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Update workstation UI, ROS task control and device integration

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This commit is contained in:
cheng
2026-10-20 15:46:13 +08:00
parent 2b74c50ba8
commit e5b06df6da
141 changed files with 91520 additions and 748 deletions
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station/test/test_tasks.py
+33 -1
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@@ -17,7 +17,9 @@ class TasksTest(TestCase):
def test_resources_held_until_completion(self):
gate=threading.Event()
one=self.manager.submit('move',{'arm:89'},lambda cancel:(gate.wait(2),{'ok':True})[1])
one=self.manager.submit('move',{'arm:89'},lambda cancel:(gate.wait(2),{'ok':True})[1],context={'arm':'89'})
self.assertEqual(self.manager.snapshot(one)['resources'],['arm:89'])
self.assertEqual(self.manager.snapshot(one)['context']['arm'],'89')
with self.assertRaises(RuntimeError): self.manager.submit('move-again',{'arm:89'},lambda e:{'ok':True})
other=self.manager.submit('camera',{'camera'},lambda e:{'ok':True})
self.assertEqual(self.wait(other)['state'],'succeeded')
@@ -33,3 +35,33 @@ class TasksTest(TestCase):
token=self.manager.submit('reject',{'arm'},fail)
result=self.wait(token)
self.assertEqual(result['state'],'failed');self.assertIn('driver rejected',result['result']['message'])
def test_busy_message_identifies_cleanup_and_stop_cancels_only_motion(self):
gate=threading.Event()
motion=self.manager.submit('stage_locate',{'robot-control','arm:89'},lambda e:(gate.wait(2),{'ok':True})[1],context={'arm':'89'})
camera=self.manager.submit('camera_refresh',{'camera-setup:89'},lambda e:(gate.wait(2),{'ok':True})[1])
try:
deadline=time.monotonic()+1
while self.manager.snapshot(motion)['state']=='queued' and time.monotonic()<deadline: time.sleep(.01)
self.assertEqual(self.manager.snapshot(motion)['state'],'running')
self.manager.set_phase(self.manager._events[motion],'收尾')
with self.assertRaisesRegex(RuntimeError,'机械臂 89.*对孔.*收尾'):
self.manager.submit('reset_home',{'robot-control'},lambda e:{'ok':True})
self.manager.cancel_resources({'robot-control'})
self.assertTrue(self.manager._events[motion].is_set())
self.assertFalse(self.manager._events[camera].is_set())
finally: gate.set()
def test_cancelled_task_cannot_report_late_success_or_resume(self):
started=threading.Event(); release=threading.Event(); calls=[]
def old_task(event):
calls.append('old'); started.set(); release.wait(2)
return {'ok':True}
token=self.manager.submit('stage_track',{'robot-control'},old_task)
self.assertTrue(started.wait(1))
self.manager.cancel_resources({'robot-control'}); release.set()
result=self.wait(token)
self.assertEqual(result['state'],'cancelled'); self.assertFalse(result['result']['ok'])
fresh=self.manager.submit('real_up',{'robot-control'},lambda e:{'ok':True})
self.assertEqual(self.wait(fresh)['state'],'succeeded')
self.assertEqual(calls,['old'])