def multitask_multiple_in_sequence_validate_order():
a = I32Value(0)
with multitask() as mt:
@task(mt)
def f1():
nivs_yield()
if a.value == 1:
a.value = 2
@task(mt)
def f2():
if a.value == 0:
a.value = 1
nivs_yield()
with multitask() as mt2:
@task(mt2)
def fa():
nivs_yield()
if a.value == 3:
a.value = 4
@task(mt2)
def fb():
if a.value == 2:
a.value = 3
nivs_yield()
return a.value
def multitask_tasks_with_different_iter_count():
a = I32Value(0)
ret = I32Value(1)
with multitask() as mt:
@task(mt)
def f1():
while a.value < 15:
a.value += 1
if a.value % 2 != 1 and a.value < 10:
ret.value = a.value * -1
nivs_yield()
@task(mt)
def f2():
while a.value < 10:
a.value += 1
if a.value % 2 != 0:
ret.value = a.value * -1
if a.value > 10:
ret.value -= 100
nivs_yield()
ret.value *= a.value
return ret.value
def yield_multitask():
with multitask() as mt:
@task(mt)
def f1():
for a in range(5):
nivs_yield()
@task(mt)
def f2():
with multitask() as mt_inner:
@task(mt_inner)
def fa():
for b in range(7):
nivs_yield()
@task(mt_inner)
def fb():
for c in range(13):
nivs_yield()
a = I32Value(0)
a.value = iteration()
return a.value
def wait_multitask():
ret = BooleanValue(False)
init1 = DoubleValue(0)
end1 = DoubleValue(0)
init2 = DoubleValue(0)
end2 = DoubleValue(0)
tot_init = DoubleValue(0)
tot_end = DoubleValue(0)
tot_init.value = seqtime()
with multitask() as mt:
@task(mt)
def f1():
init1.value = seqtime()
nivs_yield()
end1.value = wait(DoubleValue(1)) - init1.value
@task(mt)
def f2():
init2.value = seqtime()
end2.value = wait(DoubleValue(3)) - init2.value
tot_end.value = seqtime() - tot_init.value
ret.value = tot_end.value >= 3 and tot_end.value <= 4 and \
end1.value >= 1 and end1.value <= 2 and \
end2.value >= 3 and end2.value <= 4
return ret.value
def multitask_wrong_var_name_fails():
a = I32Value(0)
with multitask():
@task(a)
def f1():
pass
return a.value
def multitask_stmt_fails():
a = I32Value(0)
with multitask() as mt:
@task(mt)
def f1():
a = I32Value(1)
a.value = 2
return a.value
def multitask_redefine_var_fails():
a = I32Value(0)
with multitask() as mt:
@task(mt)
def f1():
a = I32Value(1)
a.value = 2
return a.value
def multitask_task_multi_dec_fails():
a = I32Value(0)
with multitask() as mt:
@task(mt)
@task(mt)
def f1():
pass
return a.value
def f1():
with multitask() as mt_inside:
@task(mt_inside)
def fa():
a.value = 5
@task(mt_inside)
def fb():
a.value *= 7
def multitask_funcdef_in_task_fails():
a = I32Value(0)
with multitask() as mt:
@task(mt)
def f1():
def func():
pass
return a.value
def f0():
with multitask() as mt_bottom:
@task(mt_bottom)
def fx():
if a.value != 0:
ret.value = -1000
while counter.value > 0:
counter.value -= 1
nivs_yield()
def multitask_return_in_task_fails():
a = I32Value(0)
with multitask() as mt:
@task(mt)
def f1():
a = I32Value(1)
return a.value
return a.value
def generate_abort_mt():
a = DoubleValue(0)
with multitask() as mt:
@task(mt)
def f1():
generate_error(-200, "Abort", ErrorAction.AbortSequence)
@task(mt)
def f2():
nivs_yield()
a.value = 1
return a.value
def f2():
with multitask() as mt_inner:
@task(mt_inner)
def fa():
for b in range(7):
nivs_yield()
@task(mt_inner)
def fb():
for c in range(13):
nivs_yield()
def generate_continue_mt():
a = DoubleValue(0)
with multitask() as mt:
@task(mt)
def f1():
generate_error(1, "Continue", ErrorAction.ContinueSequenceExecution)
@task(mt)
def f2():
nivs_yield()
a.value = 1
return a.value
def generate_stop_mt():
a = DoubleValue(0)
with multitask() as mt:
@task(mt)
def f1():
generate_error(-100, "Stop", ErrorAction.StopSequence)
@task(mt)
def f2():
nivs_yield()
a.value = 1
return a.value
def _subseq_with_multitask(param):
with multitask() as mt:
@task(mt)
def fa():
nivs_yield()
if param.value == 2:
param.value = 3
@task(mt)
def fb():
if param.value == 0:
param.value = 1
def multitask_task_with_param_fails():
a = I32Value(1)
with multitask(a) as mt:
@task(mt)
def f1(x):
pass
@task(mt)
def f2():
pass
return a.value
def multitask_pass():
a = I32Value(1)
with multitask() as mt:
@task(mt)
def f1():
pass
@task(mt)
def f2():
pass
return a.value
def multitask_access_local():
a = I32Value(0)
with multitask() as mt:
@task(mt)
def f1():
a.value = 5
@task(mt)
def f2():
a.value *= 7
return a.value
def multitask_duplicate_name_fails():
a = I32Value(0)
with multitask() as mt:
@task(mt)
def f1():
a.value = 1
@task(mt)
def f1(
): # noqa: F811 redefinition is exactly what we're testing here.
a.value = 2
return a.value
def try_in_multitask1():
a = DoubleValue(0)
with multitask() as mt:
try:
@task(mt)
def f1():
pass
finally:
a.value += 1
@task(mt)
def f2():
nivs_yield()
return a.value
def enter_autonomous():
error_status = BooleanValue(False)
enter_autonomous_complete = BooleanValue(False)
enter_autonomous_succeeded = BooleanValue(False)
ReAX_GearA_Disable_chan = ChannelReference(
'Targets/TruckSim_TTC580/User Channels/NI-XNET/VCAN-B/ReAX_GearA (486535187)/ReAX_GearA (486535187) Disable')
ReAX_GearB_Disable_chan = ChannelReference(
'Targets/TruckSim_TTC580/User Channels/NI-XNET/VCAN-B/ReAX_GearB (486535443)/ReAX_GearB (486535443) Disable')
Power_On_chan = ChannelReference(
'Targets/TruckSim_TTC580/Hardware/Chassis/DAQ/PXI1Slot2/Digital Output/port0/Power on')
SystemStatus_chan = ChannelReference(
'Targets/TruckSim_TTC580/Hardware/Chassis/NI-XNET/CAN/Server CAN/Incoming/Single-Point'
'/SystemStatus(69785)/SystemStatus')
Autonomous_Drive_chan = ChannelReference('Targets/TruckSim_TTC580/Hardware/Chassis/DAQ'
'/PXI1Slot2/Digital Output/port0/Autonomous Drive')
MODE_TRANS_chan = ChannelReference(
'Targets/TruckSim_TTC580/Simulation Models/Models/trucksim_LVRT/Inports/MODE_TRANS')
with multitask() as mt:
@task(mt)
def enter_30():
ReAX_GearA_Disable_chan.value = 0
ReAX_GearB_Disable_chan.value = 0
# Power on button
Power_On_chan.value = 1
# Check System Status
if SystemStatus_chan.value != 25:
error_status.value = True
# Push autonomous driving button
Autonomous_Drive_chan.value = 1
wait(DoubleValue(1))
Autonomous_Drive_chan.value = 0
# Check System Status
if SystemStatus_chan.value != 30:
error_status.value = True
MODE_TRANS_chan.value = 18
enter_autonomous_succeeded.value = True
@task(mt)
def monitor_error_status():
while enter_autonomous_complete.value is False:
if error_status.value:
stop_task(enter_30)
enter_autonomous_complete.value = True
enter_autonomous_succeeded.value = False
nivs_yield()
return enter_autonomous_succeeded.value
def multitask_task_with_yield():
a = I32Value(0)
with multitask() as mt:
@task(mt)
def f1():
nivs_yield()
a.value = 1
@task(mt)
def f2():
a.value = 2
nivs_yield()
return a.value
def docstring_multitask():
"""Test multitask docstring."""
with multitask() as mt:
@task(mt)
def func1():
"""Test task docstring in func1."""
pass
@task(mt)
def func2():
"""Test task docstring in func2.
Multi-line comment here.
"""
pass
pass
def multitask_blocks_until_done():
a = I32Value(0)
with multitask() as mt:
@task(mt)
def f1():
nivs_yield()
a.value = 1
@task(mt)
def f2():
a.value = 2
nivs_yield()
if a.value != 1:
a.value = -1
return a.value
def multitask_call_subroutine_params_by_ref():
a = I32Value(0)
b = I32Value(1)
with multitask() as mt:
@task(mt)
def f1():
_increase_param_by_ref(a)
@task(mt)
def f2():
_increase_param_by_ref(b)
@task(mt)
def f3():
a.value += b.value
return a.value
def multitask_nested():
a = I32Value(0)
with multitask() as mt:
@task(mt)
def f1():
with multitask() as mt_inside:
@task(mt_inside)
def fa():
a.value = 5
@task(mt_inside)
def fb():
a.value *= 7
@task(mt)
def f2():
a.value *= 13
return a.value
def engine_demo_advanced(desired_rpm, actual_rpm, engine_temp):
"""Turns on the engine, sets it to the desired rpm, and monitors the engine temperature."""
# Use the following local variable declarations to keep track of the test's status:
warmup_complete = BooleanValue(False)
warmup_succeeded = BooleanValue(False)
test = BooleanValue(False)
# Create a multitask with two tasks: one for setting rpm values and another for monitoring.
# In general, a multitask can contain as many tasks as desired. The tasks will all execute asynchronously,
# but not in parallel. For more information on multitask behavior, refer to the VeriStand help.
with multitask() as mt:
# You must decorate tasks using the following notation.
# The following code shows example of a task.
@task(mt)
def engine_warmup():
"""Spawns a task to wait for the actual rpm signal to settle."""
desired_rpm.value = 2500
# Waits for up to 120 seconds for the actual RPM to be between 999999 and 2450 for 25 seconds.
wait_until_settled(actual_rpm, 9999999, 2450, 25, 120)
desired_rpm.value = 8000
wait_until_settled(actual_rpm, 9999999, 7800, 25, 120)
warmup_complete.value = True
test.value = check_val(desired_rpm, 8000)
@task(mt)
def monitor_temp():
"""Spawns a task to monitor engine temperature.
If the temperature rises above 110 degrees (C), the previous task will stop.
"""
while warmup_complete.value is False:
if engine_temp.value > 110:
stop_task(engine_warmup)
warmup_complete.value = True
warmup_succeeded.value = False
nivs_yield()
# You can use a return value, but some restrictions will apply.
# For example, the function may only return previously declared variables.
return warmup_succeeded.value
def wait_until_settled_multitask():
a = DoubleValue(15000)
timer = DoubleValue(0)
ret = BooleanValue(False)
timer.value = seqtime()
with multitask() as mt:
@task(mt)
def monitor():
ret.value = wait_until_settled(a, DoubleValue(1000), DoubleValue(500), DoubleValue(2), DoubleValue(-1))
@task(mt)
def signal():
a.value = 600
wait(DoubleValue(1))
a.value = 12000
wait(DoubleValue(1))
a.value = 300
wait(DoubleValue(1))
a.value = 750
timer.value = seqtime() - timer.value
ret.value = a.value == 750 and timer.value >= 4 and timer.value <= 6 and not ret.value
return ret.value
