def test_emergency_power_off_timeout(feedback_fn):
mock_client = MockPowerClient()
mock_client.feedback_fn = feedback_fn
start = time.time()
timeout = 1.0
with pytest.raises(power.CommandTimedOutError):
power.power_off(mock_client, timeout_sec=timeout)
dt = time.time() - start
assert abs(dt - timeout) < 0.1
def disable_movement(self):
logging.info("Depowering motors")
power.power_off(self.__power_client)
if self.__lease is not None:
logging.info("Releasing lease")
self.__lease_keep_alive.shutdown()
self.__lease_client.return_lease(self.__lease)
self.__lease = None
if self.__estop_endpoint is not None:
logging.info("Releasing estop")
self.__estop_keepalive.stop()
self.__estop_keepalive = None
self.__estop_endpoint.stop()
self.__estop_endpoint = None
def test_emergency_power_off_success():
mock_client = MockPowerClient()
timeout = 1.0
mock_client.feedback_fn = lambda: time.sleep(timeout / 2.0)
mock_client.response = power_pb2.STATUS_SUCCESS
power.power_off(mock_client, timeout_sec=timeout)