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Fix flaky controller switch test #1447

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Merged
merged 2 commits into from
Jul 8, 2025
Merged

Fix flaky controller switch test #1447

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1f1b6d6
Fix flaky controller switch test
urfeex Jul 7, 2025
5ff4b0b
Remove waiting for service. That should be included in the interface …
urfeex Jul 8, 2025
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55 changes: 19 additions & 36 deletions ur_robot_driver/test/integration_test_controller_switch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,16 @@
generate_driver_test_description,
)

ALL_CONTROLLERS = [
"scaled_joint_trajectory_controller",
"joint_trajectory_controller",
"forward_position_controller",
"forward_velocity_controller",
"passthrough_trajectory_controller",
"force_mode_controller",
"freedrive_mode_controller",
]


@pytest.mark.launch_test
@launch_testing.parametrize(
Expand Down Expand Up @@ -78,6 +88,8 @@ def init_robot(self):
self._dashboard_interface = DashboardInterface(self.node)
self._controller_manager_interface = ControllerManagerInterface(self.node)
self._io_status_controller_interface = IoStatusInterface(self.node)
for controller in ALL_CONTROLLERS:
self._controller_manager_interface.wait_for_controller(controller)

def setUp(self):
self._dashboard_interface.start_robot()
Expand All @@ -89,15 +101,7 @@ def test_activating_multiple_controllers_same_interface_fails(self):
self.assertTrue(
self._controller_manager_interface.switch_controller(
strictness=SwitchController.Request.BEST_EFFORT,
deactivate_controllers=[
"scaled_joint_trajectory_controller",
"joint_trajectory_controller",
"forward_position_controller",
"forward_velocity_controller",
"passthrough_trajectory_controller",
"force_mode_controller",
"freedrive_mode_controller",
],
deactivate_controllers=ALL_CONTROLLERS,
).ok
)

Expand Down Expand Up @@ -126,15 +130,7 @@ def test_activating_multiple_controllers_different_interface_fails(self):
self.assertTrue(
self._controller_manager_interface.switch_controller(
strictness=SwitchController.Request.BEST_EFFORT,
deactivate_controllers=[
"scaled_joint_trajectory_controller",
"joint_trajectory_controller",
"forward_position_controller",
"forward_velocity_controller",
"force_mode_controller",
"passthrough_trajectory_controller",
"freedrive_mode_controller",
],
deactivate_controllers=ALL_CONTROLLERS,
).ok
)
self.assertFalse(
Expand Down Expand Up @@ -261,7 +257,9 @@ def test_activating_controller_with_running_position_controller_fails(self):
).ok
)

def test_activating_controller_with_running_passthrough_trajectory_controller_fails(self):
def test_activating_controller_with_running_passthrough_trajectory_controller_fails(
self,
):
# Having a position-based controller active, no other controller should be able to
# activate.
self.assertTrue(
Expand Down Expand Up @@ -332,14 +330,7 @@ def test_force_mode_and_trajectory_passthrough_controller_are_compatible(self):
self.assertTrue(
self._controller_manager_interface.switch_controller(
strictness=SwitchController.Request.BEST_EFFORT,
deactivate_controllers=[
"scaled_joint_trajectory_controller",
"joint_trajectory_controller",
"forward_position_controller",
"forward_velocity_controller",
"passthrough_trajectory_controller",
"force_mode_controller",
],
deactivate_controllers=ALL_CONTROLLERS,
).ok
)

Expand Down Expand Up @@ -411,15 +402,7 @@ def test_tool_contact_compatibility(self):
self.assertTrue(
self._controller_manager_interface.switch_controller(
strictness=SwitchController.Request.BEST_EFFORT,
deactivate_controllers=[
"scaled_joint_trajectory_controller",
"joint_trajectory_controller",
"forward_position_controller",
"forward_velocity_controller",
"passthrough_trajectory_controller",
"force_mode_controller",
"tool_contact_controller",
],
deactivate_controllers=ALL_CONTROLLERS,
).ok
)

Expand Down
15 changes: 10 additions & 5 deletions ur_robot_driver/test/test_common.py
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Original file line number Diff line number Diff line change
Expand Up @@ -256,14 +256,19 @@ class ControllerManagerInterface(
},
services={"list_controllers": ListControllers},
):
def wait_for_controller(self, controller_name, target_state="active"):
while True:
def wait_for_controller(self, controller_name, target_state=None, timeout=TIMEOUT_WAIT_SERVICE):
start_time = time.time()
while time.time() - start_time < timeout:
controllers = self.list_controllers().controller
for controller in controllers:
if (controller.name == controller_name) and (controller.state == target_state):
return

if controller.name == controller_name:
if (target_state is None) or (controller.state == target_state):
return
time.sleep(1)
raise Exception(
"Controller '%s' not found or not in state '%s' within %fs"
% (controller_name, target_state, timeout)
)


class IoStatusInterface(
Expand Down
4 changes: 3 additions & 1 deletion ur_robot_driver/test/urscript_interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -81,7 +81,9 @@ def setUp(self):
time.sleep(1)
self.assertTrue(self._io_status_controller_interface.resend_robot_program().success)

self._controller_manager_interface.wait_for_controller("io_and_status_controller")
self._controller_manager_interface.wait_for_controller(
"io_and_status_controller", target_state="active"
)

def test_set_io(self):
"""Test setting an IO using a direct program call."""
Expand Down
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