Add flags for ACU checking to hwp supervisor (#802)

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

* [pre-commit.ci] auto fixes from pre-commit.com hooks

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* Try using random port for encoder

* Try using random port for encoder

* Bump ocs version

* Patch runner shutdown function with SIGKILL

* Adds query_hwp_state task to supervisor to force state update

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* flake8 and bugfixes

* bugfixes

* Place emulator in try/catch

* mark hwp supervisor tests as integtest

* test

* test

* check open processes in test

* Adds psutil to testing reqs

* test finally to close ibootbar outlet

* change sigint to sigkil for snmp tests

* Join on snmp processes

* [pre-commit.ci] auto fixes from pre-commit.com hooks

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* test leftover process detection

* Lingering subprocess detector

* pytest workflow debugging

* Add gripper device shutdown

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* revert unnecessary changes made during testing

* Add sleep back to scpi test

* [pre-commit.ci] auto fixes from pre-commit.com hooks

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* Switch testing agents to use SIGINT

and unblock parser from trying to grab data when acq is stopped

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* Increase timeout for agents in supervisor test

* Flake8

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* Addresses Brian's feedback

* Flake 8

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---------

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

Author: jlashner

Dockerfile

@@ -2,7 +2,7 @@
 # A container setup with an installation of socs.
 
 # Use the ocs image as a base
-FROM simonsobs/ocs:v0.11.3-3-g63fd5ef
+FROM simonsobs/ocs:v0.11.3-19-gd729e04
 
 # Set up the cryo/smurf user and group so this can run on smurf-servers
 # See link for how all other smurf-containers are set up:

socs/agents/hwp_encoder/agent.py

@@ -185,8 +185,14 @@ def __init__(self, beaglebone_port=8080, read_chunk_size=8196):
         # Will be continually updated with unix in seconds
         self.current_time = 0
 
+        # If True, will stop trying to read data from socket
+        self.stop = False
+
         # Creates a UDP socket to connect to the Beaglebone
         self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        # This helps with testing and rebinding to the same port after reset...
+        self.sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+
         # Binds the socket to a specific ip address and port
         # The ip address can be blank for accepting any UDP packet to the port
         self.sock.bind(('', beaglebone_port))
@@ -303,7 +309,9 @@ def grab_and_parse_data(self):
            Error 2: data length is shorter than the IRIG info
                     even though the IRIG packet header is found.
         """
-        while True:
+        self.stop = False
+
+        while not self.stop:  # This can be toggled by encoder agent to unblock
             # If there is data from the socket attached to the beaglebone then
             #     ready[0] = true
             # If not then continue checking for 2 seconds and if there is still no data
@@ -714,6 +722,7 @@ def _stop_acq(self, session, params=None):
         """
         if self.take_data:
             self.take_data = False
+            self.parser.stop = True
             return True, 'requested to stop taking data.'
 
         return False, 'acq is not currently running.'