Update workstation UI, ROS task control and device integration

station/test/test_processes.py

@@ -19,3 +19,43 @@ class ProcessesTest(TestCase):
                     processes.run('long',[sys.executable,'-c','import time;time.sleep(30)'],event)
                 self.assertFalse(processes.snapshot()['long']['running'])
             finally: processes.close()
+
+    def test_each_run_has_its_own_log_slice_and_explicit_owner(self):
+        with tempfile.TemporaryDirectory() as directory:
+            processes=ProcessSupervisor(directory)
+            try:
+                processes.run('tool:89',[sys.executable,'-c','print("OLD_FAILURE")'],threading.Event())
+                result=processes.run('tool:89',[sys.executable,'-c','print("NEW_RESULT")'],threading.Event())
+                self.assertIn('NEW_RESULT',result['detail']);self.assertNotIn('OLD_FAILURE',result['detail'])
+                row=processes.snapshot()['tool:89']
+                self.assertEqual(row['owner'],'station');self.assertEqual(row['state'],'exited')
+            finally: processes.close()
+
+    def test_success_waits_for_orphaned_child_cleanup(self):
+        from pathlib import Path
+        from arm_application.process_lifecycle import _stat
+        with tempfile.TemporaryDirectory() as directory:
+            processes=ProcessSupervisor(directory)
+            pidfile=Path(directory)/'pid'
+            source="import subprocess,sys,time;from pathlib import Path;p=subprocess.Popen([sys.executable,'-c','import time;time.sleep(120)'],start_new_session=True);Path(sys.argv[1]).write_text(str(p.pid))"
+            try:
+                result=processes.run('motion:89',[sys.executable,'-c',source,str(pidfile)],threading.Event(),timeout=12)
+                self.assertTrue(result['ok'],result)
+                child=int(pidfile.read_text());state=_stat(child)
+                self.assertTrue(state is None or state[2]=='Z','task reported success with a live orphan')
+            finally: processes.close()
+
+    def test_process_cleanup_phase_is_reported_before_resource_release(self):
+        from pathlib import Path
+        with tempfile.TemporaryDirectory() as directory:
+            processes=ProcessSupervisor(directory)
+            ready=Path(directory)/'ready'
+            child="import signal,time,sys;from pathlib import Path;signal.signal(signal.SIGINT,lambda *a:(time.sleep(.4),sys.exit(0)));Path(sys.argv[1]).write_text('ready');time.sleep(20)"
+            source="import subprocess,sys,time;from pathlib import Path;subprocess.Popen([sys.executable,'-c',sys.argv[1],sys.argv[2]],start_new_session=True)\nwhile not Path(sys.argv[2]).exists():time.sleep(.01)"
+            phases=[]
+            try:
+                result=processes.run('motion:89',[sys.executable,'-c',source,child,str(ready)],threading.Event(),timeout=8,on_phase=phases.append)
+                self.assertTrue(result['ok'],result)
+                self.assertIn('收尾',phases)
+                self.assertFalse(processes.snapshot()['motion:89']['running'])
+            finally: processes.close()