailable)
+                with self.assertRaises(RuntimeError): call(socket,'submit',{'action':'__import__','arm':'89'})
+                arms=[]
+                while time.monotonic()<deadline:
+                    snap=call(socket,'snapshot');arms=snap.get('arms',[])
+                    if arms: break
+                    time.sleep(.05)
+                self.assertTrue(arms)
+                aid=arms[0]['id']
+                token=call(socket,'submit',{'action':'handeye_show','arm':aid})['task_id']
+                while time.monotonic()<deadline:
+                    row=call(socket,'task',{'task_id':token})
+                    if row['state'] not in ('queued','running'): break
+                    time.sleep(.05)
+                self.assertEqual(row['state'],'succeeded')
+                token=call(socket,'submit',{'action':'gripper_up','arm':aid})['task_id']
+                while time.monotonic()<deadline:
+                    row=call(socket,'task',{'task_id':token})
+                    if row['state'] not in ('queued','running'): break
+                    time.sleep(.05)
+                self.assertEqual(row['state'],'failed');self.assertIn('离线',row['result']['message'])
+            finally:
+                proc.terminate()
+                try: output,_=proc.communicate(timeout=10)
+                except subprocess.TimeoutExpired:
+                    proc.kill();output,_=proc.communicate();self.fail(output)
+            self.assertEqual(proc.returncode,0,output)
+            self.assertFalse(socket.exists())