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
@@ -0,0 +1,53 @@
+import os
+import tempfile
+from pathlib import Path
+from types import SimpleNamespace
+from unittest import TestCase
+from unittest.mock import patch
+import threading
+
+from station.remote_camera import settings,bridge_environment
+from station.operator_camera_view import stream_targets
+from station.control_service import StationService
+from arm_application.site_io import load_site_dict
+
+
+class RemotePreviewTest(TestCase):
+    def site(self):
+        site=load_site_dict();site['remote_camera_preview']={
+            'enabled':True,'domain':0,'host':'192.168.2.10','interface_address':'192.168.2.50',
+            'cameras':['d405_left','d435'],'transport':'raw'}
+        return site
+
+    def test_only_explicit_remote_streams_use_raw(self):
+        streams=stream_targets(self.site())
+        self.assertEqual({s['id'] for s in streams},{'d405_left','d435'})
+        self.assertTrue(all(s['preview_transport']=='raw' and s['source']=='remote' for s in streams))
+
+    def test_remote_environment_is_limited_to_preview_child(self):
+        parent={'ROS_DOMAIN_ID':'42','ROS_LOCALHOST_ONLY':'1','REAL_ROS_DOMAIN_ID':'42',
+                'ROS_DISCOVERY_SERVER':'some-other-server'}
+        before=dict(parent)
+        with tempfile.TemporaryDirectory() as folder:
+            env=bridge_environment(self.site(),parent,folder)
+            self.assertEqual(parent,before)
+            self.assertEqual((env['ROS_DOMAIN_ID'],env['ROS_LOCALHOST_ONLY']),('0','0'))
+            self.assertEqual(env['REAL_ROS_DOMAIN_ID'],'42')
+            self.assertNotIn('ROS_DISCOVERY_SERVER',env)
+            xml=Path(env['FASTRTPS_DEFAULT_PROFILES_FILE']).read_text()
+            self.assertIn('<address>192.168.2.50</address>',xml)
+            self.assertIn('<address>192.168.2.10</address>',xml)
+        self.assertEqual(bridge_environment({},parent,'/unused'),parent)
+
+    def test_bad_address_is_rejected_before_creating_profile(self):
+        site=self.site();site['remote_camera_preview']['host']='bad<xml>'
+        with self.assertRaises(ValueError):settings(site)
+
+    def test_refresh_does_not_touch_acquisition_or_robot(self):
+        gateway=SimpleNamespace(states=lambda:({},{}),graph=lambda:{'nodes':[],'topics':[],'services':[]},close=lambda:None)
+        service=StationService(gateway=gateway);service.site.update(self.site())
+        try:
+            with patch.object(service,'_camera') as camera,patch.object(service.processes,'start') as start:
+                result=service.execute('camera_refresh','89','eye_in_hand',{},threading.Event())
+                self.assertTrue(result['ok']);camera.assert_not_called();start.assert_not_called()
+        finally:service.close()