def test_should_return_task_control(self):
class LongTask(Task):
def __init__(self, sleepDurationSec):
self._sleepDurationSec = sleepDurationSec
self._done = False
@override
def perform(self):
while not self._done:
time.sleep(self._sleepDurationSec)
def terminate(self):
self._done = True
task = LongTask(0.01)
taskCtrl = self.executor.execute(task)
self.assertFalse(taskCtrl.isDone())
Poller(1, pollingDelaySec=0.01).check(
ExecutionProbe(lambda: self.assertTrue(taskCtrl.isRunning())))
task.terminate()
Poller(2, pollingDelaySec=0.01).check(
ExecutionProbe(lambda: self.assertTrue(taskCtrl.isDone())))
task = LongTask(0.5)
taskCtrl = self.executor.execute(task)
task.terminate()
taskCtrl.waitForCompletion()
self.assertTrue(taskCtrl.isDone())
def test_ignores_step_failures(self):
self.convergeable.requestPanic()
self.closeLoopAndWaitForStep()
Poller(1).check(
ExecutionProbe(lambda: self.assertTrue(
self.operatorLog.getLoopFailureLogCount() >= 1)))
self.loop.open()
def _testMoveTo(self):
actuatorPosition = np.arange(10)
self.instrumentClient1.moveTo(actuatorPosition)
Poller(3).check(
ExecutionProbe(lambda: self.assertTrue(
np.allclose(actuatorPosition,
self.instrumentClient1.getPosition()))))
def _testGetStatus(self):
status = self.instrumentClient1.getStatus()
cmdCounter = status.commandCounter()
self.instrumentClient1.moveTo(np.arange(4))
Poller(3).check(
ExecutionProbe(lambda: self.assertEqual(
cmdCounter + 1,
self.instrumentClient1.getStatus().commandCounter())))
def test_should_ignore_failing_tasks(self):
failingTask = FailingTask("broken")
self.executor.execute(failingTask)
Poller(4).check(TaskCompletionProbe(failingTask))
dummyTask = SlowTask(0, "slow task")
Poller(1).check(
ExecutionProbe(lambda: self.executor.execute(dummyTask)))
Poller(4).check(TaskCompletionProbe(dummyTask))
def test_awakes_from_long_running_sleeps(self):
self.interStepTimeSec = 10
cnt = self.convergeable.getMeasureConvergenceCount()
self.buildInitializedLoop()
t0Sec = time.time()
Poller(2).check(
ExecutionProbe(lambda: self.assertTrue(
self.convergeable.getMeasureConvergenceCount() > cnt)))
self.loop.deinitialize()
t1Sec = time.time()
self.assertTrue(t1Sec - t0Sec < self.interStepTimeSec / 10)
def test_deinitialize_and_reinitialize_restarts_in_open_loop(self):
self.closeLoopAndWaitForStep()
self.loop.deinitialize()
closedLoopCnt = \
self.convergeable.getConvergenceStepCount()
openLoopCnt = \
self.convergeable.getMeasureConvergenceCount()
self.loop.initialize()
self.assertFalse(self.loop.isClosed())
Poller(4).check(
ExecutionProbe(lambda: self.assertEqual(
closedLoopCnt, self.convergeable.getConvergenceStepCount())))
Poller(4).check(
ExecutionProbe(lambda: self.assertTrue(
self.convergeable.getMeasureConvergenceCount() > openLoopCnt)))
self.loop.close()
Poller(4).check(
ExecutionProbe(lambda: self.assertTrue(
closedLoopCnt < self.convergeable.getConvergenceStepCount())))
def waitForAtLeastConvergenceSteps(self, expectedSteps, timeoutSec=2):
Poller(timeoutSec).check(
ExecutionProbe(lambda: self.assertTrue(
self.convergeable.getConvergenceStepCount() >= expectedSteps)))
def test_creation(self):
self.assertFalse(self.loop.isClosed())
self.assertEqual(0, self.loop.getConvergenceStepCount())
Poller(2).check(
ExecutionProbe(lambda: self.assertTrue(
self.convergeable.getMeasureConvergenceCount() > 1)))
def closeLoopAndWaitForStep(self):
self.loop.close()
Poller(2).check(
ExecutionProbe(lambda: self.assertTrue(
self.convergeable.getConvergenceStepCount() > 0)))