flake8 and bugfixes

socs/agents/hwp_supervisor/agent.py

@@ -439,13 +439,13 @@ def update_temp_state(self, test_mode=False):
         if op['status'] != 'ok':
             self.temp = None
             self.temp_status = 'no_data'
-            return
+            return op
 
         fields = op['data']['fields']
         if self.temp_field not in fields:
             self.temp = None
             self.temp_status = 'no_data'
-            return
+            return op
 
         self.temp = fields[self.temp_field]['T']
 
@@ -564,10 +564,10 @@ def update(self, test_mode=False) -> Dict[str, Any]:
         now = time.time()
         with self.lock:
             ops = {
-                'temperature': self.update_temp_state(),
-                'encoder': self.update_enc_state(),
-                'pmx': self.update_pmx_state(),
-                'pid': self.update_pid_state(),
+                'temperature': self.update_temp_state(test_mode=test_mode),
+                'encoder': self.update_enc_state(test_mode=test_mode),
+                'pmx': self.update_pmx_state(test_mode=test_mode),
+                'pid': self.update_pid_state(test_mode=test_mode),
                 'ups': self.update_ups_state(),
             }
 
@@ -1472,13 +1472,11 @@ def monitor(self, session, params) -> Tuple[bool, str]:
             }
         }
 
-        kw = {'test_mode': test_mode, 'log': self.log}
-
         while session.status in ['starting', 'running']:
             now = time.time()
             session.data['timestamp'] = now
 
-            ops = self.hwp_state.update()
+            ops = self.hwp_state.update(test_mode = test_mode)
             session.data['monitored_sessions'] = ops
             session.data['hwp_state'] = asdict(self.hwp_state)
 

socs/testing/hwp_emulator.py

@@ -10,11 +10,10 @@
 import time
 import traceback as tb
 from dataclasses import asdict, dataclass, field
-from typing import Any, Dict, List, Optional, Tuple
+from typing import Dict, List, Optional, Tuple
 
 import numpy as np
 import pytest
-from ocs.ocs_twisted import Pacemaker
 
 from socs.agents.hwp_pid.drivers.pid_controller import PID
 from socs.testing import device_emulator
@@ -477,8 +476,6 @@ def raise_error():
                     return pkl.dumps({"result": False, "log": []})
                 elif (not state.is_cold) and new_pos >= warm_limit_pos:
                     state.actuators[act_idx].pos = warm_limit_pos
-                    print("HEREEE")
-                    print(state.actuators[act_idx])
                     return pkl.dumps({"result": False, "log": []})
                 else:
                     state.actuators[act_idx].pos = new_pos

tests/integration/test_hwp_supervisor_agent_integration.py

@@ -187,10 +187,8 @@ def test_supervisor_grip(hwp_em, supervisor_agent, sup_client) -> None:
     state = get_hwp_state(sup_client)
     pprint(state)
     assert state["gripper"]["grip_state"] == "ungripped"
-    pprint(hwp_em.state.gripper.actuators[0])
-    res = sup_client.grip_hwp()
+    sup_client.grip_hwp()
     state = get_hwp_state(sup_client)
-    pprint(hwp_em.state.gripper.actuators[0])
     assert state["gripper"]["grip_state"] == "warm"