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Fix clearpath_tests so they don't crash/hang under certain conditions #220

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Fix clearpath_tests so they don't crash/hang under certain conditions #220

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@civerachb-cpr civerachb-cpr commented May 28, 2025 •
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The tests could crash or hang under some conditions, e.g.

  • tests running on the wrong domain ID
  • e-stop state timeouts

This cleans up the tests and makes them more robust against edge cases.

Other improvements:

  • code cleanup to remove functions that aren't used
  • remove unnecessary entrypoints for each individual test
  • improved IMU testing (should reduce false-negatives on platforms with lower-quality sensors)
  • refined some test output to make pass/fail reasons clearer

Tested on the following platforms:

  • A200: works
  • A300: works
  • J100: works

@civerachb-cpr
Add a new class to handle timeouts to reduce duplication
ad0005f
@civerachb-cpr
Remove node-specific mains, remove .start() from the TestNode class
5577550
@civerachb-cpr
Implement timeout in MCU test so it doesn't hang forever
ba90233
@civerachb-cpr
Remove unnecessary functions from canbus test
8007975
@civerachb-cpr
Implement timeout in the diagnostic test
bc96275
@civerachb-cpr
Implement the new timeout for estop tests. Add an abort() method to k…
a911808 
…ill long-running threads so we don't block for too long. Remove unused import
@civerachb-cpr
Remove unnecessary import
4fb9f08
@civerachb-cpr
Remove start() method from estop test
57e97aa
@civerachb-cpr
Implement new timeout in fan test. Call the abort method in the MCU test
a04e174
@civerachb-cpr
Implement new timeout in imu test
dc04864
@civerachb-cpr
Remove unused import
9db699c
@civerachb-cpr
Implement new timeout in linear acceleration test
d0ff910
@civerachb-cpr
Implement new timeout in rotation test
9eaaac0
@civerachb-cpr
Cleanup
44c1481
@civerachb-cpr civerachb-cpr changed the base branch from rc/jazzy/2.5 to jazzy June 2, 2025 16:44
@civerachb-cpr civerachb-cpr changed the base branch from jazzy to rc/jazzy/2.6 June 2, 2025 16:45
@civerachb-cpr civerachb-cpr marked this pull request as ready for review June 9, 2025 16:39
@civerachb-cpr civerachb-cpr requested a review from a team as a code owner June 9, 2025 16:39
@civerachb-cpr civerachb-cpr removed the request for review from a team June 9, 2025 16:39
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@roni-kreinin roni-kreinin Awaiting requested review from roni-kreinin roni-kreinin is a code owner automatically assigned from clearpathrobotics/clearpath-platform-team

@luis-camero luis-camero Awaiting requested review from luis-camero luis-camero is a code owner automatically assigned from clearpathrobotics/clearpath-platform-team

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