Simplify tests (backport #849)

* Simplify tests (#849)

* Remove duplication of launch description in tests
* Move launch and interfacing boilerplate to common file
* Move all test logs to python logging
This makes it easier to differentiate between ROS and test framework
messages
* Move waiting for a controller to test_common
* Move robot starting to dashboard interface
* Remove unused request definition

(cherry picked from commit b28a870)

* Add UR30

---------

Co-authored-by: RobertWilbrandt <[email protected]>
Co-authored-by: Felix Exner <[email protected]>

Author: 3 people

ur_robot_driver/test/dashboard_client.py

@@ -26,84 +26,23 @@
 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
-
-
+import os
+import sys
 import time
 import unittest
 
 import pytest
 import rclpy
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
-from launch_ros.substitutions import FindPackagePrefix, FindPackageShare
-from launch_testing.actions import ReadyToTest
 from rclpy.node import Node
-from std_srvs.srv import Trigger
 from ur_dashboard_msgs.msg import RobotMode
-from ur_dashboard_msgs.srv import (
-    GetLoadedProgram,
-    GetProgramState,
-    GetRobotMode,
-    IsProgramRunning,
-    Load,
-)
 
-TIMEOUT_WAIT_SERVICE = 10
-# If we download the docker image simultaneously to the tests, it can take quite some time until the
-# dashboard server is reachable and usable.
-TIMEOUT_WAIT_SERVICE_INITIAL = 120
+sys.path.append(os.path.dirname(__file__))
+from test_common import DashboardInterface, generate_dashboard_test_description  # noqa: E402
 
 
 @pytest.mark.launch_test
 def generate_test_description():
-    declared_arguments = []
-
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "ur_type",
-            default_value="ur5e",
-            description="Type/series of used UR robot.",
-            choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20", "ur30"],
-        )
-    )
-
-    ur_type = LaunchConfiguration("ur_type")
-
-    dashboard_client = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            PathJoinSubstitution(
-                [
-                    FindPackageShare("ur_robot_driver"),
-                    "launch",
-                    "ur_dashboard_client.launch.py",
-                ]
-            )
-        ),
-        launch_arguments={
-            "robot_ip": "192.168.56.101",
-        }.items(),
-    )
-    ursim = ExecuteProcess(
-        cmd=[
-            PathJoinSubstitution(
-                [
-                    FindPackagePrefix("ur_robot_driver"),
-                    "lib",
-                    "ur_robot_driver",
-                    "start_ursim.sh",
-                ]
-            ),
-            " ",
-            "-m ",
-            ur_type,
-        ],
-        name="start_ursim",
-        output="screen",
-    )
-
-    return LaunchDescription(declared_arguments + [ReadyToTest(), dashboard_client, ursim])
+    return generate_dashboard_test_description()
 
 
 class DashboardClientTest(unittest.TestCase):
@@ -121,38 +60,7 @@ def tearDownClass(cls):
         rclpy.shutdown()
 
     def init_robot(self):
-        # We wait longer for the first client, as the robot is still starting up
-        power_on_client = waitForService(
-            self.node, "/dashboard_client/power_on", Trigger, timeout=TIMEOUT_WAIT_SERVICE_INITIAL
-        )
-
-        # Connect to all other expected services
-        dashboard_interfaces = {
-            "power_off": Trigger,
-            "brake_release": Trigger,
-            "unlock_protective_stop": Trigger,
-            "restart_safety": Trigger,
-            "get_robot_mode": GetRobotMode,
-            "load_installation": Load,
-            "load_program": Load,
-            "close_popup": Trigger,
-            "get_loaded_program": GetLoadedProgram,
-            "program_state": GetProgramState,
-            "program_running": IsProgramRunning,
-            "play": Trigger,
-            "stop": Trigger,
-        }
-        self.dashboard_clients = {
-            srv_name: waitForService(self.node, f"/dashboard_client/{srv_name}", srv_type)
-            for (srv_name, srv_type) in dashboard_interfaces.items()
-        }
-
-        # Add first client to dict
-        self.dashboard_clients["power_on"] = power_on_client
-
-    #
-    # Test functions
-    #
+        self._dashboard_interface = DashboardInterface(self.node)
 
     def test_switch_on(self):
         """Test power on a robot."""
@@ -161,59 +69,34 @@ def test_switch_on(self):
         mode = RobotMode.DISCONNECTED
         while mode != RobotMode.POWER_OFF and time.time() < end_time:
             time.sleep(0.1)
-            result = self.call_dashboard_service("get_robot_mode", GetRobotMode.Request())
+            result = self._dashboard_interface.get_robot_mode()
             self.assertTrue(result.success)
             mode = result.robot_mode.mode
 
         # Power on robot
-        self.assertTrue(self.call_dashboard_service("power_on", Trigger.Request()).success)
+        self.assertTrue(self._dashboard_interface.power_on().success)
 
         # Wait until robot mode changes
         end_time = time.time() + 10
         mode = RobotMode.DISCONNECTED
         while mode not in (RobotMode.IDLE, RobotMode.RUNNING) and time.time() < end_time:
             time.sleep(0.1)
-            result = self.call_dashboard_service("get_robot_mode", GetRobotMode.Request())
+            result = self._dashboard_interface.get_robot_mode()
             self.assertTrue(result.success)
             mode = result.robot_mode.mode
 
         self.assertIn(mode, (RobotMode.IDLE, RobotMode.RUNNING))
 
         # Release robot brakes
-        self.assertTrue(self.call_dashboard_service("brake_release", Trigger.Request()).success)
+        self.assertTrue(self._dashboard_interface.brake_release().success)
 
         # Wait until robot mode is RUNNING
         end_time = time.time() + 10
         mode = RobotMode.DISCONNECTED
         while mode != RobotMode.RUNNING and time.time() < end_time:
             time.sleep(0.1)
-            result = self.call_dashboard_service("get_robot_mode", GetRobotMode.Request())
+            result = self._dashboard_interface.get_robot_mode()
             self.assertTrue(result.success)
             mode = result.robot_mode.mode
 
         self.assertEqual(mode, RobotMode.RUNNING)
-
-    #
-    # Utility functions
-    #
-
-    def call_dashboard_service(self, srv_name, request):
-        self.node.get_logger().info(
-            f"Calling dashboard service '{srv_name}' with request {request}"
-        )
-        future = self.dashboard_clients[srv_name].call_async(request)
-        rclpy.spin_until_future_complete(self.node, future)
-        if future.result() is not None:
-            self.node.get_logger().info(f"Received result {future.result()}")
-            return future.result()
-        else:
-            raise Exception(f"Exception while calling service: {future.exception()}")
-
-
-def waitForService(node, srv_name, srv_type, timeout=TIMEOUT_WAIT_SERVICE):
-    client = node.create_client(srv_type, srv_name)
-    if client.wait_for_service(timeout) is False:
-        raise Exception(f"Could not reach service '{srv_name}' within timeout of {timeout}")
-
-    node.get_logger().info(f"Successfully connected to service '{srv_name}'")
-    return client