Move all mock harrdware tests in to their own file

Author: URJala

ur_robot_driver/test/integration_test_config_controller.py

@@ -50,23 +50,18 @@
 
 
 @pytest.mark.launch_test
-@launch_testing.parametrize(
-    "tf_prefix, use_mock_hardware", [("", "false"), ("my_ur_", "false"), ("", "true")]
-)
-def generate_test_description(tf_prefix, use_mock_hardware):
-    return generate_driver_test_description(
-        tf_prefix=tf_prefix, use_mock_hardware=use_mock_hardware
-    )
+@launch_testing.parametrize("tf_prefix", [(""), ("my_ur_")])
+def generate_test_description(tf_prefix):
+    return generate_driver_test_description(tf_prefix=tf_prefix)
 
 
 class RobotDriverTest(unittest.TestCase):
     @classmethod
-    def setUpClass(cls, use_mock_hardware):
+    def setUpClass(cls):
         # Initialize the ROS context
         rclpy.init()
         cls.node = Node("robot_driver_test")
         time.sleep(1)
-        cls.mock_hardware = use_mock_hardware == "true"
         cls.init_robot(cls)
 
     @classmethod
@@ -76,10 +71,7 @@ def tearDownClass(cls):
         rclpy.shutdown()
 
     def init_robot(self):
-        if not self.mock_hardware:
-            self._dashboard_interface = DashboardInterface(self.node)
-        else:
-            self._dashboard_interface = None
+        self._dashboard_interface = DashboardInterface(self.node)
         self._controller_manager_interface = ControllerManagerInterface(self.node)
         self._io_status_controller_interface = IoStatusInterface(self.node)
         self._configuration_controller_interface = ConfigurationInterface(self.node)
@@ -96,8 +88,7 @@ def init_robot(self):
         )
 
     def setUp(self):
-        if self._dashboard_interface:
-            self._dashboard_interface.start_robot()
+        self._dashboard_interface.start_robot()
         time.sleep(1)
         self.assertTrue(self._io_status_controller_interface.resend_robot_program().success)
 

ur_robot_driver/test/integration_test_io_controller.py

@@ -52,23 +52,18 @@
 
 
 @pytest.mark.launch_test
-@launch_testing.parametrize(
-    "tf_prefix, use_mock_hardware", [("", "false"), ("my_ur_", "false"), ("", "true")]
-)
-def generate_test_description(tf_prefix, use_mock_hardware):
-    return generate_driver_test_description(
-        tf_prefix=tf_prefix, use_mock_hardware=use_mock_hardware
-    )
+@launch_testing.parametrize("tf_prefix", [(""), ("my_ur_")])
+def generate_test_description(tf_prefix):
+    return generate_driver_test_description(tf_prefix=tf_prefix)
 
 
 class RobotDriverTest(unittest.TestCase):
     @classmethod
-    def setUpClass(cls, use_mock_hardware):
+    def setUpClass(cls):
         # Initialize the ROS context
         rclpy.init()
         cls.node = Node("robot_driver_test")
         time.sleep(1)
-        cls.mock_hardware = use_mock_hardware == "true"
         cls.init_robot(cls)
 
     @classmethod
@@ -78,10 +73,7 @@ def tearDownClass(cls):
         rclpy.shutdown()
 
     def init_robot(self):
-        if not self.mock_hardware:
-            self._dashboard_interface = DashboardInterface(self.node)
-        else:
-            self._dashboard_interface = None
+        self._dashboard_interface = DashboardInterface(self.node)
         self._controller_manager_interface = ControllerManagerInterface(self.node)
         self._io_status_controller_interface = IoStatusInterface(self.node)
         self._configuration_controller_interface = ConfigurationInterface(self.node)
@@ -98,8 +90,7 @@ def init_robot(self):
         )
 
     def setUp(self):
-        if self._dashboard_interface:
-            self._dashboard_interface.start_robot()
+        self._dashboard_interface.start_robot()
         time.sleep(1)
         self.assertTrue(self._io_status_controller_interface.resend_robot_program().success)
 
@@ -109,8 +100,6 @@ def setUp(self):
 
     def test_set_io(self):
         """Test to set an IO and check whether it has been set."""
-        if self.mock_hardware:
-            return True
         # Create io callback to verify result
         io_msg = None
 

ur_robot_driver/test/integration_test_scaled_joint_controller.py

@@ -56,23 +56,18 @@
 
 
 @pytest.mark.launch_test
-@launch_testing.parametrize(
-    "tf_prefix, use_mock_hardware", [("", "false"), ("my_ur_", "false"), ("", "true")]
-)
-def generate_test_description(tf_prefix, use_mock_hardware):
-    return generate_driver_test_description(
-        tf_prefix=tf_prefix, use_mock_hardware=use_mock_hardware
-    )
+@launch_testing.parametrize("tf_prefix", [(""), ("my_ur_")])
+def generate_test_description(tf_prefix):
+    return generate_driver_test_description(tf_prefix=tf_prefix)
 
 
 class RobotDriverTest(unittest.TestCase):
     @classmethod
-    def setUpClass(cls, use_mock_hardware):
+    def setUpClass(cls):
         # Initialize the ROS context
         rclpy.init()
         cls.node = Node("robot_driver_test")
         time.sleep(1)
-        cls.mock_hardware = use_mock_hardware == "true"
         cls.init_robot(cls)
 
     @classmethod
@@ -82,10 +77,7 @@ def tearDownClass(cls):
         rclpy.shutdown()
 
     def init_robot(self):
-        if not self.mock_hardware:
-            self._dashboard_interface = DashboardInterface(self.node)
-        else:
-            self._dashboard_interface = None
+        self._dashboard_interface = DashboardInterface(self.node)
         self._controller_manager_interface = ControllerManagerInterface(self.node)
         self._io_status_controller_interface = IoStatusInterface(self.node)
         self._configuration_controller_interface = ConfigurationInterface(self.node)
@@ -102,8 +94,7 @@ def init_robot(self):
         )
 
     def setUp(self):
-        if self._dashboard_interface:
-            self._dashboard_interface.start_robot()
+        self._dashboard_interface.start_robot()
         time.sleep(1)
         self.assertTrue(self._io_status_controller_interface.resend_robot_program().success)
 
@@ -206,8 +197,6 @@ def test_trajectory_scaled(self, tf_prefix):
 
     def test_trajectory_scaled_aborts_on_violation(self, tf_prefix):
         """Test that the robot correctly aborts the trajectory when the constraints are violated."""
-        if self.mock_hardware:
-            return True
         # Construct test trajectory
         test_trajectory = [
             (Duration(sec=6, nanosec=0), [0.0 for j in ROBOT_JOINTS]),