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Clean up test_state_machine
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refactoring, removing redundant fixture, reducing sleep time dramatically
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@tsundvoll
tsundvoll committed Dec 11, 2024
1 parent 796ffee commit d5e374b
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Showing 3 changed files with 56 additions and 114 deletions.
16 changes: 9 additions & 7 deletions src/isar/state_machine/states/idle.py
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,14 @@ def stop(self) -> None:
self.robot_status_thread.wait_for_thread()
self.robot_status_thread = None

def _is_ready_to_poll_for_status(self) -> bool:

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@tsundvoll

tsundvoll Dec 11, 2024

Author Contributor

Consider creating a issue to test this small functionality as well, since this is now mocked out in the tests
time_since_last_robot_status_poll = (
time.time() - self.last_robot_status_poll_time
)
return (
time_since_last_robot_status_poll > settings.ROBOT_API_STATUS_POLL_INTERVAL
)

def _run(self) -> None:
while True:
if self.state_machine.should_stop_mission():
Expand All @@ -51,13 +59,7 @@ def _run(self) -> None:
break
time.sleep(self.state_machine.sleep_time)

time_from_last_robot_status_poll = (
time.time() - self.last_robot_status_poll_time
)
if (
time_from_last_robot_status_poll
< settings.ROBOT_API_STATUS_POLL_INTERVAL
):
if not self._is_ready_to_poll_for_status():
continue

if not self.robot_status_thread:
Expand Down
153 changes: 47 additions & 106 deletions tests/isar/state_machine/test_state_machine.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9,11 +9,11 @@
from pytest_mock import MockerFixture

from isar.config.settings import settings

from isar.mission_planner.local_planner import LocalPlanner
from isar.models.communication.queues.queues import Queues
from isar.services.utilities.scheduling_utilities import SchedulingUtilities
from isar.state_machine.state_machine import StateMachine, main
from isar.state_machine.states.idle import Idle
from isar.state_machine.states_enum import States
from isar.storage.storage_interface import StorageInterface
from isar.storage.uploader import Uploader
Expand All @@ -23,8 +23,7 @@
)
from robot_interface.models.mission.mission import Mission
from robot_interface.models.mission.status import TaskStatus
from robot_interface.models.mission.task import ReturnToHome, TakeImage
from robot_interface.models.mission.task import Task
from robot_interface.models.mission.task import ReturnToHome, TakeImage, Task
from robot_interface.telemetry.mqtt_client import MqttClientInterface
from tests.mocks.pose import MockPose
from tests.mocks.robot_interface import MockRobot, MockRobotIdleToOfflineToIdleTest
Expand All @@ -33,7 +32,7 @@

class StateMachineThread(object):
def __init__(self, injector) -> None:
settings.UPLOAD_INSPECTIONS_ASYNC = False
# settings.UPLOAD_INSPECTIONS_ASYNC = False
self.injector: Injector = injector
self.state_machine: StateMachine = injector.get(StateMachine)
self._thread: Thread = Thread(target=main, args=[self.state_machine])
Expand All @@ -45,7 +44,6 @@ def start(self):

class UploaderThread(object):
def __init__(self, injector) -> None:
settings.UPLOAD_INSPECTIONS_ASYNC = False
self.injector: Injector = injector
self.uploader: Uploader = Uploader(
queues=self.injector.get(Queues),
Expand All @@ -67,14 +65,6 @@ def uploader_thread(injector) -> UploaderThread:
return UploaderThread(injector=injector)


def get_mission() -> Mission:
mission_reader: LocalPlanner = LocalPlanner()
mission: Mission = mission_reader.read_mission_from_file(
Path("./tests/test_data/test_mission_working.json")
)
return mission


def test_initial_off(state_machine) -> None:
assert state_machine.state == "off"

Expand All @@ -92,58 +82,33 @@ def test_reset_state_machine(state_machine) -> None:
assert state_machine.current_mission is None


empty_mission: Mission = Mission([], None)


@pytest.mark.parametrize(
"should_run_by_task",
[
(True),
(False),
],
)
def test_state_machine_transitions(
injector, state_machine_thread, should_run_by_task
def test_state_machine_transitions_when_running_mission_by_task(
injector, state_machine_thread
) -> None:
task_1: Task = TakeImage(
target=MockPose.default_pose().position, robot_pose=MockPose.default_pose()
)
task_2: Task = ReturnToHome(pose=MockPose.default_pose())
mission: Mission = Mission(tasks=[task_1, task_2]) # type: ignore

state_machine_thread.state_machine.run_mission_by_task = should_run_by_task
state_machine_thread.state_machine.run_mission_by_task = True
state_machine_thread.start()

scheduling_utilities: SchedulingUtilities = injector.get(SchedulingUtilities)
scheduling_utilities.start_mission(mission=mission, initial_pose=None)
time.sleep(0.01)

time.sleep(3)
if should_run_by_task:
expected_transitions_list = deque(
[
States.Idle,
States.Initialize,
States.Initiate,
States.Monitor,
States.Initiate,
States.Monitor,
States.Initiate,
States.Idle,
]
)
else:
expected_transitions_list = deque(
[
States.Idle,
States.Initialize,
States.Initiate,
States.Monitor,
States.Initiate,
States.Idle,
]
)
assert (
state_machine_thread.state_machine.transitions_list == expected_transitions_list
assert state_machine_thread.state_machine.transitions_list == deque(
[
States.Idle,
States.Initialize,
States.Initiate,
States.Monitor,
States.Initiate,
States.Monitor,
States.Initiate,
States.Idle,
]
)


Expand All @@ -161,9 +126,9 @@ def test_state_machine_transitions_when_running_full_mission(

scheduling_utilities: SchedulingUtilities = injector.get(SchedulingUtilities)
scheduling_utilities.start_mission(mission=mission, initial_pose=None)
time.sleep(0.11) # Slightly more than the StateMachine sleep time

time.sleep(3)
expected_transitions_list = deque(
assert state_machine_thread.state_machine.transitions_list == deque(
[
States.Idle,
States.Initialize,
Expand All @@ -173,9 +138,6 @@ def test_state_machine_transitions_when_running_full_mission(
States.Idle,
]
)
assert (
state_machine_thread.state_machine.transitions_list == expected_transitions_list
)


def test_state_machine_failed_dependency(
Expand All @@ -195,9 +157,9 @@ def test_state_machine_failed_dependency(

scheduling_utilities: SchedulingUtilities = injector.get(SchedulingUtilities)
scheduling_utilities.start_mission(mission=mission, initial_pose=None)
time.sleep(0.01)

time.sleep(3)
expected_transitions_list = deque(
assert state_machine_thread.state_machine.transitions_list == deque(
[
States.Idle,
States.Initialize,
Expand All @@ -209,9 +171,6 @@ def test_state_machine_failed_dependency(
States.Idle,
]
)
assert (
state_machine_thread.state_machine.transitions_list == expected_transitions_list
)


def test_state_machine_with_successful_collection(
Expand All @@ -225,8 +184,11 @@ def test_state_machine_with_successful_collection(
scheduling_utilities: SchedulingUtilities = injector.get(SchedulingUtilities)

scheduling_utilities.start_mission(mission=mission, initial_pose=None)
time.sleep(3)
expected_transitions_list = deque(
time.sleep(0.11) # Slightly more than the StateMachine sleep time

expected_stored_items = 1
assert len(storage_mock.stored_inspections) == expected_stored_items # type: ignore
assert state_machine_thread.state_machine.transitions_list == deque(
[
States.Idle,
States.Initialize,
Expand All @@ -236,11 +198,6 @@ def test_state_machine_with_successful_collection(
States.Idle,
]
)
expected_stored_items = 1
assert len(storage_mock.stored_inspections) == expected_stored_items # type: ignore
assert (
state_machine_thread.state_machine.transitions_list == expected_transitions_list
)


def test_state_machine_with_unsuccessful_collection(
Expand All @@ -256,8 +213,12 @@ def test_state_machine_with_unsuccessful_collection(
scheduling_utilities: SchedulingUtilities = injector.get(SchedulingUtilities)

scheduling_utilities.start_mission(mission=mission, initial_pose=None)
time.sleep(3)
expected_transitions_list = deque(
time.sleep(0.11) # Slightly more than the StateMachine sleep time

expected_stored_items = 0
assert len(storage_mock.stored_inspections) == expected_stored_items # type: ignore

assert state_machine_thread.state_machine.transitions_list == deque(
[
States.Idle,
States.Initialize,
Expand All @@ -267,18 +228,11 @@ def test_state_machine_with_unsuccessful_collection(
States.Idle,
]
)
expected_stored_items = 0
assert len(storage_mock.stored_inspections) == expected_stored_items # type: ignore
print(state_machine_thread.state_machine.transitions_list)
assert (
state_machine_thread.state_machine.transitions_list == expected_transitions_list
)


def test_state_machine_with_successful_mission_stop(
injector: Injector,
state_machine_thread: StateMachineThread,
caplog: pytest.LogCaptureFixture,
) -> None:
state_machine_thread.start()

Expand All @@ -287,16 +241,10 @@ def test_state_machine_with_successful_mission_stop(
scheduling_utilities: SchedulingUtilities = injector.get(SchedulingUtilities)
scheduling_utilities.start_mission(mission=mission, initial_pose=None)
scheduling_utilities.stop_mission()
time.sleep(3)

actual = state_machine_thread.state_machine.transitions_list
unexpected_log = (
"Could not communicate request: Reached limit for stop attempts. "
"Cancelled mission and transitioned to idle."
assert state_machine_thread.state_machine.transitions_list == deque(
[States.Idle, States.Initialize, States.Initiate, States.Stop, States.Idle]
)
assert unexpected_log not in caplog.text
assert States.Idle == actual.pop()
assert States.Stop == actual.pop()


def test_state_machine_with_unsuccessful_mission_stop(
Expand All @@ -316,37 +264,30 @@ def test_state_machine_with_unsuccessful_mission_stop(
state_machine_thread.start()

scheduling_utilities.start_mission(mission=mission, initial_pose=None)

scheduling_utilities.stop_mission()

expected = deque(
[
States.Idle,
States.Initialize,
States.Initiate,
States.Stop,
States.Idle,
]
)
actual = state_machine_thread.state_machine.transitions_list
expected_log = (
"Be aware that the robot may still be "
"moving even though a stop has been attempted"
)
assert expected_log in caplog.text
assert expected == actual
assert state_machine_thread.state_machine.transitions_list == deque(
[States.Idle, States.Initialize, States.Initiate, States.Stop, States.Idle]
)


def test_state_machine_idle_to_offline_to_idle(state_machine_thread) -> None:
state_machine_thread.state_machine.robot = MockRobotIdleToOfflineToIdleTest()
def test_state_machine_idle_to_offline_to_idle(mocker, state_machine_thread) -> None:

# Robot status check happens every 5 seconds by default, so we mock the behavior
# to poll for status imediately
mocker.patch.object(Idle, "_is_ready_to_poll_for_status", return_value=True)

state_machine_thread.state_machine.robot = MockRobotIdleToOfflineToIdleTest()
state_machine_thread.start()
# Robot status check happens every 5 seconds by default
time.sleep(13) # Ensure that robot_status have been called again in Idle
time.sleep(0.11) # Slightly more than the StateMachine sleep time

expected_transitions_list = deque([States.Idle, States.Offline, States.Idle])
assert (
state_machine_thread.state_machine.transitions_list == expected_transitions_list
assert state_machine_thread.state_machine.transitions_list == deque(
[States.Idle, States.Offline, States.Idle]
)


Expand Down
1 change: 0 additions & 1 deletion tests/mocks/robot_interface.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,6 @@
Inspection,
)
from robot_interface.models.mission.mission import Mission

from robot_interface.models.mission.status import MissionStatus, RobotStatus, TaskStatus
from robot_interface.models.mission.task import InspectionTask, Task
from robot_interface.robot_interface import RobotInterface
Expand Down

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