Adds flags for ACU checking to hwp supervisor, along with tests

[jlashner]

Description

Motivation and Context

This adds gripper-state monitoring to the HWP monitor process, and adds the following flags to the HWP state which can be checked by the ACU:

• gripper_state which can be "cold", "warm", "ungripped", or "unknown"
• is_spinning boolean

How Has This Been Tested?

Along with these changes, I am building out the HWP emulator into a set of integration tests that test the behavior of these flags and other operations.

This has been tested with HWP and ACU hardware on satp1.

Types of changes

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to not work as expected)

Checklist:

• My code follows the code style of this project.
• My change requires a change to the documentation.
• I have updated the documentation accordingly.

[jlashner]

@BrianJKoopman Ended up getting the tests to work properly! Turns out I missed a shutdown call for one of the device_emulators in the hwp emulator. Adding that makes tests clean up correctly, so I reverted the misc changes I made to test the github workflow.

This contains the same update to the HWP supervisor as #805, so if you'd rather just review and merge this one we can close the other one. Thanks!

[BrianJKoopman]

This is great, awesome to see all the tests come together for the supervisor agent. Mostly small documentation related comments. The SIGKILL workaround for getting the tests to run does mean code coverage doesn't get reported, which is unfortunate. It's makes it a bit challenging to understand what really gets tested.

[jlashner]

Hey Brian, this is now passing tests, having fixed issues with shutting down some agents with SIGINT, and is ready for another review. Thanks!

[BrianJKoopman]

Thanks, this fixes the issue with SIGKILL in the supervisor tests, but the problem still remains in the PID agent tests when I run locally. Coverage goes from 0% to 95% on the agent if I change the SIGKILL on this line to a SIGINT:

socs/tests/integration/test_hwp_pid_agent_integration.py

Line 36 in 8ebb61e

runner.proc.send_signal(signal.SIGKILL)

Tests results running locally with that line sending SIGKILL vs sending SIGINT:

$ python3 -m pytest --cov --cov-report term integration/test_hwp_pid_agent_integration.py
================================================================ test session starts ================================================================
platform linux -- Python 3.11.9, pytest-8.3.3, pluggy-1.5.0
rootdir: /home/koopman/git/socs/tests
configfile: pytest.ini
plugins: order-1.3.0, dependency-0.6.0, cov-6.0.0, docker-3.1.1, twisted-1.14.3, anyio-4.4.0
collected 8 items

integration/test_hwp_pid_agent_integration.py ........                                                                                         [100%]

---------- coverage: platform linux, python 3.11.9-final-0 -----------
Name                                                                             Stmts   Miss  Cover
----------------------------------------------------------------------------------------------------
/home/koopman/git/socs/socs/agents/hwp_pid/agent.py                                210    210     0%
/home/koopman/git/socs/socs/agents/hwp_pid/drivers/pid_controller.py               267    219    18%

$ python3 -m pytest --cov --cov-report term integration/test_hwp_pid_agent_integration.py
================================================================ test session starts ================================================================
platform linux -- Python 3.11.9, pytest-8.3.3, pluggy-1.5.0
rootdir: /home/koopman/git/socs/tests
configfile: pytest.ini
plugins: order-1.3.0, dependency-0.6.0, cov-6.0.0, docker-3.1.1, twisted-1.14.3, anyio-4.4.0
collected 8 items

integration/test_hwp_pid_agent_integration.py ........                                                                                         [100%]

---------- coverage: platform linux, python 3.11.9-final-0 -----------
Name                                                                             Stmts   Miss  Cover
----------------------------------------------------------------------------------------------------
/home/koopman/git/socs/socs/agents/hwp_pid/agent.py                                210     11    95%
/home/koopman/git/socs/socs/agents/hwp_pid/drivers/pid_controller.py               267     69    74%

Is this SIGKILL required in the CI? Tests run fine on my system without it. Or is there a similar solution that would remove the need to send SIGKILL in those tests?

Also, please address or comment on the other comments I made in the last review.

[jlashner]

Right, thanks for the reminder. I went through and addressed your previous comments, if you want to take another look!

[BrianJKoopman]

Looks great, thanks for working through all the difficulties with the tests!