feat: 记录夹爪逻辑执行状态

xr_rm_teleop/test/test_joint_control.py

@@ -1,4 +1,5 @@
 import math
+import threading
 import time
 from types import SimpleNamespace
 
@@ -42,6 +43,69 @@ class FakePublisher:
         self.messages.append(message)
 
 
+def _tool_state_teleop(*, command_error=None):
+    started = threading.Event()
+    release = threading.Event()
+
+    class Adapter:
+        def set_tool_enabled(self, open_tool):
+            del open_tool
+            started.set()
+            assert release.wait(timeout=1.0)
+            if command_error is not None:
+                raise command_error
+
+    teleop = object.__new__(SingleArmVelocityTeleop)
+    teleop._arm_name = "right_rm75"
+    teleop._adapter = Adapter()
+    teleop._tool_command_queue = None
+    teleop._tool_worker_stop = threading.Event()
+    teleop._tool_worker_thread = None
+    teleop._tool_state_lock = threading.Lock()
+    teleop._tool_target_open = True
+    teleop._tool_state_open = True
+    teleop._tool_command_pending = False
+    teleop._tool_command_failed = False
+    teleop.get_logger = lambda: FakeLogger()
+    teleop._start_tool_worker()
+    return teleop, started, release
+
+
+def test_tool_state_changes_only_after_command_succeeds() -> None:
+    teleop, started, release = _tool_state_teleop()
+    try:
+        teleop._enqueue_tool_command(False, "test")
+        assert started.wait(timeout=1.0)
+
+        assert teleop._tool_state_snapshot() == (False, True, True, False)
+
+        release.set()
+        assert teleop._tool_command_queue is not None
+        teleop._tool_command_queue.join()
+
+        assert teleop._tool_state_snapshot() == (False, False, False, False)
+    finally:
+        release.set()
+        teleop._shutdown_tool_worker()
+
+
+def test_tool_failure_keeps_previous_state_and_is_reported() -> None:
+    teleop, started, release = _tool_state_teleop(
+        command_error=RuntimeError("modbus failed")
+    )
+    try:
+        teleop._enqueue_tool_command(False, "test")
+        assert started.wait(timeout=1.0)
+        release.set()
+        assert teleop._tool_command_queue is not None
+        teleop._tool_command_queue.join()
+
+        assert teleop._tool_state_snapshot() == (False, True, False, True)
+    finally:
+        release.set()
+        teleop._shutdown_tool_worker()
+
+
 def _joint_publishing_teleop() -> SingleArmVelocityTeleop:
     names = [f"omnipic_joint_{index}" for index in range(1, 8)]
     teleop = object.__new__(SingleArmVelocityTeleop)