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Fix Windows CMake downloads and cache regression timing #26

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Merged
soulteary merged 2 commits into from
Nov 9, 2026
Merged

Fix Windows CMake downloads and cache regression timing #26

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b92b1df
Retry transient Windows CMake download failures
soulteary Nov 9, 2026
b362e54
Allow worker scheduling time in configured-speed cache regression
soulteary Nov 9, 2026
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15 changes: 9 additions & 6 deletions tests/hand/device/test_device.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3923,6 +3923,9 @@ TEST_CASE("L20Lite verified firmware rejects unavailable scalar force without IO

TEST_CASE("L20Lite measured speed never populates or overwrites configured speed",
"[comm][device][l20lite][configured-speed]") {
// This checks cache semantics, not the default request deadline. Even cache
// reads run through the device worker, which can be delayed on loaded CI hosts.
const auto timeout = std::chrono::seconds{2};
FakeTransport *transport = nullptr;
HandDevice device(config_for(Model::kL20Lite), [&] {
auto next = std::make_unique<FakeTransport>();
Expand All @@ -3944,24 +3947,24 @@ TEST_CASE("L20Lite measured speed never populates or overwrites configured speed
}
return classic_angle_reply(Model::kL20Lite, request);
});
REQUIRE(device.get_speeds().raw == std::vector<double>(10, 0));
REQUIRE_THROWS_AS(device.get_configured_speeds(), DeviceNotReadyError);
REQUIRE(device.get_speeds(timeout).raw == std::vector<double>(10, 0));
REQUIRE_THROWS_AS(device.get_configured_speeds(timeout), DeviceNotReadyError);
REQUIRE_FALSE(device.get_snapshot().configured_speeds.has_value());
REQUIRE(completed(device.set_speeds(std::vector<double>(10, 20))).stage() == CommandStage::kAcknowledged);
const auto configured = device.get_configured_speeds();
const auto configured = device.get_configured_speeds(timeout);
REQUIRE(configured.raw == std::vector<double>(10, 20));
REQUIRE(configured.meta.delivery == TelemetryDelivery::kCommandResponse);
REQUIRE(device.get_speeds().raw == std::vector<double>(10, 0));
REQUIRE(device.get_speeds(timeout).raw == std::vector<double>(10, 0));
const auto sent = transport->sent().size();
REQUIRE(device.get_configured_speeds().raw == configured.raw);
REQUIRE(device.get_configured_speeds(timeout).raw == configured.raw);
REQUIRE(transport->sent().size() == sent);
const auto snapshot = device.get_snapshot();
REQUIRE(test_support::require_value(snapshot.measured_speeds).raw == std::vector<double>(10, 0));
REQUIRE(test_support::require_value(snapshot.configured_speeds).raw == std::vector<double>(10, 20));
REQUIRE(snapshot.joints[0].measured_speed_raw == 0);
REQUIRE(snapshot.joints[0].configured_speed_raw == 20);
device.recover();
REQUIRE_THROWS_AS(device.get_configured_speeds(), DeviceNotReadyError);
REQUIRE_THROWS_AS(device.get_configured_speeds(timeout), DeviceNotReadyError);
device.close();
}

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7 changes: 5 additions & 2 deletions validation/setup_windows.ps1
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Expand Up @@ -6,8 +6,11 @@ $ErrorActionPreference = 'Stop'
$Name = "cmake-$Version-windows-$Architecture.zip"
$Base = "https://github.com/Kitware/CMake/releases/download/v$Version"
$Destination = Join-Path $env:RUNNER_TEMP 'linkerbot-cmake'
Invoke-WebRequest "$Base/$Name" -OutFile "$env:RUNNER_TEMP/$Name"
Invoke-WebRequest "$Base/cmake-$Version-SHA-256.txt" -OutFile "$env:RUNNER_TEMP/cmake-checksums.txt"
# GitHub release downloads can return transient 5xx responses on hosted runners.
# Retry both assets before failing; checksum verification below remains mandatory.
$DownloadOptions = @{ MaximumRetryCount = 5; RetryIntervalSec = 5; TimeoutSec = 120 }
Invoke-WebRequest "$Base/$Name" -OutFile "$env:RUNNER_TEMP/$Name" @DownloadOptions
Invoke-WebRequest "$Base/cmake-$Version-SHA-256.txt" -OutFile "$env:RUNNER_TEMP/cmake-checksums.txt" @DownloadOptions
$Line = @(Get-Content "$env:RUNNER_TEMP/cmake-checksums.txt" | Where-Object { $_ -match " $([regex]::Escape($Name))$" })
if ($Line.Count -ne 1) { throw 'CMake checksum entry missing or ambiguous' }
$Expected = ($Line[0] -split '\s+')[0]
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