cheng
52 lines
2.5 KiB
Python
52 lines
2.5 KiB
Python
import tempfile
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import threading
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import time
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from unittest import TestCase
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from station.control_service import StationService
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class Gateway:
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active_arm='89'
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def __init__(self): self.started=None;self.requests=[]
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def graph(self): return {'nodes':[],'topics':[],'services':['/station/grippers/arm_89/execute']}
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def states(self):
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elapsed=time.monotonic()-self.started if self.started else 0
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return {},{'89':{'connected':True,'moving':bool(self.started and elapsed<.25),
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'grip_state':0 if self.started and elapsed<.25 else 1,'permille':500.}}
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def call(self,typ,name,request,event,timeout):
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self.requests.append(request);self.started=time.monotonic()
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return type('Reply',(),{'success':True,'message':'accepted'})()
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def close(self): pass
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class GripperCommandsTest(TestCase):
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def test_waits_for_physical_completion_and_rejects_bounds(self):
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gateway=Gateway()
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with tempfile.TemporaryDirectory() as root:
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service=StationService(root=root,gateway=gateway)
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try:
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arm=service.arms['89'];start=time.monotonic()
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result=service._gripper('gripper_tune',arm,{'kind':'pos','pos':500,'force':33,'speed':25},threading.Event())
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self.assertTrue(result['ok']);self.assertGreater(time.monotonic()-start,.2)
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self.assertEqual(gateway.requests[0].command.position,arm['stroke_mm']/2)
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count=len(gateway.requests)
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with self.assertRaises(ValueError):
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service._gripper('gripper_tune',arm,{'kind':'pos','pos':500,'force':999,'speed':25},threading.Event())
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self.assertEqual(len(gateway.requests),count)
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finally: service.close()
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def test_configuration_changes_never_retarget_commands(self):
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from pathlib import Path
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gateway=Gateway()
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with tempfile.TemporaryDirectory() as root:
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service=StationService(root=root,gateway=gateway)
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try:
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path=Path(root)/'site.yaml';path.write_text('robot: before')
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service.config_path=path;service._config_signature=service._signature()
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path.write_text('robot: different-device')
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with self.assertRaisesRegex(RuntimeError,'配置已变化'):
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service.submit('gripper_probe','89')
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self.assertEqual(gateway.requests,[])
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self.assertTrue(service._frozen_config.is_file())
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finally: service.close()
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