def test_thread_starvation_group_sync_read(self):
robot = stretch_body.robot.Robot()
robot.end_of_arm.params['use_group_sync_read'] = 1
print('Starting test_thread_starvation')
print('Latency timer of %f' %
robot.end_of_arm.params['dxl_latency_timer'])
print('Testing on tool %s' % robot.params['tool'])
robot.startup()
try:
for itr in range(100): #Make large CPU load
x = np.random.rand(3, 1000, 1000)
x.tolist()
except (IndexError, IOError) as e:
self.fail("IndexError or IOError failure in comms")
self.assertTrue(robot.end_of_arm.comm_errors.status['n_rx'] < 2)
robot.end_of_arm.comm_errors.pretty_print()
robot.stop()
robot.base.translate_by(x_m=-0.2,
v_m=base_vel_fast_m,
a_m=base_accel_fast_m)
robot.lift.move_to(x_m=0)
robot.arm.move_to(x_m=0.2)
robot.push_command()
time.sleep(4)
# robot.stow()
# robot.stop()
return
if __name__ == "__main__":
# Create two threads as follows
try:
robot = stretch_body.robot.Robot()
robot.startup()
p1 = Process(target=fear_audio)
p1.start()
p2 = Process(target=fear_gesture)
p2.start()
robot.stop()
except:
print("Error: unable to start thread")