kyleandClaude Sonnet 5.5
ce7063f647
hermes_thermal reads the CPU temperature and throttle flags, publishes /health/*, and at 72 / 77 / 82 C scales the camera, face and detector rates down through their live parameters, restoring them as it cools one level at a time with a margin and a dwell so it does not flap. The face and detector gained live parameter callbacks for this, the bridge's robot://status carries a health block (temperature, level, throttle flags now and since boot), and a bringup test asserts the guard's normal rates equal the real ones. Live testing on the robot (forcing 73 / 78 / 85 C and back) caught a bug the unit tests missed: one logging line whose severity changed between warn and info raised in rclpy and killed the guard on its first cooling step, and the respawn hid it. Fixed with separate call sites; the tick now survives any error; a full heat-then-cool test drives the real node, and a mutation check confirmed it fails on the original bug. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
50 lines
2.0 KiB
Python
50 lines
2.0 KiB
Python
import pytest
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rclpy = pytest.importorskip('rclpy')
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def test_the_node_constructs_and_has_the_three_targets():
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"""Declaring a parameter twice raises at construction, and nothing else exercises the node."""
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from hermes_thermal.thermal_node import ThermalNode
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rclpy.init()
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try:
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node = ThermalNode()
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assert [t.name for t in node.targets] == ['/camera', '/hermes_face', '/hermes_face_detector']
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assert node.policy.level == 'ok'
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node.destroy_node()
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finally:
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rclpy.shutdown()
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def test_a_full_heat_then_cool_run_through_the_real_node_does_not_crash_and_steps_down_one_level_at_a_time():
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"""The bug this guards against: a logging call site whose severity changed (warn heating, info cooling)
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raised in the timer callback, so the node died on its first cooling step."""
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from rclpy.parameter import Parameter
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from hermes_thermal.thermal_node import ThermalNode
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rclpy.init()
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try:
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node = ThermalNode()
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node.act = False # no other nodes here; this is about the policy path
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node.set_parameters([Parameter('dwell_s', value=0.0)])
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levels = []
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for temp in (60.0, 73.0, 78.0, 85.0, 60.0, 60.0, 60.0, 60.0):
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node.set_parameters([Parameter('fake_temp_c', value=temp)])
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node._poll() # _poll, not _tick: let any exception surface
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levels.append(node.policy.level)
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assert levels == ['ok', 'warm', 'hot', 'critical', 'hot', 'warm', 'ok', 'ok']
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node.destroy_node()
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finally:
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rclpy.shutdown()
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def test_the_tick_survives_an_unexpected_error():
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from hermes_thermal.thermal_node import ThermalNode
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rclpy.init()
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try:
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node = ThermalNode()
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node._poll = lambda: (_ for _ in ()).throw(RuntimeError('boom'))
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node._tick() # must not raise
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node.destroy_node()
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finally:
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rclpy.shutdown()
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