Add more tests #9
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They belong to #b22fa1d
Also use `MultiThreadedExecutor` for the subscribing nodes. The normal `spin()` lead to `ValueError: generator already executing in ROS2 framework` errors when having them in the same test case.
This should reduce boilerplate code when testing each service interface.
We now have a cleaner separation between topics, services, and actions.
Also use a single fixture `running_driver` for testing topics, services, and actions. This avoids brittle sleeps and makes sure that everything is up and running before starting the actual tests. The `test_startup.py` became obsolete with this.
Also add a function to set control bits in the dummy. This avoids a lot of boilerplate code in tests.
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Reporting the `success` bool flag is like an in-official convention. There's no need for repeating the service's name.
In ROS2, the gripper has a single IP address at startup. This service seems irrelevant for these driver's use cases and adds complexity that's difficult to test and maintain. We get it back once we really need this. The driver _does_ reconnect automatically when the connection drops, but it does it without assuming another IP.
The terminal log output was not easily accessible from client code. We now return the collected information in a result string.
Correct sections that mentioned the `reconnect` and the `gripper_info` services.
Also simplify further action tests with a client wrapper.
This is easier to implement and test with the dummy.
We now return the actual data, not the metadata. Also, we now interpret target position and target speed in the plc commands as unsigned integers (position in um, speed in um/s) as stated in the gripper's TCP/IP manual. Only the data in `self.data` need to be stored and returned as floats. Check this manual for further details: [1]: https://stb.cloud.schunk.com/media/IM0046706.PDF
Also: - Fix the `MotionProfile`s finish condition. - Make tests for absolute positioning more watertight. Running several moves in a row was crucial in spotting the erroneous finish condition. - Remove specific timeouts in the ROS2 action tests. It's more robust this way. If they fail, the CI fails with a reason. - Make sure that the driver resets relevant status bits from previous requests.
The _EGU_ and _EGK_ versions differ in the action goal type. Let's see if we can mimic both at some point.
Also drop setting the failure-related status bits 11 and 16. We'll implement them later in the dummy once we properly test them in our `test_actions.py`.
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Also upgrade the `actions/checkout` version.
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This makes them more robust against these unnecessary CI failures: `assert 76.9995346069336 == 77.0 ± 7.7e-05`
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Also add meaningful values for `max_grip_force`, `min_grip_force`, `max_vel`, and `min_vel` (EGK 40).
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Steps
acknowledgebrake_testfast_stopgripper_infoprepare_for_shutdownrelease_for_manual_movementsoftresetstopgripgrip_with_positiongripper_controlmove_to_absolute_positionmove_to_relative_positionrelease_workpiece