cheng
35 lines
1.7 KiB
Python
35 lines
1.7 KiB
Python
"""Only commands writing the same device conflict; all functions are fake."""
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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.command_policy import resources_for
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from station.tasks import TaskManager
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class ModuleIndependenceTest(TestCase):
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def test_four_modules_execute_concurrently(self):
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manager=TaskManager();release=threading.Event();started={}
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def operation(name,event):
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started[name].set();release.wait(2)
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return {'ok':True}
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try:
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tokens=[]
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for name in ('real_up','camera_refresh','gripper_open','tactile_refresh'):
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started[name]=threading.Event()
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tokens.append(manager.submit(name,resources_for(name,'89'),lambda event,name=name:operation(name,event)))
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self.assertTrue(all(flag.wait(1) for flag in started.values()))
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self.assertTrue(all(manager.snapshot(t)['state']=='running' for t in tokens))
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with self.assertRaises(RuntimeError):
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manager.submit('gripper_close',resources_for('gripper_close','89'),lambda event:{'ok':True})
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finally:
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release.set();manager.close()
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def test_only_composite_a7_workflow_also_owns_gripper(self):
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grip=resources_for('gripper_open','89')
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for action in ('real_up','reset_home','teach_goto','stage_track','stage_locate'):
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self.assertFalse(resources_for(action,'89') & grip,action)
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for action in ('stage_screw','pipeline'):
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self.assertTrue(resources_for(action,'89') & grip,action)
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self.assertFalse(resources_for(action,'89') & resources_for('tactile_reset','89'),action)
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self.assertFalse(resources_for(action,'89') & resources_for('camera_refresh','89'),action)
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