feat: Implement UDP feedback for RM75 robot arms

2026-07-29 15:26:59 +08:00
parent 687a0b401a
commit 08996434e5
16 changed files with 1600 additions and 329 deletions
@@ -0,0 +1,94 @@
+import importlib.util
+import signal
+import subprocess
+import unittest
+from pathlib import Path
+from unittest import mock
+
+
+MODULE_PATH = Path(__file__).parents[1] / "tools" / "launcher_ui.py"
+SPEC = importlib.util.spec_from_file_location("launcher_ui", MODULE_PATH)
+launcher_ui = importlib.util.module_from_spec(SPEC)
+assert SPEC.loader is not None
+SPEC.loader.exec_module(launcher_ui)
+
+
+class LauncherCleanupTest(unittest.TestCase):
+    def test_xrobotoolkit_cleanup_policy_only_stops_service_on_window_close(self) -> None:
+        stop_all_patterns = set(
+            launcher_ui._xrobotoolkit_cleanup_patterns(stop_pc_service=False)
+        )
+        window_close_patterns = set(
+            launcher_ui._xrobotoolkit_cleanup_patterns(stop_pc_service=True)
+        )
+
+        self.assertLessEqual(
+            {"RobotLinuxDemo.x86_64", "PXREAClientUnity"},
+            stop_all_patterns,
+        )
+        self.assertNotIn("RoboticsServiceProcess", stop_all_patterns)
+        self.assertIn("RoboticsServiceProcess", window_close_patterns)
+
+    def test_close_and_stop_all_select_different_pc_service_policies(self) -> None:
+        app = object.__new__(launcher_ui.LauncherApp)
+        calls = []
+
+        class Root:
+            destroyed = False
+
+            def destroy(self) -> None:
+                self.destroyed = True
+
+        app.root = Root()
+        app.stop_launched_processes = lambda **kwargs: calls.append(kwargs) or True
+
+        app.kill_launched_processes()
+        app.on_close_requested()
+
+        self.assertEqual(
+            calls,
+            [
+                {"confirm": True, "notify": True, "stop_pc_service": False},
+                {"confirm": True, "notify": False, "stop_pc_service": True},
+            ],
+        )
+        self.assertTrue(app.root.destroyed)
+
+    def test_stop_all_keeps_oldest_pc_service_and_stops_duplicates(self) -> None:
+        app = object.__new__(launcher_ui.LauncherApp)
+        app.status = mock.Mock()
+        app.close_related_terminal_windows = lambda: 0
+
+        def fake_check_output(command, **_kwargs):
+            if command == ["pgrep", "-o", "-f", "RoboticsServiceProcess"]:
+                return "101\n"
+            if command == ["pgrep", "-f", "RoboticsServiceProcess"]:
+                return "101\n202\n303\n"
+            raise subprocess.CalledProcessError(1, command)
+
+        with (
+            mock.patch.object(
+                launcher_ui.subprocess,
+                "check_output",
+                side_effect=fake_check_output,
+            ),
+            mock.patch.object(launcher_ui.os, "kill") as kill,
+            mock.patch.object(launcher_ui.time, "sleep"),
+        ):
+            app.stop_launched_processes(
+                confirm=False,
+                notify=False,
+                stop_pc_service=False,
+            )
+
+        self.assertEqual(
+            kill.call_args_list,
+            [
+                mock.call(202, signal.SIGTERM),
+                mock.call(303, signal.SIGTERM),
+            ],
+        )
+
+
+if __name__ == "__main__":
+    unittest.main()