Ensure mixed blocking/nonblocking functions work together (#189)

Author: chrisruk

buildhat/motors.py

@@ -232,6 +232,7 @@ def run_for_degrees(self, degrees, speed=None, blocking=True):
         if not blocking:
             self._queue((self._run_for_degrees, (degrees, speed)))
         else:
+            self._wait_for_nonblocking()
             self._run_for_degrees(degrees, speed)
 
     def run_to_position(self, degrees, speed=None, blocking=True, direction="shortest"):
@@ -253,6 +254,7 @@ def run_to_position(self, degrees, speed=None, blocking=True, direction="shortes
         if not blocking:
             self._queue((self._run_to_position, (degrees, speed, direction)))
         else:
+            self._wait_for_nonblocking()
             self._run_to_position(degrees, speed, direction)
 
     def _run_for_seconds(self, seconds, speed):
@@ -284,6 +286,7 @@ def run_for_seconds(self, seconds, speed=None, blocking=True):
         if not blocking:
             self._queue((self._run_for_seconds, (seconds, speed)))
         else:
+            self._wait_for_nonblocking()
             self._run_for_seconds(seconds, speed)
 
     def start(self, speed=None):
@@ -292,6 +295,7 @@ def start(self, speed=None):
         :param speed: Speed ranging from -100 to 100
         :raises MotorError: Occurs when invalid speed specified
         """
+        self._wait_for_nonblocking()
         if self._runmode == MotorRunmode.FREE:
             if self._currentspeed == speed:
                 # Already running at this speed, do nothing
@@ -316,6 +320,7 @@ def start(self, speed=None):
 
     def stop(self):
         """Stop motor"""
+        self._wait_for_nonblocking()
         self._runmode = MotorRunmode.NONE
         self._currentspeed = 0
         self.coast()
@@ -444,6 +449,10 @@ def release(self, value):
     def _queue(self, cmd):
         Device._instance.motorqueue[self.port].put(cmd)
 
+    def _wait_for_nonblocking(self):
+        """Wait for nonblocking commands to finish"""
+        Device._instance.motorqueue[self.port].join()
+
 
 class MotorPair:
     """Pair of motors

buildhat/serinterface.py

@@ -299,6 +299,7 @@ def motorloop(self, q):
                 func(*data)
                 func = None  # Necessary for 'del' to function correctly on motor object
                 data = None
+                q.task_done()
 
     def callbackloop(self, q):
         """Event handling for callbacks

test/motors.py

@@ -69,6 +69,20 @@ def test_nonblocking_multiple(self):
                 diff = abs((last - pos2 + 180) % 360 - 180)
                 self.assertLess(diff, self.THRESHOLD_DISTANCE)
 
+    def test_nonblocking_mixed(self):
+        """Test motor nonblocking mode mixed with blocking mode"""
+        m = Motor('A')
+        m.run_for_seconds(5, blocking=False)
+        m.run_for_degrees(360)
+        m.run_for_seconds(5, blocking=False)
+        m.run_to_position(180)
+        m.run_for_seconds(5, blocking=False)
+        m.run_for_seconds(5)
+        m.run_for_seconds(5, blocking=False)
+        m.start()
+        m.run_for_seconds(5, blocking=False)
+        m.stop()
+
     def test_position(self):
         """Test motor goes to desired position"""
         m = Motor('A')