Move waiting for a controller to test_common

Author: RobertWilbrandt

ur_robot_driver/test/test_common.py

@@ -26,6 +26,7 @@
 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 import logging
+import time
 
 import rclpy
 from controller_manager_msgs.srv import ListControllers, SwitchController
@@ -207,7 +208,14 @@ class ControllerManagerInterface(
     initial_services={"switch_controller": SwitchController},
     services={"list_controllers": ListControllers},
 ):
-    pass
+    def wait_for_controller(self, controller_name, target_state="active"):
+        while True:
+            controllers = self.list_controllers().controller
+            for controller in controllers:
+                if (controller.name == controller_name) and (controller.state == target_state):
+                    return
+
+            time.sleep(1)
 
 
 class IoStatusInterface(

ur_robot_driver/test/urscript_interface.py

@@ -40,10 +40,10 @@
 
 sys.path.append(os.path.dirname(__file__))
 from test_common import (  # noqa: E402
-    ControllerManagerInterface,
     DashboardInterface,
     IoStatusInterface,
     generate_driver_test_description,
+    ControllerManagerInterface,
 )
 
 ROBOT_IP = "192.168.56.101"
@@ -92,14 +92,7 @@ def setUp(self):
         time.sleep(1)
         self.assertTrue(self._io_status_controller_interface.resend_robot_program().success)
 
-        io_controller_running = False
-
-        while not io_controller_running:
-            time.sleep(1)
-            response = self._controller_manager_interface.list_controllers()
-            for controller in response.controller:
-                if controller.name == "io_and_status_controller":
-                    io_controller_running = controller.state == "active"
+        self._controller_manager_interface.wait_for_controller("io_and_status_controller")
 
     def test_set_io(self):
         """Test setting an IO using a direct program call."""