FIX|NIT: addressing PR comments

beams/behavior_tree/ActionNode.py

@@ -20,7 +20,7 @@ def __init__(
         work_lock=Lock(),
         **kwargs,
     ):  # TODO: can add failure condition argument...
-        super(ActionNode, self).__init__(name)
+        super().__init__(name)
         # print(type(self.status))
         self.__volatile_status__ = VolatileStatus(self.status)
         # TODO may want to instantiate these locally and then decorate the passed work function with them
@@ -84,18 +84,13 @@ def update(self) -> py_trees.common.Status:
 
         return new_status
 
-    # TODO: serious introspection about that we want to do here. 
-    # def terminate(self, new_status: py_trees.common.Status) -> None:
-    #     """Nothing to clean up in this example."""
-    #     print(f"TERMINATE CALLED ON {self.name}, pid: {os.getpid()}")
-    #     if self.work_proc.is_alive():
-    #         print(f"The process is still alive on {os.getpid()}")
-    #         self.work_proc.terminate()
-    #         self.logger.debug(
-    #             py_trees.console.red
-    #             + "%s.terminate()[%s->%s]"
-    #             % (self.__class__.__name__, self.status, new_status)
-    #         )
+    def terminate(self, new_status: py_trees.common.Status) -> None:
+        """Nothing to clean up."""
+        self.logger.debug(
+            py_trees.console.red
+            + "%s.terminate()[%s->%s]"
+            % (self.__class__.__name__, self.status, new_status)
+        )
 
 
 if __name__ == "__main__":

beams/sequencer/helpers/Worker.py

@@ -6,17 +6,15 @@
 """
 import logging
 from multiprocessing import Process, Value
-from typing import Callable, Any, Optional, Union, List
-
-from epics.multiproc import CAProcess
+from typing import Callable, Any, Optional, List
 
 
 class Worker():
     def __init__(self, 
                  proc_name: str, 
                  stop_func: Optional[Callable[[None], None]] = None, 
                  work_func: Optional[Callable[[Any], None]] = None,
-                 proc_type: Union[Process, CAProcess] = Process,
+                 proc_type: type[Process] = Process,
                  add_args: List[Any] = []
                  ):
         self.do_work = Value('i', False)
@@ -31,18 +29,16 @@ def __init__(self,
         self.stop_func = stop_func
 
     def start_work(self):
-        if (self.do_work.value):
+        if self.do_work.value:
             logging.error("Already working, not starting work")
             return
         self.do_work.value = True
-        print(self.work_func)
-        # breakpoint()
         self.work_proc.start()
         logging.debug(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):
+        if not self.do_work.value:
             logging.error("Not working, not stopping work")
             return
         self.do_work.value = False

beams/tests/test_worker.py

@@ -17,6 +17,9 @@ def __init__(self,
         def work_func(self):
             while self.do_work.value or self.val.value < 100:
                 if self.val.value < 100:  # Note: value captured via closure
+                    # Note: even in python if a full bore loop captures a lock other Processes may not have time 
+                    # to acquire this shared resource; therefore the sleep is very strongly suggested if not needed
+                    # when using a lock
                     time.sleep(0.01)
                     with self.val.get_lock():
                         self.val.value += 10  # Note: value captured via closure