Update workstation UI, ROS task control and device integration

station/test/test_module_independence.py

@@ -0,0 +1,34 @@
+"""Only commands writing the same device conflict; all functions are fake."""
+import threading
+import time
+from unittest import TestCase
+from station.command_policy import resources_for
+from station.tasks import TaskManager
+
+
+class ModuleIndependenceTest(TestCase):
+    def test_four_modules_execute_concurrently(self):
+        manager=TaskManager();release=threading.Event();started={}
+        def operation(name,event):
+            started[name].set();release.wait(2)
+            return {'ok':True}
+        try:
+            tokens=[]
+            for name in ('real_up','camera_refresh','gripper_open','tactile_refresh'):
+                started[name]=threading.Event()
+                tokens.append(manager.submit(name,resources_for(name,'89'),lambda event,name=name:operation(name,event)))
+            self.assertTrue(all(flag.wait(1) for flag in started.values()))
+            self.assertTrue(all(manager.snapshot(t)['state']=='running' for t in tokens))
+            with self.assertRaises(RuntimeError):
+                manager.submit('gripper_close',resources_for('gripper_close','89'),lambda event:{'ok':True})
+        finally:
+            release.set();manager.close()
+
+    def test_only_composite_a7_workflow_also_owns_gripper(self):
+        grip=resources_for('gripper_open','89')
+        for action in ('real_up','reset_home','teach_goto','stage_track','stage_locate'):
+            self.assertFalse(resources_for(action,'89') & grip,action)
+        for action in ('stage_screw','pipeline'):
+            self.assertTrue(resources_for(action,'89') & grip,action)
+            self.assertFalse(resources_for(action,'89') & resources_for('tactile_reset','89'),action)
+            self.assertFalse(resources_for(action,'89') & resources_for('camera_refresh','89'),action)