def _Run(self, url):
"""Run the latency test.
Handles the actual latency measurement, which is identical across
different platforms, as well as result storing.
"""
# Motopho scripts use relative paths, so switch to the Motopho directory.
os.chdir(self._args.motopho_path)
# Set up the thread that runs the Motopho script.
motopho_thread = mt.MotophoThread(self._num_samples)
motopho_thread.start()
# Run multiple times so we can get an average and standard deviation.
for _ in xrange(self._num_samples):
self.robot_arm.ResetPosition()
# Start the Motopho script.
motopho_thread.StartIteration()
# Let the Motopho be stationary so the script can calculate the bias.
time.sleep(3)
motopho_thread.BlockNextIteration()
# Move so we can measure latency.
self.robot_arm.StartMotophoMovement()
if not motopho_thread.WaitForIterationEnd(MOTOPHO_THREAD_TIMEOUT):
# TODO(bsheedy): Look into ways to prevent Motopho from not sending any
# data until unplugged and replugged into the machine after a reboot.
logging.error('Motopho thread timeout, '
'Motopho may need to be replugged.')
self.robot_arm.StopAllMovement()
time.sleep(1)
self._StoreResults(motopho_thread.latencies, motopho_thread.correlations,
url)
def _Run(self, url):
"""Run the latency test.
Handles the actual latency measurement, which is identical across
different platforms, as well as result storing.
"""
# Motopho scripts use relative paths, so switch to the Motopho directory.
os.chdir(self._args.motopho_path)
# Set up the thread that runs the Motopho script.
motopho_thread = mt.MotophoThread()
motopho_thread.start()
# Run multiple times so we can get an average and standard deviation.
num_retries = 0
samples_obtained = 0
while samples_obtained < self._num_samples:
self.robot_arm.ResetPosition()
# Start the Motopho script.
motopho_thread.StartIteration()
# Let the Motopho be stationary so the script can calculate the bias.
time.sleep(3)
motopho_thread.BlockNextIteration()
# Move so we can measure latency.
self.robot_arm.StartMotophoMovement()
if not motopho_thread.WaitForIterationEnd(MOTOPHO_THREAD_TIMEOUT):
# TODO(bsheedy): Look into ways to prevent Motopho from not sending any
# data until unplugged and replugged into the machine after a reboot.
logging.error('Motopho thread timeout, '
'Motopho may need to be replugged.')
self.robot_arm.StopAllMovement()
if motopho_thread.failed_iteration:
num_retries += 1
if num_retries > MOTOPHO_THREAD_RETRIES:
self._ReportSummaryResult(False, url)
# Raising an exception with another thread still alive causes the
# test to hang until the swarming timeout is hit, so kill the thread
# before raising.
motopho_thread.Terminate()
motopho_thread.join(MOTOPHO_THREAD_TERMINATION_TIMEOUT)
raise RuntimeError(
'Motopho thread failed more than %d times, aborting' %
(MOTOPHO_THREAD_RETRIES))
logging.warning('Motopho thread failed, retrying iteration')
else:
samples_obtained += 1
time.sleep(1)
self._ReportSummaryResult(True, url)
self._StoreResults(motopho_thread.latencies,
motopho_thread.correlations, url)
# Leaving old threads around shouldn't cause issues, but clean up just in
# case
motopho_thread.Terminate()
motopho_thread.join(MOTOPHO_THREAD_TERMINATION_TIMEOUT)
if motopho_thread.isAlive():
logging.warning('Motopho thread failed to terminate.')
