ENH: Successfully replumbed action node work to be facilliated by base

Worker class

beams/behavior_tree/ActionNode.py

@@ -44,7 +44,6 @@ def setup(self, **kwargs: int) -> None:
         )
 
         # Having this in setup means the workthread should always be running.
-        print("LAUNCHING JAWN")
         self.worker.start_work()
         atexit.register(
             self.worker.stop_work

beams/behavior_tree/ActionWorker.py

@@ -1,3 +1,6 @@
+"""
+A worker specialized to execute ActionNode work functions
+"""
 from typing import Callable, Any, Optional
 
 from epics.multiproc import CAProcess
@@ -18,6 +21,5 @@ def __init__(self,
                          work_func=work_func,
                          proc_type=CAProcess,
                          add_args=(comp_cond, volatile_status))
-        print(f"YO SELF: {self}")
         self.comp_condition = comp_cond
         self.__volatile_status__ = volatile_status

beams/behavior_tree/CheckAndDo.py

@@ -5,7 +5,7 @@
 
 class CheckAndDo(py_trees.composites.Selector):
   def __init__(self, name: str,  check: ConditionNode, do: ActionNode) -> None:
-    super().__init__(name, memory=True)
+    super().__init__(name, memory=False)
     self.name = name
     self.check = check
     self.do = do

beams/sequencer/helpers/Worker.py

@@ -37,19 +37,19 @@ def start_work(self):
       logging.error("Already working, not starting work")
       return
     self.do_work.value = True
-    print("JEEZY")
     print(self.work_func)
-    # breakpoint()
     self.work_proc.start()
     logging.debug(f"Starting work on: {self.work_proc.pid}")
-    print(f"Starting work on: {self.work_proc.pid}")
 
   def stop_work(self):
     logging.info(f"Calling stop work on: {self.work_proc.pid}")
     if (not self.do_work.value):
       logging.error("Not working, not stopping work")
       return
     self.do_work.value = False
+    logging.info(f"Sending terminate signal to{self.work_proc.pid}")
+    # Send kill signal to work process. # TODO: the exact location of this is important. Reflect
+    self.work_proc.terminate()
     if (self.stop_func is not None):
       self.stop_func()
 

beams/tests/artifacts/eggs.json

@@ -4,17 +4,17 @@
       "name": "self_test",
       "description": "",
       "check": {
-        "name": "",
+        "name": "self_test_check",
         "description": "",
         "pv": "PERC:COMP",
         "value": 100,
         "operator": "ge"
       },
       "do": {
         "IncPVActionItem": {
-          "name": "",
+          "name": "self_test_do",
           "description": "",
-          "loop_period_sec": 1.0,
+          "loop_period_sec": 0.01,
           "pv": "PERC:COMP",
           "increment": 10,
           "termination_check": {

beams/tests/artifacts/eggs2.json

@@ -10,17 +10,17 @@
             "name": "ret_find",
             "description": "",
             "check": {
-              "name": "",
+              "name": "ret_find_check",
               "description": "",
               "pv": "RET:FOUND",
               "value": 1,
               "operator": "ge"
             },
             "do": {
               "SetPVActionItem": {
-                "name": "",
+                "name": "ret_find_do",
                 "description": "",
-                "loop_period_sec": 1.0,
+                "loop_period_sec": 0.01,
                 "pv": "RET:FOUND",
                 "value": 1,
                 "termination_check": {

beams/tests/test_leaf_node.py

@@ -6,8 +6,6 @@
 from beams.behavior_tree.ActionNode import ActionNode
 from beams.behavior_tree.ConditionNode import ConditionNode
 
-import pytest 
-
 
 class TestTask:
   def test_action_node(self, capsys):

beams/tests/test_tree_generator.py

@@ -33,8 +33,9 @@ def test_tree_obj_execution(request):
         tree.root.status not in (py_trees.common.Status.SUCCESS,
                                  py_trees.common.Status.FAILURE)
     ):
-        tree.tick()
-        time.sleep(0.05)
+        for n in tree.root.tick():
+            print(n)
+            time.sleep(0.05)
 
     rel_val = caget("PERC:COMP")
     assert rel_val >= 100
@@ -56,10 +57,11 @@ def test_father_tree_execution(request):
                                  py_trees.common.Status.FAILURE)
         and ct < 50
     ):
-        ct += 1
-        print((tree.root.status, tree.root.status, ct))
-        tree.tick()
-        time.sleep(0.05)
+        for n in tree.root.tick():
+            ct += 1
+            print(n)
+            print((tree.root.status, tree.root.status, ct))
+            time.sleep(0.05)
 
     check_insert = caget("RET:INSERT")
 

beams/tree_config.py

@@ -177,7 +177,7 @@ def get_tree(self) -> ActionNode:
         wait_for_tick = Event()
         wait_for_tick_lock = Lock()
 
-        def work_func(self):
+        def work_func(myself, comp_condition, volatile_status):
             py_trees.console.logdebug(f"WAITING FOR INIT {os.getpid()} "
                                       f"from node: {self.name}")
             wait_for_tick.wait()
@@ -186,29 +186,29 @@ def work_func(self):
             value = 0
 
             # While termination_check is not True
-            while not self.comp_condition():  # TODO check work_gate.is_set()
+            while not comp_condition():  # TODO check work_gate.is_set()
                 py_trees.console.logdebug(
                     f"CALLING CAGET FROM {os.getpid()} from node: "
                     f"{self.name}"
                 )
                 value = caget(self.termination_check.pv)
 
-                if self.comp_condition():
-                    self.volatile_status.set_value(py_trees.common.Status.SUCCESS)
+                if comp_condition():
+                    volatile_status.set_value(py_trees.common.Status.SUCCESS)
                 py_trees.console.logdebug(
                     f"{self.name}: Value is {value}, BT Status: "
-                    f"{self.volatile_status.get_value()}"
+                    f"{volatile_status.get_value()}"
                 )
 
                 # specific caput logic to SetPVActionItem
                 caput(self.pv, self.value)
                 time.sleep(self.loop_period_sec)
 
             # one last check
-            if self.comp_condition():
-                self.volatile_status.set_value(py_trees.common.Status.SUCCESS)
+            if comp_condition():
+                volatile_status.set_value(py_trees.common.Status.SUCCESS)
             else:
-                self.volatile_status.set_value(py_trees.common.Status.FAILURE)
+                volatile_status.set_value(py_trees.common.Status.FAILURE)
 
         comp_cond = self.termination_check.get_condition_function()
 
@@ -235,7 +235,7 @@ def get_tree(self) -> ActionNode:
         wait_for_tick = Event()
         wait_for_tick_lock = Lock()
 
-        def work_func(comp_condition, volatile_status):
+        def work_func(myself, comp_condition, volatile_status):
             py_trees.console.logdebug(f"WAITING FOR INIT {os.getpid()} "
                                       f"from node: {self.name}")
             wait_for_tick.wait()