Update workstation UI, ROS task control and device integration

station/test/test_operation_log.py

@@ -0,0 +1,35 @@
+import json
+import tempfile
+import threading
+import time
+from pathlib import Path
+from unittest import TestCase
+from station.operation_log import OperationLog
+from station.tasks import TaskManager
+
+
+class OperationLogTest(TestCase):
+    def test_memory_bounded_but_disk_retains_every_event(self):
+        with tempfile.TemporaryDirectory() as folder:
+            log = OperationLog(Path(folder)/'events.jsonl', limit=2)
+            for i in range(5): log.add('received', str(i), action='stage_track', arm='89')
+            snap=log.snapshot()
+            self.assertEqual([r['seq'] for r in snap['events']], [4,5])
+            rows=[json.loads(line) for line in Path(snap['path']).read_text().splitlines()]
+            self.assertEqual([r['seq'] for r in rows],list(range(1,6)))
+
+    def test_fast_task_keeps_all_transitions_between_gui_polls(self):
+        manager=TaskManager()
+        try:
+            def execute(event):
+                manager.set_phase(event,'识别目标')
+                manager.set_phase(event,'识别目标')
+                return {'ok':True,'message':'执行完成'}
+            token=manager.submit('stage_track', {'robot-control'},execute,context={'arm':'89'})
+            deadline=time.monotonic()+2
+            while manager.snapshot(token)['state'] in ('queued','running') and time.monotonic()<deadline:
+                time.sleep(.01)
+            events=manager.events.snapshot()['events']
+            self.assertEqual([r['kind'] for r in events],['accepted','running','phase','succeeded'])
+            self.assertTrue(all(r['task_id']==token and r['arm']=='89' for r in events))
+        finally: manager.close()