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chore(api): further speed up ot3controller tests and add profiling #12132

Merged
merged 4 commits into from
Feb 10, 2023
Merged

chore(api): further speed up ot3controller tests and add profiling #12132

merged 4 commits into from
Feb 10, 2023

Commits on Feb 10, 2023

  1. chore(api): add pytest-profiling 

    pytest-profiling ( https://pypi.org/project/pytest-profiling/ ) is a
pytest module that will automatically profile your tests for you if you
so wish. If you add --profile to your test command, it will dump out
top-ten calls by time, and it will dump more in-depth profiling data to
`prof/` which can be interpreted with the python stdlib pstats/ module.
    @sfoster1
    sfoster1 committed Feb 10, 2023
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  2. chore(api): patch out ot3 gpio sleep 

    The OT3 gpio drivers have a sleep(1) in their init method. This isn't
great, and will soon be removed - it was required for some nasty
interactions between estop initialization and our canbus driver when it
was initializing, and on later revs we don't need to handle the estop
line like this - but in the meantime we can patch it out.

This makes these tests take about a second in total instead of 80 seconds.
    @sfoster1
    sfoster1 committed Feb 10, 2023
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  3. chore(api): use 0-sleeps to spin asyncio loops 

    In the cleanup of the thread manager, we were doing an
asyncio.sleep(0.1) to spin the loop to make sure some classes cleaned
up. Since then, we've learned that a 0-second sleep does the same thing.
Changing the 0.1 to 0 should not present any changes in behavior (and if
it does, they're in a cleanup method that is basically never run in
prod) and doubles the speed of the tests in hardware_control.
    @sfoster1
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  4. chore(api): poll much faster for module server 

    We start and stop a lot of module servers, and polling to see whether
they're started should be a lot faster now.
    @sfoster1
    sfoster1 committed Feb 10, 2023
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