Update workstation UI, ROS task control and device integration

2026-10-20 15:46:13 +08:00
parent 2b74c50ba8
commit e5b06df6da
141 changed files with 91520 additions and 748 deletions
@@ -25,3 +25,49 @@ class PreviewCacheTest(TestCase):
                preview._ingest()
            self.assertEqual(preview.previews(),{})
            self.assertIn('未更新',preview.state()['error'])
+
+    def test_unchanged_shared_frame_is_not_copied_again(self):
+        from types import SimpleNamespace
+        preview.watch({'left_color'},set())
+        header=bytearray(preview._SHM_HEAD.size)
+        preview._SHM_HEAD.pack_into(header,0,2,1280,720,1280*720*3)
+        with tempfile.TemporaryDirectory() as folder:
+            payload={'frames':{'left_color':{'name':'owned_test','store':'left_color','kind':'rgb'}},
+                     'meta':{},'ages':{'left_color':0},'exported_monotonic':time.monotonic()}
+            (Path(folder)/'meta.json').write_text(json.dumps(payload))
+            with patch.object(preview,'_BRIDGE_DIR',Path(folder)), \
+                 patch.object(preview,'_SHM_SEQ',{'owned_test':2}), \
+                 patch.object(preview,'_attach',return_value=SimpleNamespace(buf=header)), \
+                 patch.object(preview,'_shm_read',side_effect=AssertionError('unchanged frame copied')):
+                preview._ingest()
+
+    def test_full_hd_is_preserved_and_larger_frames_fit_transport(self):
+        import numpy as np
+        image=np.zeros((1080,1920,3),np.uint8)
+        self.assertEqual(preview.rgb_preview(image,bgr=False).shape,image.shape)
+        portrait=preview.rgb_preview(np.zeros((1280,720,3),np.uint8),bgr=False)
+        self.assertLessEqual(portrait.shape[0],1080)
+        self.assertLessEqual(portrait.nbytes,preview._SHM_MAX)
+
+    def test_refresh_worker_exit_does_not_kill_preview(self):
+        import os,sys,subprocess,threading
+        real_popen=subprocess.Popen
+        spawning=[]
+        def popen(argv,**kwargs):
+            spawning.append(threading.current_thread().name)
+            command=[sys.executable,'-m','station.child_process',str(os.getpid()),
+                     sys.executable,'-c','import time;time.sleep(20)']
+            proc=real_popen(command,**kwargs)
+            time.sleep(.2)  # Allow the child to install its parent-death watch.
+            return proc
+        with patch.object(preview,'stream_targets',return_value=[{'id':'fake','label':'fake'}]), \
+             patch.object(preview.subprocess,'Popen',side_effect=popen), \
+             patch.object(preview,'_poll_loop',side_effect=lambda:preview._STOP.wait(5)):
+            worker=threading.Thread(target=preview.start,name='short-refresh-worker')
+            worker.start();worker.join(3)
+            try:
+                self.assertFalse(worker.is_alive())
+                self.assertEqual(spawning,['cam-poll'])
+                time.sleep(.3)
+                self.assertIsNone(preview._BRIDGE.poll())
+            finally:preview.stop()