Add a minimalist dummy for simulating communication #8
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This will mimic the real gripper's web server.
stefanscherzinger
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This makes testing easier with non-default ports in the dummy server. The default port (`80`) would require sudo privileges.
That's now more consistent with the rest.
- Move the launch fixture into `conftest.py`. This will probably be used by several test files. - Add a test to check whether the gripper's joint state topic gets published.
That's easier for installation and usage in the driver's test repository. The idea is, still, to keep the dummy ROS2-free in case we want to ship it separately.
Also add a script to read `data.json` from real gripper hardware.
By keeping realistic metadata in the dummy, we can process _offset_-based requests and requests for several instances at the same time. Also implement enum requests and add more tests.
Also split the processing of GET requests in the server depending on the path. This makes the individual functions smaller and better to read.
Also support comments in the `system_parameter_codes` file when reading system parameters from hardware.
We'll later need something less hard-coded here.
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`Success` is more common and more concise.
Also use a convenience method for getting specific driver state variables by topic.
That's cleaner and more concise.
This makes bit operations on these data easier than with immutable strings. Also add image documentation for the different plc data messages and double words.
Also drop the pydantic message type. We currently don't make use of this in the ROS2 C++ driver.
Also - Move behavior-related tests into `test_dummy.py`. They make more sense there - Adapt the ROS2 test for checking whether the driver is ready after startup. The driver should be operational after start by acknowledging internal errors.
Also provide a mechanism to set actual position and velocity in the internal data. These data will be requested periodically by the driver.
We'll need this for toggling the `command received` bit for most plc commands.
This seems the cleanest approach for now for giving immediate results to post requests and having the motion run in the background. Also adapt the unit tests accordingly.
Using a linear motion profile should be sufficient for now.
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This is currently not very helpful. Let's get that back once we are interested in latest updates on `Rolling`.
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Rationale
We need a fast and parallelizable way to test ongoing developments. This should be a simple dummy that simulates the gripper's side of the communication.
Steps
80as default for http requests. This requires sudo privileges and is unhandy for testing.