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Split integration tests out to one file per controller
1 parent 5579fc4 commit 1727bd1

5 files changed

+360
-158
lines changed

‎ur_robot_driver/test/integration_test_config_controller.py

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#!/usr/bin/env python
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# Copyright 2025, Universal Robots A/S
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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#
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# * Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in the
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# documentation and/or other materials provided with the distribution.
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#
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# * Neither the name of the {copyright_holder} nor the names of its
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# contributors may be used to endorse or promote products derived from
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# this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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import os
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import sys
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import time
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import unittest
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import launch_testing
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import pytest
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import rclpy
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from control_msgs.action import FollowJointTrajectory
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from rclpy.node import Node
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sys.path.append(os.path.dirname(__file__))
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from test_common import ( # noqa: E402
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ActionInterface,
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ControllerManagerInterface,
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DashboardInterface,
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IoStatusInterface,
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ConfigurationInterface,
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generate_driver_test_description,
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)
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@pytest.mark.launch_test
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@launch_testing.parametrize(
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"tf_prefix, use_mock_hardware", [("", "false"), ("my_ur_", "false"), ("", "true")]
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)
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def generate_test_description(tf_prefix, use_mock_hardware):
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return generate_driver_test_description(
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tf_prefix=tf_prefix, use_mock_hardware=use_mock_hardware
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)
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class RobotDriverTest(unittest.TestCase):
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@classmethod
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def setUpClass(cls, use_mock_hardware):
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# Initialize the ROS context
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rclpy.init()
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cls.node = Node("robot_driver_test")
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time.sleep(1)
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cls.mock_hardware = use_mock_hardware == "true"
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cls.init_robot(cls)
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@classmethod
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def tearDownClass(cls):
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# Shutdown the ROS context
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cls.node.destroy_node()
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rclpy.shutdown()
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def init_robot(self):
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if not self.mock_hardware:
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self._dashboard_interface = DashboardInterface(self.node)
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else:
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self._dashboard_interface = None
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self._controller_manager_interface = ControllerManagerInterface(self.node)
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self._io_status_controller_interface = IoStatusInterface(self.node)
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self._configuration_controller_interface = ConfigurationInterface(self.node)
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self._scaled_follow_joint_trajectory = ActionInterface(
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self.node,
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"/scaled_joint_trajectory_controller/follow_joint_trajectory",
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FollowJointTrajectory,
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)
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self._passthrough_forward_joint_trajectory = ActionInterface(
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self.node,
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"/passthrough_trajectory_controller/follow_joint_trajectory",
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FollowJointTrajectory,
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)
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def setUp(self):
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if self._dashboard_interface:
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self._dashboard_interface.start_robot()
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time.sleep(1)
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self.assertTrue(self._io_status_controller_interface.resend_robot_program().success)
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#
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# Test functions
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#
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def test_get_robot_software_version(self):
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self.assertNotEqual(
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self._configuration_controller_interface.get_robot_software_version().major, 0
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)

‎ur_robot_driver/test/integration_test_controller_switch.py

Lines changed: 1 addition & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -50,11 +50,7 @@
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@pytest.mark.launch_test
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@launch_testing.parametrize(
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"tf_prefix",
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[""],
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# [(""), ("my_ur_")],
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)
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@launch_testing.parametrize("tf_prefix", [(""), ("my_ur_")])
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def generate_test_description(tf_prefix):
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return generate_driver_test_description(tf_prefix=tf_prefix)
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‎ur_robot_driver/test/integration_test_io_controller.py

Lines changed: 158 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,158 @@
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#!/usr/bin/env python
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# Copyright 2025, Universal Robots A/S
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#
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# Redistribution and use in source and binary forms, with or without
5+
# modification, are permitted provided that the following conditions are met:
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#
7+
# * Redistributions of source code must retain the above copyright
8+
# notice, this list of conditions and the following disclaimer.
9+
#
10+
# * Redistributions in binary form must reproduce the above copyright
11+
# notice, this list of conditions and the following disclaimer in the
12+
# documentation and/or other materials provided with the distribution.
13+
#
14+
# * Neither the name of the {copyright_holder} nor the names of its
15+
# contributors may be used to endorse or promote products derived from
16+
# this software without specific prior written permission.
17+
#
18+
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
19+
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
20+
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
21+
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
22+
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
23+
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
24+
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
25+
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
26+
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
27+
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
28+
# POSSIBILITY OF SUCH DAMAGE.
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30+
import logging
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import os
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import sys
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import time
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import unittest
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import launch_testing
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import pytest
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import rclpy
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from control_msgs.action import FollowJointTrajectory
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from rclpy.node import Node
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from ur_msgs.msg import IOStates
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sys.path.append(os.path.dirname(__file__))
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from test_common import ( # noqa: E402
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ActionInterface,
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ControllerManagerInterface,
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DashboardInterface,
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IoStatusInterface,
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ConfigurationInterface,
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generate_driver_test_description,
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)
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@pytest.mark.launch_test
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@launch_testing.parametrize(
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"tf_prefix, use_mock_hardware", [("", "false"), ("my_ur_", "false"), ("", "true")]
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)
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def generate_test_description(tf_prefix, use_mock_hardware):
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return generate_driver_test_description(
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tf_prefix=tf_prefix, use_mock_hardware=use_mock_hardware
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)
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class RobotDriverTest(unittest.TestCase):
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@classmethod
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def setUpClass(cls, use_mock_hardware):
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# Initialize the ROS context
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rclpy.init()
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cls.node = Node("robot_driver_test")
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time.sleep(1)
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cls.mock_hardware = use_mock_hardware == "true"
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cls.init_robot(cls)
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@classmethod
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def tearDownClass(cls):
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# Shutdown the ROS context
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cls.node.destroy_node()
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rclpy.shutdown()
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def init_robot(self):
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if not self.mock_hardware:
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self._dashboard_interface = DashboardInterface(self.node)
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else:
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self._dashboard_interface = None
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self._controller_manager_interface = ControllerManagerInterface(self.node)
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self._io_status_controller_interface = IoStatusInterface(self.node)
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self._configuration_controller_interface = ConfigurationInterface(self.node)
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self._scaled_follow_joint_trajectory = ActionInterface(
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self.node,
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"/scaled_joint_trajectory_controller/follow_joint_trajectory",
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FollowJointTrajectory,
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)
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self._passthrough_forward_joint_trajectory = ActionInterface(
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self.node,
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"/passthrough_trajectory_controller/follow_joint_trajectory",
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FollowJointTrajectory,
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)
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def setUp(self):
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if self._dashboard_interface:
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self._dashboard_interface.start_robot()
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time.sleep(1)
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self.assertTrue(self._io_status_controller_interface.resend_robot_program().success)
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#
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# Test functions
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#
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def test_set_io(self):
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"""Test to set an IO and check whether it has been set."""
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if self.mock_hardware:
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return True
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# Create io callback to verify result
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io_msg = None
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def io_msg_cb(msg):
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nonlocal io_msg
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io_msg = msg
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io_states_sub = self.node.create_subscription(
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IOStates,
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"/io_and_status_controller/io_states",
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io_msg_cb,
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rclpy.qos.qos_profile_system_default,
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)
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# Set pin 0 to 1.0
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test_pin = 0
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logging.info("Setting pin %d to 1.0", test_pin)
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self._io_status_controller_interface.set_io(fun=1, pin=test_pin, state=1.0)
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# Wait until the pin state has changed
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pin_state = False
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end_time = time.time() + 5
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while not pin_state and time.time() < end_time:
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rclpy.spin_once(self.node, timeout_sec=0.1)
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if io_msg is not None:
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pin_state = io_msg.digital_out_states[test_pin].state
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self.assertEqual(pin_state, 1.0)
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# Set pin 0 to 0.0
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logging.info("Setting pin %d to 0.0", test_pin)
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self._io_status_controller_interface.set_io(fun=1, pin=test_pin, state=0.0)
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# Wait until the pin state has changed back
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end_time = time.time() + 5
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while pin_state and time.time() < end_time:
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rclpy.spin_once(self.node, timeout_sec=0.1)
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if io_msg is not None:
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pin_state = io_msg.digital_out_states[test_pin].state
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self.assertEqual(pin_state, 0.0)
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# Clean up io subscription
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self.node.destroy_subscription(io_states_sub)

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