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UniversalRobots · Aug 28, 2023 · 7d63ba5 · 7d63ba5
1 parent 02938bb
commit 7d63ba5
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Showing 3 changed files with 27 additions and 19 deletions.
diff --git a/ur_robot_driver/test/dashboard_client.py b/ur_robot_driver/test/dashboard_client.py
@@ -82,7 +82,7 @@ def generate_test_description():
         DeclareLaunchArgument(
             "launch_ursim",
             default_value="true",
-            description="Launches the ursim when running the test if yes"
+            description="Launches the ursim when running the test if yes",
         )
     )
 
@@ -122,7 +122,7 @@ def generate_test_description():
         ],
         name="start_ursim",
         output="screen",
-        condition=IfCondition(launch_ursim) 
+        condition=IfCondition(launch_ursim),
     )
 
     return LaunchDescription(declared_arguments + [ReadyToTest(), dashboard_client, ursim])
@@ -181,7 +181,10 @@ def test_switch_on(self):
         # Wait until the robot is booted completely
         end_time = time.time() + 10
         mode = RobotMode.DISCONNECTED
-        while mode not in (RobotMode.POWER_OFF, RobotMode.IDLE, RobotMode.RUNNING) and time.time() < end_time:
+        while (
+            mode not in (RobotMode.POWER_OFF, RobotMode.IDLE, RobotMode.RUNNING)
+            and time.time() < end_time
+        ):
             time.sleep(0.1)
             result = self.call_dashboard_service("get_robot_mode", GetRobotMode.Request())
             self.assertTrue(result.success)

diff --git a/ur_robot_driver/test/robot_driver.py b/ur_robot_driver/test/robot_driver.py
@@ -104,7 +104,7 @@ def generate_test_description(tf_prefix):
         DeclareLaunchArgument(
             "launch_ursim",
             default_value="true",
-            description="Launches the ursim when running the test if True"
+            description="Launches the ursim when running the test if True",
         )
     )
 
@@ -129,7 +129,7 @@ def generate_test_description(tf_prefix):
             "start_joint_controller": "false",
             "tf_prefix": tf_prefix,
         }.items(),
-        condition=IfCondition(launch_ursim)
+        condition=IfCondition(launch_ursim),
     )
 
     ursim = ExecuteProcess(
@@ -148,7 +148,7 @@ def generate_test_description(tf_prefix):
         ],
         name="start_ursim",
         output="screen",
-        condition=IfCondition(launch_ursim) 
+        condition=IfCondition(launch_ursim),
     )
 
     wait_dashboard_server = ExecuteProcess(
@@ -159,12 +159,12 @@ def generate_test_description(tf_prefix):
         ],
         name="wait_dashboard_server",
         output="screen",
-        condition=IfCondition(launch_ursim)
+        condition=IfCondition(launch_ursim),
     )
 
     driver_starter = RegisterEventHandler(
         OnProcessExit(target_action=wait_dashboard_server, on_exit=robot_driver),
-        condition=IfCondition(launch_ursim)
+        condition=IfCondition(launch_ursim),
         )
 
     robot_driver_no_wait = IncludeLaunchDescription(
@@ -184,11 +184,12 @@ def generate_test_description(tf_prefix):
             "start_joint_controller": "false",
             "tf_prefix": tf_prefix,
         }.items(),
-        condition=UnlessCondition(launch_ursim)
+        condition=UnlessCondition(launch_ursim),
     )
 
     return LaunchDescription(
-        declared_arguments + [ReadyToTest(), wait_dashboard_server, ursim, driver_starter, robot_driver_no_wait]
+        declared_arguments
+        + [ReadyToTest(), wait_dashboard_server, ursim, driver_starter, robot_driver_no_wait]
     )
 
 class RobotDriverTest(unittest.TestCase):
@@ -499,7 +500,9 @@ def get_result(self, action_name, goal_response, timeout):
             raise Exception(f"Exception while calling action: {future_res.exception()}")
 
 
-    def waitForController(self, controller_name, controller_status="active", timeout=TIMEOUT_WAIT_SERVICE):
+    def waitForController(
+        self, controller_name, controller_status="active", timeout=TIMEOUT_WAIT_SERVICE
+    ):
         controller_running = False
         end_time = time.time() + timeout
         while controller_running == False and time.time() < end_time:
@@ -513,7 +516,8 @@ def waitForController(self, controller_name, controller_status="active", timeout
 
         if controller_running == False:
             raise Exception(
-                f"Controller {controller_name} did not reach controller state {controller_status} within timeout of {timeout}")
+                f"Controller {controller_name} did not reach controller state {controller_status} within timeout of {timeout}"
+            )
 
 def waitForService(node, srv_name, srv_type, timeout=TIMEOUT_WAIT_SERVICE):
     client = node.create_client(srv_type, srv_name)

diff --git a/ur_robot_driver/test/urscript_interface.py b/ur_robot_driver/test/urscript_interface.py
@@ -92,7 +92,7 @@ def generate_test_description():
         DeclareLaunchArgument(
             "launch_ursim",
             default_value="true",
-            description="Launches the ursim when running the test if True"
+            description="Launches the ursim when running the test if True",
         )
     )
 
@@ -116,7 +116,7 @@ def generate_test_description():
             "launch_dashboard_client": "false",
             "start_joint_controller": "false",
         }.items(),
-        condition=IfCondition(launch_ursim)
+        condition=IfCondition(launch_ursim),
     )
 
     ursim = ExecuteProcess(
@@ -135,7 +135,7 @@ def generate_test_description():
         ],
         name="start_ursim",
         output="screen",
-        condition=IfCondition(launch_ursim) 
+        condition=IfCondition(launch_ursim),
     )
 
     wait_dashboard_server = ExecuteProcess(
@@ -146,13 +146,13 @@ def generate_test_description():
         ],
         name="wait_dashboard_server",
         output="screen",
-        condition=IfCondition(launch_ursim)
+        condition=IfCondition(launch_ursim),
     )
 
     driver_starter = RegisterEventHandler(
         OnProcessExit(target_action=wait_dashboard_server, on_exit=robot_driver),
-        condition=IfCondition(launch_ursim)
-        )
+        condition=IfCondition(launch_ursim),
+    )
 
     robot_driver_no_wait = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
@@ -174,7 +174,8 @@ def generate_test_description():
     )
 
     return LaunchDescription(
-        declared_arguments + [ReadyToTest(), wait_dashboard_server, ursim, driver_starter, robot_driver_no_wait]
+        declared_arguments 
+        + [ReadyToTest(), wait_dashboard_server, ursim, driver_starter, robot_driver_no_wait]
     )
 
 class URScriptInterfaceTest(unittest.TestCase):