try true??

config.dev.ini

@@ -37,6 +37,9 @@ initial_duty_cycle=15
 pwm_hz=200
 use_rpm=True
 duration_between_updates_seconds=23
+post_delay_duration=0.25
+pre_delay_duration=2.0
+enable_dodging_od=True
 
 
 [stirring.pid]

pioreactor/background_jobs/base.py

@@ -1126,7 +1126,13 @@ def sneak_in(ads_interval, post_delay, pre_delay) -> None:
 
             with catchtime() as timer:
                 self._action_to_do_after_od_reading()
-            sleep(ads_interval - self.OD_READING_DURATION - (post_delay + pre_delay) - timer())
+            action_after_duration = timer()
+            if ads_interval - self.OD_READING_DURATION - (post_delay + pre_delay) - action_after_duration < 0:
+                raise ValueError(
+                    "samples_per_second is too high, or post_delay is too high, or pre_delay is too high, or action_to_do_after_od_reading takes too long."
+                )
+
+            sleep(ads_interval - self.OD_READING_DURATION - (post_delay + pre_delay) - action_after_duration)
             self._action_to_do_before_od_reading()
 
         # this could fail in the following way:
@@ -1150,14 +1156,10 @@ def sneak_in(ads_interval, post_delay, pre_delay) -> None:
             sneak_in,
             job_name=self.job_name,
             args=(ads_interval, post_delay, pre_delay),
-            run_immediately=False,
+            run_immediately=True,
+            run_after=ads_interval - ((time() - ads_start_time) % ads_interval),
             logger=self.logger,
         )
-
-        # TODO: shouldn't I just use run_after in `RepeatedTimer` instead of this?
-        time_to_next_ads_reading = ads_interval - ((time() - ads_start_time) % ads_interval)
-
-        sleep(time_to_next_ads_reading + (post_delay + self.OD_READING_DURATION))
         self.sneak_in_timer.start()
 
     def on_sleeping(self) -> None:

pioreactor/background_jobs/stirring.py

@@ -290,12 +290,12 @@ def action_to_do_after_od_reading(self):
         self.poll_and_update_dc(2)
 
     def initialize_dodging_operation(self):
-        if config.getfloat("od_reading.config", "samples_per_second") >= 0.2:
+        if config.getfloat("od_reading.config", "samples_per_second") > 0.12:
             self.logger.warning(
-                "Recommended to decrease `samples_per_second` to ensure there is time to start/stop stirring. Try 0.15 or less."
+                "Recommended to decrease `samples_per_second` to ensure there is time to start/stop stirring. Try 0.12 or less."
             )
 
-        self.set_duty_cycle(0)
+        self.stop_stirring()
         self.rpm_check_repeated_thread = RepeatedTimer(
             1_000,
             lambda *args: None,
@@ -545,7 +545,8 @@ def start_stirring(
         experiment=experiment,
         rpm_calculator=rpm_calculator,
     )
-    stirrer.start_stirring()
+    if not stirrer.currently_dodging_od:
+        stirrer.start_stirring()
     return stirrer
 
 

pioreactor/tests/test_stirring.py

@@ -8,6 +8,8 @@
 from pioreactor.background_jobs.stirring import RpmFromFrequency
 from pioreactor.background_jobs.stirring import start_stirring
 from pioreactor.background_jobs.stirring import Stirrer
+from pioreactor.config import config
+from pioreactor.config import temporary_config_change
 from pioreactor.pubsub import publish
 from pioreactor.pubsub import subscribe
 from pioreactor.utils import local_persistant_storage
@@ -179,15 +181,18 @@ def test_stirring_will_try_to_restart_and_dodge_od_reading() -> None:
     from pioreactor.background_jobs.od_reading import start_od_reading
 
     exp = "test_stirring_will_try_to_restart_and_dodge_od_reading"
-    rpm_calculator = RpmCalculator()
-    rpm_calculator.setup()
-    with start_od_reading(
-        "90", interval=5.0, unit=unit, experiment=exp, fake_data=True, use_calibration=False
-    ):
-        with Stirrer(500, unit, exp, rpm_calculator=rpm_calculator) as st:  # type: ignore
-            st.start_stirring()
-
-            pause(20)
+    # rpm_calculator = RpmCalculator()
+    # rpm_calculator.setup()
+    with temporary_config_change(config, "stirring.config", "enable_dodging_od", "true"):
+        with start_od_reading(
+            "90", interval=10.0, unit=unit, experiment=exp, fake_data=True, use_calibration=False
+        ):
+            with start_stirring(500, unit, exp, use_rpm=True) as st:
+                assert st.duty_cycle == 0
+                assert st._estimate_duty_cycle > 0
+                assert st.currently_dodging_od
+                assert st.enable_dodging_od
+                pause(5)
 
 
 def test_block_until_rpm_is_close_to_target_will_timeout() -> None:
@@ -203,7 +208,7 @@ def test_block_until_rpm_is_close_to_target_will_timeout() -> None:
 
 
 def test_block_until_rpm_is_close_will_exit() -> None:
-    exp = "test_block_until_rpm_is_close_to_target_will_timeout"
+    exp = "test_block_until_rpm_isf_close_to_target_will_timeout"
     rpm_calculator = MockRpmCalculator()
     rpm_calculator.setup()
     with Stirrer(