From ad0005fa67464026a898ceb905ad3e2e9b7fab85 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Mon, 2 Jun 2025 11:46:54 -0400
Subject: [PATCH 01/24] Add a new class to handle timeouts to reduce
 duplication

---
 clearpath_tests/clearpath_tests/timer.py | 65 ++++++++++++++++++++++++
 1 file changed, 65 insertions(+)
 create mode 100644 clearpath_tests/clearpath_tests/timer.py

diff --git a/clearpath_tests/clearpath_tests/timer.py b/clearpath_tests/clearpath_tests/timer.py
new file mode 100644
index 00000000..23598dbe
--- /dev/null
+++ b/clearpath_tests/clearpath_tests/timer.py
@@ -0,0 +1,65 @@
+#!/usr/bin/env python3
+# Software License Agreement (BSD)
+#
+# @author    Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
+# @copyright (c) 2025, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+import threading
+import time
+
+from rclpy.duration import Duration
+from rclpy.node import Node
+
+class Timeout:
+    """
+    Reusable class for implementing basic timeouts during ROS operation.
+
+    Starts a background thread that spins until the time has elapsed.
+    """
+    def __init__(self, node: Node, duration: float):
+        self.node = node
+        self.lock = threading.Lock()
+        self.duration = Duration(seconds=duration)
+        self.time_thread = threading.Thread(
+            target=self.run_timer
+        )
+
+        self.is_elapsed = False
+
+    @property
+    def elapsed(self):
+        self.lock.acquire()
+        elapsed = self.is_elapsed
+        self.lock.release()
+        return elapsed
+
+    def run_timer(self):
+        start_time = self.node.get_clock().now()
+        while self.node.get_clock().now() - start_time >= self.duration:
+            time.sleep(0.01)
+
+        self.lock.acquire()
+        self.is_elapsed = True
+        self.lock.release()

From 5577550b54566fda6e5d845a08ec2d9356f8589b Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Mon, 2 Jun 2025 11:49:24 -0400
Subject: [PATCH 02/24] Remove node-specific mains, remove .start() from the
 TestNode class

---
 .../clearpath_tests/canbus_test.py            | 20 ---------------
 .../clearpath_tests/diagnostic_test.py        | 20 ---------------
 clearpath_tests/clearpath_tests/drive_test.py | 25 -------------------
 clearpath_tests/clearpath_tests/estop_test.py | 20 ---------------
 clearpath_tests/clearpath_tests/fan_test.py   | 19 --------------
 clearpath_tests/clearpath_tests/imu_test.py   | 20 ---------------
 clearpath_tests/clearpath_tests/light_test.py | 20 ---------------
 .../linear_acceleration_test.py               | 24 ------------------
 clearpath_tests/clearpath_tests/mcu_test.py   | 20 ---------------
 .../clearpath_tests/rotation_test.py          | 24 ------------------
 clearpath_tests/clearpath_tests/test_node.py  |  8 ------
 clearpath_tests/clearpath_tests/wifi_test.py  | 20 ---------------
 12 files changed, 240 deletions(-)

diff --git a/clearpath_tests/clearpath_tests/canbus_test.py b/clearpath_tests/clearpath_tests/canbus_test.py
index b5e2891a..63558fbb 100644
--- a/clearpath_tests/clearpath_tests/canbus_test.py
+++ b/clearpath_tests/clearpath_tests/canbus_test.py
@@ -178,23 +178,3 @@ def get_test_result_details(self):
 
         details += '\nDevices that do not use CANopen may be incorrectly identified in the list above'  # noqa: E501
         return details
-
-
-def main():
-    setup_path = BaseGenerator.get_args()
-    rclpy.init()
-
-    ct = CanbusTestNode(setup_path=setup_path)
-
-    try:
-        ct.start()
-        rclpy.spin(ct)
-    except KeyboardInterrupt:
-        pass
-
-    ct.destroy_node()
-    rclpy.shutdown()
-
-
-if __name__ == '__main__':
-    main()
diff --git a/clearpath_tests/clearpath_tests/diagnostic_test.py b/clearpath_tests/clearpath_tests/diagnostic_test.py
index 5f159206..ee6c8476 100644
--- a/clearpath_tests/clearpath_tests/diagnostic_test.py
+++ b/clearpath_tests/clearpath_tests/diagnostic_test.py
@@ -257,23 +257,3 @@ def get_test_result_details(self):
                 details += f'* {warn.name}: {warn.message}\n'
 
         return details
-
-
-def main():
-    setup_path = BaseGenerator.get_args()
-    rclpy.init()
-
-    dt = DiagnosticTestNode(setup_path)
-
-    try:
-        dt.start()
-        rclpy.spin(dt)
-    except KeyboardInterrupt:
-        pass
-
-    dt.destroy_node()
-    rclpy.shutdown()
-
-
-if __name__ == '__main__':
-    main()
diff --git a/clearpath_tests/clearpath_tests/drive_test.py b/clearpath_tests/clearpath_tests/drive_test.py
index b2c03cf6..f1ff6afc 100644
--- a/clearpath_tests/clearpath_tests/drive_test.py
+++ b/clearpath_tests/clearpath_tests/drive_test.py
@@ -185,28 +185,3 @@ def run_test(self):
                 ))
 
         return results
-
-
-def main():
-    setup_path = BaseGenerator.get_args()
-    rclpy.init()
-
-    try:
-        dt = DriveTestNode(setup_path)
-        dt.start()
-        try:
-            while not dt.test_done:
-                rclpy.spin_once(dt)
-            dt.get_logger().info('Test complete')
-        except KeyboardInterrupt:
-            dt.get_logger().info('User aborted! Cleaning up & exiting...')
-        dt.destroy_node()
-    except TimeoutError:
-        # This error is already logged when it's raised
-        pass
-
-    rclpy.shutdown()
-
-
-if __name__ == '__main__':
-    main()
diff --git a/clearpath_tests/clearpath_tests/estop_test.py b/clearpath_tests/clearpath_tests/estop_test.py
index 7b220a04..b8313148 100644
--- a/clearpath_tests/clearpath_tests/estop_test.py
+++ b/clearpath_tests/clearpath_tests/estop_test.py
@@ -266,23 +266,3 @@ def wait_for_estop(self, state, timeout_seconds=10):
             now = self.get_clock().now()
 
         return self.estop_engaged == state
-
-
-def main():
-    setup_path = BaseGenerator.get_args()
-    rclpy.init()
-
-    st = EstopTestNode('', setup_path=setup_path)
-
-    try:
-        st.start()
-        rclpy.spin(st)
-    except KeyboardInterrupt:
-        pass
-
-    st.destroy_node()
-    rclpy.shutdown()
-
-
-if __name__ == '__main__':
-    main()
diff --git a/clearpath_tests/clearpath_tests/fan_test.py b/clearpath_tests/clearpath_tests/fan_test.py
index a8d11969..b9cdde03 100755
--- a/clearpath_tests/clearpath_tests/fan_test.py
+++ b/clearpath_tests/clearpath_tests/fan_test.py
@@ -172,22 +172,3 @@ def wait_3s():
             results.append(ClearpathTestResult(False, 'Fans (all on)', None))
 
         return results
-
-
-def main():
-    setup_path = BaseGenerator.get_args()
-    rclpy.init()
-
-    fan_test = FanTestNode(setup_path)
-
-    try:
-        rclpy.spin(fan_test)
-    except KeyboardInterrupt:
-        pass
-
-    fan_test.destroy_node()
-    rclpy.shutdown()
-
-
-if __name__ == '__main__':
-    main()
diff --git a/clearpath_tests/clearpath_tests/imu_test.py b/clearpath_tests/clearpath_tests/imu_test.py
index 39b074f6..3fcb8e0f 100644
--- a/clearpath_tests/clearpath_tests/imu_test.py
+++ b/clearpath_tests/clearpath_tests/imu_test.py
@@ -246,23 +246,3 @@ def check_gravity(self, label, x_angle=0.0, y_angle=0.0) -> ClearpathTestResult:
                 f'{self.test_name} ({label})',
                 f'Measured gravity vector: ({avg_x:0.2f}, {avg_y:0.2f}, {avg_z:0.2f}) Expected: ({expected_x:0.2f}, {expected_y:0.2f}, {expected_z:0.2f})'  # noqa: E501
             )
-
-
-def main():
-    setup_path = BaseGenerator.get_args()
-    rclpy.init()
-
-    it = ImuTestNode(imu_num=0, setup_path=setup_path)
-
-    try:
-        it.start()
-        rclpy.spin(it)
-    except KeyboardInterrupt:
-        pass
-
-    it.destroy_node()
-    rclpy.shutdown()
-
-
-if __name__ == '__main__':
-    main()
diff --git a/clearpath_tests/clearpath_tests/light_test.py b/clearpath_tests/clearpath_tests/light_test.py
index d66b3f4d..b90db945 100755
--- a/clearpath_tests/clearpath_tests/light_test.py
+++ b/clearpath_tests/clearpath_tests/light_test.py
@@ -386,23 +386,3 @@ def run_ui(self):
                 results.append(ClearpathTestResult(True, 'Bottom row white', None))
 
         self.test_done = True
-
-
-def main():
-    setup_path = BaseGenerator.get_args()
-    rclpy.init()
-
-    lt = LightTestNode(setup_path=setup_path)
-
-    try:
-        lt.start()
-        rclpy.spin(lt)
-    except KeyboardInterrupt:
-        pass
-
-    lt.destroy_node()
-    rclpy.shutdown()
-
-
-if __name__ == '__main__':
-    main()
diff --git a/clearpath_tests/clearpath_tests/linear_acceleration_test.py b/clearpath_tests/clearpath_tests/linear_acceleration_test.py
index 85c663fc..ae364f33 100644
--- a/clearpath_tests/clearpath_tests/linear_acceleration_test.py
+++ b/clearpath_tests/clearpath_tests/linear_acceleration_test.py
@@ -222,27 +222,3 @@ def run_test(self):
             ))
 
         return results
-
-
-def main():
-    setup_path = BaseGenerator.get_args()
-    rclpy.init()
-
-    try:
-        rt = LinearAccelerationTestNode(setup_path)
-        rt.start()
-        try:
-            while not rt.test_done:
-                rclpy.spin_once(rt)
-            rt.get_logger().info('Test complete')
-        except KeyboardInterrupt:
-            rt.get_logger().info('User aborted! Cleaning up & exiting...')
-        rt.destroy_node()
-    except TimeoutError:
-        # This error is already logged when it's raised
-        pass
-    rclpy.shutdown()
-
-
-if __name__ == '__main__':
-    main()
diff --git a/clearpath_tests/clearpath_tests/mcu_test.py b/clearpath_tests/clearpath_tests/mcu_test.py
index 8b426bfd..5b3076d6 100644
--- a/clearpath_tests/clearpath_tests/mcu_test.py
+++ b/clearpath_tests/clearpath_tests/mcu_test.py
@@ -272,23 +272,3 @@ def get_test_result_details(self):
 * Version: {'unknown' if not firmware_version else firmware_version}
 
 """
-
-
-def main():
-    setup_path = BaseGenerator.get_args()
-    rclpy.init()
-
-    mt = McuTestNode(setup_path=setup_path)
-
-    try:
-        mt.start()
-        rclpy.spin(mt)
-    except KeyboardInterrupt:
-        pass
-
-    mt.destroy_node()
-    rclpy.shutdown()
-
-
-if __name__ == '__main__':
-    main()
diff --git a/clearpath_tests/clearpath_tests/rotation_test.py b/clearpath_tests/clearpath_tests/rotation_test.py
index 449ff218..7bd2e2ea 100644
--- a/clearpath_tests/clearpath_tests/rotation_test.py
+++ b/clearpath_tests/clearpath_tests/rotation_test.py
@@ -222,27 +222,3 @@ def run_test(self):
             ))
 
         return results
-
-
-def main():
-    setup_path = BaseGenerator.get_args()
-    rclpy.init()
-
-    try:
-        rt = RotationTestNode(setup_path)
-        rt.start()
-        try:
-            while not rt.test_done:
-                rclpy.spin_once(rt)
-            rt.get_logger().info('Test complete')
-        except KeyboardInterrupt:
-            rt.get_logger().info('User aborted! Cleaning up & exiting...')
-        rt.destroy_node()
-    except TimeoutError:
-        # This error is already logged when it's raised
-        pass
-    rclpy.shutdown()
-
-
-if __name__ == '__main__':
-    main()
diff --git a/clearpath_tests/clearpath_tests/test_node.py b/clearpath_tests/clearpath_tests/test_node.py
index ea4d57e5..0fa8eeec 100644
--- a/clearpath_tests/clearpath_tests/test_node.py
+++ b/clearpath_tests/clearpath_tests/test_node.py
@@ -78,14 +78,6 @@ def get_test_result_details(self) -> str:
         """
         return None
 
-    def start(self):
-        """
-        Run this node normally as a standard ROS node without any user interaction.
-
-        This function must be implemented by all children
-        """
-        raise NotImplementedError()
-
     @staticmethod
     def promptYN(message: str, default: str = 'Y'):
         """
diff --git a/clearpath_tests/clearpath_tests/wifi_test.py b/clearpath_tests/clearpath_tests/wifi_test.py
index cb9c7c17..02669295 100644
--- a/clearpath_tests/clearpath_tests/wifi_test.py
+++ b/clearpath_tests/clearpath_tests/wifi_test.py
@@ -184,23 +184,3 @@ def run_test(self):
                 ))
 
         return results
-
-
-def main():
-    setup_path = BaseGenerator.get_args()
-    rclpy.init()
-
-    wt = WifiTestNode(setup_path)
-
-    try:
-        wt.start()
-        rclpy.spin(wt)
-    except KeyboardInterrupt:
-        pass
-
-    wt.destroy_node()
-    rclpy.shutdown()
-
-
-if __name__ == '__main__':
-    main()

From ba9023369b55ab1b487ad7d8d841a0490fcfffd6 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Mon, 2 Jun 2025 12:02:42 -0400
Subject: [PATCH 03/24] Implement timeout in MCU test so it doesn't hang
 forever

---
 clearpath_tests/clearpath_tests/mcu_test.py | 31 ++++-----------------
 clearpath_tests/clearpath_tests/timer.py    | 10 +++----
 2 files changed, 10 insertions(+), 31 deletions(-)

diff --git a/clearpath_tests/clearpath_tests/mcu_test.py b/clearpath_tests/clearpath_tests/mcu_test.py
index 5b3076d6..ae773572 100644
--- a/clearpath_tests/clearpath_tests/mcu_test.py
+++ b/clearpath_tests/clearpath_tests/mcu_test.py
@@ -32,14 +32,12 @@
 import time
 
 from clearpath_config.common.types.platform import Platform
-from clearpath_generator_common.common import BaseGenerator
 from clearpath_platform_msgs.msg import Status
 from clearpath_tests.test_node import ClearpathTestNode, ClearpathTestResult
+from clearpath_tests.timer import Timeout
 
 import rclpy
 from rclpy.qos import qos_profile_sensor_data
-from rclpy.time import Duration
-
 
 MCU_IP = 1
 MCU_SERIAL = 2
@@ -192,41 +190,22 @@ def get_firmware_version(self):
         def mcu_callback(status):
             self.mcu_status = status
 
-        mcu_sub = self.create_subscription(
+        self.mcu_sub = self.create_subscription(
             Status,
             f'/{self.namespace}/platform/mcu/status',
             mcu_callback,
             qos_profile_sensor_data,
         )
 
-        start_at = self.get_clock().now()
-        timeout_duration = Duration(seconds=10)
-        while self.get_clock().now() - start_at <= timeout_duration and self.mcu_status is None:
-            rclpy.spin_once(self)
-        mcu_sub.destroy()
+        timeout = Timeout(self, 5)
+        while not timeout.elapsed and self.mcu_status is None:
+            rclpy.spin_once(self, timeout_sec=1)
 
         if self.mcu_status is None:
             return (None, None)
         else:
             return (self.mcu_status.hardware_id, self.mcu_status.firmware_version)
 
-    def start(self):
-        while True:
-            if self.mode == MCU_IP:
-                if self.ping_ip(self.address):
-                    self.get_logger().info(f'MCU is responded to ping {self.address}')
-                else:
-                    self.get_logger().warning(f'MCU did not respond to ping {self.address}')
-            elif self.mode == MCU_SERIAL:
-                if self.check_serial_exists(self.address):
-                    if self.check_serial_permissions(self.address):
-                        self.get_logger().info(f'MCU handle {self.address} exists with RW permissions')  # noqa: E501
-                    else:
-                        self.get_logger().warning(f'Invalid permissions for MCU handle {self.address}')  # noqa: E501
-                else:
-                    self.get_logger().warning(f'MCU handle {self.address} does not exist')
-                time.sleep(5)
-
     def run_test(self):
         if self.mode == MCU_IP:
             if self.ping_ip(self.address):
diff --git a/clearpath_tests/clearpath_tests/timer.py b/clearpath_tests/clearpath_tests/timer.py
index 23598dbe..df604439 100644
--- a/clearpath_tests/clearpath_tests/timer.py
+++ b/clearpath_tests/clearpath_tests/timer.py
@@ -45,21 +45,21 @@ def __init__(self, node: Node, duration: float):
         self.time_thread = threading.Thread(
             target=self.run_timer
         )
+        self.time_thread.start()
 
-        self.is_elapsed = False
+        self.__is_elapsed = False
 
     @property
     def elapsed(self):
         self.lock.acquire()
-        elapsed = self.is_elapsed
+        elapsed = self.__is_elapsed
         self.lock.release()
         return elapsed
 
     def run_timer(self):
         start_time = self.node.get_clock().now()
-        while self.node.get_clock().now() - start_time >= self.duration:
+        while self.node.get_clock().now() - start_time < self.duration:
             time.sleep(0.01)
-
         self.lock.acquire()
-        self.is_elapsed = True
+        self.__is_elapsed = True
         self.lock.release()

From 8007975b04c16f0b1e43d0c49f5be08762015c27 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Mon, 2 Jun 2025 12:03:32 -0400
Subject: [PATCH 04/24] Remove unnecessary functions from canbus test

---
 clearpath_tests/clearpath_tests/canbus_test.py | 12 ------------
 1 file changed, 12 deletions(-)

diff --git a/clearpath_tests/clearpath_tests/canbus_test.py b/clearpath_tests/clearpath_tests/canbus_test.py
index 63558fbb..78833afc 100644
--- a/clearpath_tests/clearpath_tests/canbus_test.py
+++ b/clearpath_tests/clearpath_tests/canbus_test.py
@@ -29,11 +29,8 @@
 import re
 import subprocess
 
-from clearpath_generator_common.common import BaseGenerator
 from clearpath_tests.test_node import ClearpathTestNode, ClearpathTestResult
 
-import rclpy
-
 
 class CanbusTestNode(ClearpathTestNode):
     """Check the output of candump and count the number if IDs."""
@@ -68,15 +65,6 @@ def __init__(
 
         self.test_name = f'CAN {self.can_interface}'
 
-    def start(self):
-        while True:
-            result = self.read_can_log()
-
-            if result.success:
-                self.get_logger().info(result.message)
-            else:
-                self.get_logger().warning(result.message)
-
     def run_test(self):
         self.get_logger().info(f'Collecting CAN messages on {self.can_interface}...')
         result = self.read_can_log()

From bc962753237bcff4778023111d01e67fd535f030 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Mon, 2 Jun 2025 12:10:20 -0400
Subject: [PATCH 05/24] Implement timeout in the diagnostic test

---
 .../clearpath_tests/diagnostic_test.py        | 27 +++++++------------
 1 file changed, 10 insertions(+), 17 deletions(-)

diff --git a/clearpath_tests/clearpath_tests/diagnostic_test.py b/clearpath_tests/clearpath_tests/diagnostic_test.py
index ee6c8476..193eca5a 100644
--- a/clearpath_tests/clearpath_tests/diagnostic_test.py
+++ b/clearpath_tests/clearpath_tests/diagnostic_test.py
@@ -29,14 +29,13 @@
 import re
 
 from clearpath_config.common.types.platform import Platform
-from clearpath_generator_common.common import BaseGenerator
 from clearpath_tests.test_node import ClearpathTestNode, ClearpathTestResult
+from clearpath_tests.timer import Timeout
 
 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus
 
 import rclpy
 from rclpy.qos import qos_profile_system_default
-from rclpy.time import Duration
 
 
 PLATFORM_ANY = '*'
@@ -188,27 +187,21 @@ def diagnostic_callback(self, diagnostic_array):
             elif status.level == DiagnosticStatus.STALE:
                 pass
 
-    def start(self):
-        self.diagnostc_sub = self.create_subscription(
-            DiagnosticArray,
-            f'/{self.namespace}/diagnostics',
-            self.diagnostic_callback,
-            qos_profile_system_default
-        )
-
     def run_test(self):
         results = []
-
         self.test_in_progress = True
-        self.start()
 
         # collect 30s worth of data
-        start_time = self.get_clock().now()
-        end_time = start_time + Duration(seconds=30.0)
-
         self.get_logger().info('Collecting 30 seconds of diagnostic data...')
-        while self.get_clock().now() < end_time:
-            rclpy.spin_once(self)
+        self.diagnostc_sub = self.create_subscription(
+            DiagnosticArray,
+            f'/{self.namespace}/diagnostics',
+            self.diagnostic_callback,
+            qos_profile_system_default
+        )
+        timeout = Timeout(self, 30)
+        while not timeout.elapsed:
+            rclpy.spin_once(self, timeout_sec=1.0)
 
         if len(self.warnings) == 0 and len(self.errors) == 0 and len(self.allowed_errors) == 0:
             results.append(ClearpathTestResult(True, 'Diagnostics', 'No errors, no warnings'))

From a911808854ff2c11a945f5dcd450558c0fa93645 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Mon, 2 Jun 2025 12:21:36 -0400
Subject: [PATCH 06/24] Implement the new timeout for estop tests. Add an
 abort() method to kill long-running threads so we don't block for too long.
 Remove unused import

---
 clearpath_tests/clearpath_tests/drive_test.py |  2 --
 clearpath_tests/clearpath_tests/estop_test.py | 28 +++++++++----------
 clearpath_tests/clearpath_tests/timer.py      | 20 ++++++-------
 3 files changed, 23 insertions(+), 27 deletions(-)

diff --git a/clearpath_tests/clearpath_tests/drive_test.py b/clearpath_tests/clearpath_tests/drive_test.py
index f1ff6afc..2d945751 100644
--- a/clearpath_tests/clearpath_tests/drive_test.py
+++ b/clearpath_tests/clearpath_tests/drive_test.py
@@ -28,8 +28,6 @@
 # POSSIBILITY OF SUCH DAMAGE.
 import math
 
-from clearpath_generator_common.common import BaseGenerator
-
 from clearpath_tests.mobility_test import MobilityTestNode
 from clearpath_tests.test_node import ClearpathTestResult
 
diff --git a/clearpath_tests/clearpath_tests/estop_test.py b/clearpath_tests/clearpath_tests/estop_test.py
index b8313148..ead7932a 100644
--- a/clearpath_tests/clearpath_tests/estop_test.py
+++ b/clearpath_tests/clearpath_tests/estop_test.py
@@ -29,8 +29,8 @@
 import threading
 import time
 
-from clearpath_generator_common.common import BaseGenerator
 from clearpath_tests.test_node import ClearpathTestNode, ClearpathTestResult
+from clearpath_tests.timer import Timeout
 
 from geometry_msgs.msg import TwistStamped
 import rclpy
@@ -105,7 +105,7 @@ def run_test(self):
         ui_thread = threading.Thread(target=self.run_ui)
         ui_thread.start()
         while not self.test_done:
-            rclpy.spin_once(self)
+            rclpy.spin_once(self, timeout_sec=1.0)
         ui_thread.join()
         return self.results
 
@@ -133,14 +133,14 @@ def run_ui(self):
             return
 
         # wait until we know the state of the e-stop
-        start_time = self.get_clock().now()
-        timeout = Duration(seconds=10)
+        timeout = Timeout(self, 10.0)
         print(f'Getting {self.estop_type} status...')
         while (
-            self.estop_engaged is None and
-            (self.get_clock().now() - start_time) < timeout
+            self.estop_engaged is None
+            and not timeout.elapsed
         ):
             time.sleep(0.1)
+        timeout.abort()
 
         if self.estop_engaged is None:
             results.append(ClearpathTestResult(
@@ -240,9 +240,8 @@ def run_ui(self):
     def command_wheels(self):
         self.cmd_vel.twist.linear.x = 0.1
 
-        start_time = self.get_clock().now()
-        duration = Duration(seconds=2)
-        while (self.get_clock().now() - start_time) < duration:
+        timeout = Timeout(self, 2.0)
+        while not timeout.elapsed:
             pass
 
         self.cmd_vel.twist.linear.x = 0.0
@@ -256,13 +255,12 @@ def wait_for_estop(self, state, timeout_seconds=10):
 
         @return  True if the e-stop state is in the desired state, otherwise False
         """
-        start_time = self.get_clock().now()
-        now = self.get_clock().now()
-        timeout = Duration(seconds=timeout_seconds)
+        timeout = Timeout(self, timeout_seconds)
         while (
-            self.estop_engaged != state and
-            (now - start_time) < timeout
+            self.estop_engaged != state
+            and not timeout.elapsed
         ):
-            now = self.get_clock().now()
+            pass
+        timeout.abort()
 
         return self.estop_engaged == state
diff --git a/clearpath_tests/clearpath_tests/timer.py b/clearpath_tests/clearpath_tests/timer.py
index df604439..22d7b8ff 100644
--- a/clearpath_tests/clearpath_tests/timer.py
+++ b/clearpath_tests/clearpath_tests/timer.py
@@ -40,26 +40,26 @@ class Timeout:
     """
     def __init__(self, node: Node, duration: float):
         self.node = node
-        self.lock = threading.Lock()
         self.duration = Duration(seconds=duration)
+        self.__abort_signal = False
+        self.__is_elapsed = False
         self.time_thread = threading.Thread(
             target=self.run_timer
         )
         self.time_thread.start()
 
-        self.__is_elapsed = False
-
     @property
     def elapsed(self):
-        self.lock.acquire()
-        elapsed = self.__is_elapsed
-        self.lock.release()
-        return elapsed
+        return self.__is_elapsed
+
+    def abort(self):
+        self.__abort_signal = True
 
     def run_timer(self):
         start_time = self.node.get_clock().now()
-        while self.node.get_clock().now() - start_time < self.duration:
+        while (
+            self.node.get_clock().now() - start_time < self.duration
+            and not self.__abort_signal
+        ):
             time.sleep(0.01)
-        self.lock.acquire()
         self.__is_elapsed = True
-        self.lock.release()

From 4fb9f08af97cc776763732d347fdd74439204981 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Mon, 2 Jun 2025 12:22:39 -0400
Subject: [PATCH 07/24] Remove unnecessary import

---
 clearpath_tests/clearpath_tests/estop_test.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/clearpath_tests/clearpath_tests/estop_test.py b/clearpath_tests/clearpath_tests/estop_test.py
index ead7932a..570bdc40 100644
--- a/clearpath_tests/clearpath_tests/estop_test.py
+++ b/clearpath_tests/clearpath_tests/estop_test.py
@@ -34,7 +34,6 @@
 
 from geometry_msgs.msg import TwistStamped
 import rclpy
-from rclpy.duration import Duration
 from rclpy.qos import qos_profile_sensor_data, qos_profile_system_default
 from std_msgs.msg import Bool
 

From 57e97aa47c8bcc1d5606931a40b5cc4bda514212 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Mon, 2 Jun 2025 12:23:12 -0400
Subject: [PATCH 08/24] Remove start() method from estop test

---
 clearpath_tests/clearpath_tests/estop_test.py | 16 +++++++---------
 1 file changed, 7 insertions(+), 9 deletions(-)

diff --git a/clearpath_tests/clearpath_tests/estop_test.py b/clearpath_tests/clearpath_tests/estop_test.py
index 570bdc40..af4a169d 100644
--- a/clearpath_tests/clearpath_tests/estop_test.py
+++ b/clearpath_tests/clearpath_tests/estop_test.py
@@ -71,14 +71,6 @@ def estop_callback(self, msg: Bool):
                 state = 'clear'
             self.get_logger().info(f'{self.estop_type} state: {state}')
 
-    def start(self):
-        self.estop_sub = self.create_subscription(
-            Bool,
-            f'/{self.namespace}/platform/emergency_stop',
-            self.estop_callback,
-            qos_profile_sensor_data
-        )
-
     def run_test(self):
         if self.optional:
             user_input = self.promptYN(
@@ -89,7 +81,13 @@ def run_test(self):
                 return [ClearpathTestResult(None, self.test_name, 'Skipped; component not installed')]  # noqa: E501
 
         self.test_in_progress = True
-        self.start()
+
+        self.estop_sub = self.create_subscription(
+            Bool,
+            f'/{self.namespace}/platform/emergency_stop',
+            self.estop_callback,
+            qos_profile_sensor_data
+        )
 
         self.cmd_vel_pub = self.create_publisher(
             TwistStamped,

From a04e1744a23e18b446685b3150fd8ade227e952f Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Mon, 2 Jun 2025 12:26:01 -0400
Subject: [PATCH 09/24] Implement new timeout in fan test. Call the abort
 method in the MCU test

---
 clearpath_tests/clearpath_tests/fan_test.py | 18 ++++++++----------
 clearpath_tests/clearpath_tests/mcu_test.py |  1 +
 2 files changed, 9 insertions(+), 10 deletions(-)

diff --git a/clearpath_tests/clearpath_tests/fan_test.py b/clearpath_tests/clearpath_tests/fan_test.py
index b9cdde03..5f99432f 100755
--- a/clearpath_tests/clearpath_tests/fan_test.py
+++ b/clearpath_tests/clearpath_tests/fan_test.py
@@ -26,12 +26,11 @@
 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
-from clearpath_generator_common.common import BaseGenerator
 from clearpath_platform_msgs.msg import Fans, Status
 from clearpath_tests.test_node import ClearpathTestNode, ClearpathTestResult
+from clearpath_tests.timer import Timeout
 
 import rclpy
-from rclpy.duration import Duration
 from rclpy.qos import qos_profile_sensor_data
 
 
@@ -65,10 +64,10 @@ def check_firmware_version(self):
         """
         self.mcu_status = None
 
-        start_at = self.get_clock().now()
-        timeout_duration = Duration(seconds=10)
-        while self.get_clock().now() - start_at <= timeout_duration and self.mcu_status is None:
-            rclpy.spin_once(self)
+        timeout = Timeout(self, 10.0)
+        while not timeout.elapsed and self.mcu_status is None:
+            rclpy.spin_once(self, timeout_sec=1.0)
+        timeout.abort()
 
         if self.mcu_status is None:
             return (None, False)
@@ -134,10 +133,9 @@ def run_test(self):
 
         def wait_3s():
             self.get_logger().info('Waiting for fans to spin up/down...')
-            start = self.get_clock().now()
-            sleep_time = Duration(seconds=3)
-            while self.get_clock().now() - start < sleep_time:
-                rclpy.spin_once(self)
+            timeout = Timeout(self, 3.0)
+            while not timeout.elapsed:
+                rclpy.spin_once(self, timeout_sec=1.0)
 
         for i in range(self.n_fans):
             self.fan_msg.fans[i] = 0
diff --git a/clearpath_tests/clearpath_tests/mcu_test.py b/clearpath_tests/clearpath_tests/mcu_test.py
index ae773572..dfde8b8d 100644
--- a/clearpath_tests/clearpath_tests/mcu_test.py
+++ b/clearpath_tests/clearpath_tests/mcu_test.py
@@ -200,6 +200,7 @@ def mcu_callback(status):
         timeout = Timeout(self, 5)
         while not timeout.elapsed and self.mcu_status is None:
             rclpy.spin_once(self, timeout_sec=1)
+        timeout.abort()
 
         if self.mcu_status is None:
             return (None, None)

From dc0486497d705fc82e7fe61b5d521764d153885a Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Mon, 2 Jun 2025 12:31:27 -0400
Subject: [PATCH 10/24] Implement new timeout in imu test

---
 clearpath_tests/clearpath_tests/imu_test.py | 26 +++++++++------------
 1 file changed, 11 insertions(+), 15 deletions(-)

diff --git a/clearpath_tests/clearpath_tests/imu_test.py b/clearpath_tests/clearpath_tests/imu_test.py
index 3fcb8e0f..26ad9d8f 100644
--- a/clearpath_tests/clearpath_tests/imu_test.py
+++ b/clearpath_tests/clearpath_tests/imu_test.py
@@ -28,16 +28,15 @@
 # POSSIBILITY OF SUCH DAMAGE.
 import math
 
-from clearpath_generator_common.common import BaseGenerator
 from clearpath_tests.test_node import (
     ClearpathTestNode,
     ClearpathTestResult,
 )
 from clearpath_tests.tf import ConfigurableTransformListener
+from clearpath_tests.timer import Timeout
 
 from geometry_msgs.msg import Vector3Stamped
 import rclpy
-from rclpy.duration import Duration
 from rclpy.qos import qos_profile_sensor_data
 from sensor_msgs.msg import Imu
 from tf2_geometry_msgs import do_transform_vector3
@@ -104,27 +103,24 @@ def imu_raw_callback(self, imu_data: Imu):
             self.accel_samples.append(transformed_accel)
             self.gyro_samples.append(transformed_gyro)
 
-    def start(self):
-        self.imu_sub = self.create_subscription(
-            Imu,
-            f'/{self.namespace}/sensors/imu_0/data_raw',
-            self.imu_raw_callback,
-            qos_profile=qos_profile_sensor_data,
-        )
-
     def run_test(self):
         def gather_samples():
-            sample_duration = Duration(seconds=10)
             print('Gathering 10s worth of IMU data...')
-            start_time = self.get_clock().now()
+            timeout = Timeout(self, 10.0)
             self.record_data = True
-            while self.get_clock().now() - start_time < sample_duration:
-                rclpy.spin_once(self)
+            while not timeout.elapsed:
+                rclpy.spin_once(self, timeout_sec=1.0)
             self.record_data = False
 
         self.record_data = False
         self.test_in_progress = True
-        self.start()
+
+        self.imu_sub = self.create_subscription(
+            Imu,
+            f'/{self.namespace}/sensors/imu_0/data_raw',
+            self.imu_raw_callback,
+            qos_profile=qos_profile_sensor_data,
+        )
 
         results = []
 

From 9db699ccd3afa1ede68fd8a5d513b5727a0de774 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Mon, 2 Jun 2025 12:31:48 -0400
Subject: [PATCH 11/24] Remove unused import

---
 clearpath_tests/clearpath_tests/light_test.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/clearpath_tests/clearpath_tests/light_test.py b/clearpath_tests/clearpath_tests/light_test.py
index b90db945..e800f3e1 100755
--- a/clearpath_tests/clearpath_tests/light_test.py
+++ b/clearpath_tests/clearpath_tests/light_test.py
@@ -29,7 +29,6 @@
 import threading
 
 from clearpath_config.common.types.platform import Platform
-from clearpath_generator_common.common import BaseGenerator
 from clearpath_platform_msgs.msg import Lights, RGB
 from clearpath_tests.test_node import ClearpathTestNode, ClearpathTestResult
 

From d0ff9108127d7f32c9b4bde77a7d3e32a815b0dd Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Mon, 2 Jun 2025 12:36:24 -0400
Subject: [PATCH 12/24] Implement new timeout in linear acceleration test

---
 .../linear_acceleration_test.py               | 56 +++++++++----------
 1 file changed, 27 insertions(+), 29 deletions(-)

diff --git a/clearpath_tests/clearpath_tests/linear_acceleration_test.py b/clearpath_tests/clearpath_tests/linear_acceleration_test.py
index ae364f33..cfba10b8 100644
--- a/clearpath_tests/clearpath_tests/linear_acceleration_test.py
+++ b/clearpath_tests/clearpath_tests/linear_acceleration_test.py
@@ -27,13 +27,13 @@
 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
-from clearpath_generator_common.common import BaseGenerator
 from clearpath_tests.mobility_test import MobilityTestNode
 from clearpath_tests.test_node import ClearpathTestResult
 from clearpath_tests.tf import ConfigurableTransformListener
+from clearpath_tests.timer import Timeout
+
 from geometry_msgs.msg import Vector3Stamped
 import rclpy
-from rclpy.duration import Duration
 from rclpy.qos import qos_profile_sensor_data
 from sensor_msgs.msg import Imu
 from tf2_geometry_msgs import do_transform_vector3
@@ -104,19 +104,6 @@ def imu_callback(self, imu_data):
         if self.record_data:
             self.accel_samples.append(transformed_accel)
 
-    def start(self):
-        super().start()
-
-        # Subscribe to our default IMU
-        imu_topic = f'/{self.namespace}/sensors/imu_{self.imu_num}/data'
-        self.get_logger().info(f'Subscribing to IMU data on {imu_topic}...')
-        self.imu_sub = self.create_subscription(
-            Imu,
-            imu_topic,
-            self.imu_callback,
-            qos_profile=qos_profile_sensor_data,
-        )
-
     def run_test(self):
         self.cmd_vel.twist.linear.x = 0.0
         self.cmd_vel.twist.linear.y = 0.0
@@ -139,17 +126,26 @@ def run_test(self):
             return [ClearpathTestResult(False, self.test_name, 'User skipped')]
 
         self.get_logger().info('Starting acceleration test')
-        self.start()
+
+        # Subscribe to our default IMU
+        imu_topic = f'/{self.namespace}/sensors/imu_{self.imu_num}/data'
+        self.get_logger().info(f'Subscribing to IMU data on {imu_topic}...')
+        self.imu_sub = self.create_subscription(
+            Imu,
+            imu_topic,
+            self.imu_callback,
+            qos_profile=qos_profile_sensor_data,
+        )
 
         # wait until we get the first IMU message or 10s passes
-        start_time = self.get_clock().now()
-        timeout_duration = Duration(seconds=10)
+        timeout = Timeout(self, 10.0)
         while (
             self.latest_imu is None
-            and self.get_clock().now() - start_time <= timeout_duration
+            and not timeout.elapsed
             and not self.test_error
         ):
-            rclpy.spin_once(self)
+            rclpy.spin_once(self, timeout_sec=1.0)
+        timeout.abort()
 
         if self.test_error:
             self.get_logger().warning(f'Test aborted due to an error: {self.test_error_msg}')
@@ -163,35 +159,37 @@ def run_test(self):
             )]
 
         # accelerate & decelerate over 5s
-        accel_duration = Duration(seconds=self.acceleration_time)
+        timeout = Timeout(self, 5.0)
         start_time = self.get_clock().now()
         while (
             not self.test_error
-            and self.get_clock().now() - start_time <= accel_duration
+            and not timeout.elapsed
         ):
             dt = (self.get_clock().now() - start_time).nanoseconds / 1_000_000_000
             self.cmd_vel.twist.linear.x = self.acceleration * dt
             self.record_data = True
-            rclpy.spin_once(self)
+            rclpy.spin_once(self, timeout_sec=1.0)
         self.record_data = False
+        timeout.abort()
 
         # smoothly decelerate, but stop don't record any more data
+        timeout = Timeout(self, 5.0)
         start_time = self.get_clock().now()
         while (
             not self.test_error
-            and self.get_clock().now() - start_time <= accel_duration
+            and not timeout.elapsed
         ):
             dt = (self.get_clock().now() - start_time).nanoseconds / 1_000_000_000
             self.cmd_vel.twist.linear.x = self.acceleration * (self.acceleration_time - dt)
-            rclpy.spin_once(self)
+            rclpy.spin_once(self, timeout_sec=1.0)
+        timeout.abort()
 
         # stop driving
         # wait 1s to ensure we publish the command
         self.cmd_vel.twist.linear.x = 0.0
-        test_wait = Duration(seconds=1)
-        start_time = self.get_clock().now()
-        while self.get_clock().now() - start_time <= test_wait:
-            rclpy.spin_once(self)
+        timeout = Timeout(self, 1.0)
+        while not timeout.elapsed:
+            rclpy.spin_once(self, timeout_sec=1.0)
 
         # process the results
         results = self.test_results

From 9eaaac0c98c9e4b9bfffc9c42380d203849517fa Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Mon, 2 Jun 2025 12:41:10 -0400
Subject: [PATCH 13/24] Implement new timeout in rotation test

---
 .../clearpath_tests/rotation_test.py          | 38 ++++++++++---------
 1 file changed, 20 insertions(+), 18 deletions(-)

diff --git a/clearpath_tests/clearpath_tests/rotation_test.py b/clearpath_tests/clearpath_tests/rotation_test.py
index 7bd2e2ea..1969cd91 100644
--- a/clearpath_tests/clearpath_tests/rotation_test.py
+++ b/clearpath_tests/clearpath_tests/rotation_test.py
@@ -28,13 +28,13 @@
 # POSSIBILITY OF SUCH DAMAGE.
 
 from clearpath_config.common.types.platform import Platform
-from clearpath_generator_common.common import BaseGenerator
 from clearpath_tests.mobility_test import MobilityTestNode
 from clearpath_tests.test_node import ClearpathTestResult
 from clearpath_tests.tf import ConfigurableTransformListener
+from clearpath_tests.timer import Timeout
+
 from geometry_msgs.msg import Vector3Stamped
 import rclpy
-from rclpy.duration import Duration
 from rclpy.qos import qos_profile_sensor_data
 from sensor_msgs.msg import Imu
 from tf2_geometry_msgs import do_transform_vector3
@@ -140,14 +140,14 @@ def run_test(self):
         self.start()
 
         # wait until we get the first IMU message or 10s passes
-        start_time = self.get_clock().now()
-        timeout_duration = Duration(seconds=10)
+        timeout = Timeout(self, 10.0)
         while (
             self.latest_imu is None
-            and self.get_clock().now() - start_time <= timeout_duration
+            and not timeout.elapsed
             and not self.test_error
         ):
-            rclpy.spin_once(self)
+            rclpy.spin_once(self, timeout_sec=1.0)
+        timeout.abort()
 
         if self.test_error:
             self.get_logger().warning(f'Test aborted due to an error: {self.test_error_msg}')
@@ -162,13 +162,14 @@ def run_test(self):
 
         # start turning, but wait 1s for us to get up to speed  before recording data
         self.cmd_vel.twist.angular.z = self.max_speed
-        startup_wait = Duration(seconds=1.0)
-        start_time = self.get_clock().now()
+        timeout = Timeout(self, 1.0)
         while (
             not self.test_error
-            and self.get_clock().now() - start_time <= startup_wait
+            and not timeout.elapsed
         ):
-            rclpy.spin_once(self)
+            rclpy.spin_once(self, timeout_sec=1.0)
+        timeout.abort()
+
         if self.test_error:
             self.record_data = False
             self.cmd_vel.twist.angular.z = 0.0
@@ -177,14 +178,15 @@ def run_test(self):
 
         # record data for 10s
         self.record_data = True
-        test_wait = Duration(seconds=10)
-        start_time = self.get_clock().now()
+        timeout = Timeout(self, 10.0)
         while (
             not self.test_error
-            and self.get_clock().now() - start_time <= test_wait
+            and not timeout.elapsed
         ):
-            rclpy.spin_once(self)
+            rclpy.spin_once(self, timeout_sec=1.0)
+        timeout.abort()
         self.record_data = False
+
         if self.test_error:
             self.cmd_vel.twist.angular.z = 0.0
             self.get_logger().warning(f'Test aborted due to an error: {self.test_error_msg}')
@@ -193,10 +195,10 @@ def run_test(self):
         # stop driving
         # wait 1s to ensure we publish the command
         self.cmd_vel.twist.angular.z = 0.0
-        test_wait = Duration(seconds=1)
-        start_time = self.get_clock().now()
-        while self.get_clock().now() - start_time <= test_wait:
-            rclpy.spin_once(self)
+        timeout = Timeout(self, 1.0)
+        while not timeout.elapsed:
+            rclpy.spin_once(self, timeout_sec=1.0)
+        timeout.abort()
 
         # process the results
         results = self.test_results

From 44c148192245dc1d5c792f08f2036e1dcacc7eaf Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Mon, 2 Jun 2025 12:44:10 -0400
Subject: [PATCH 14/24] Cleanup

---
 clearpath_tests/clearpath_tests/mcu_test.py  | 1 -
 clearpath_tests/clearpath_tests/timer.py     | 2 ++
 clearpath_tests/clearpath_tests/wifi_test.py | 3 +--
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/clearpath_tests/clearpath_tests/mcu_test.py b/clearpath_tests/clearpath_tests/mcu_test.py
index dfde8b8d..effe6971 100644
--- a/clearpath_tests/clearpath_tests/mcu_test.py
+++ b/clearpath_tests/clearpath_tests/mcu_test.py
@@ -29,7 +29,6 @@
 import os
 import re
 import subprocess
-import time
 
 from clearpath_config.common.types.platform import Platform
 from clearpath_platform_msgs.msg import Status
diff --git a/clearpath_tests/clearpath_tests/timer.py b/clearpath_tests/clearpath_tests/timer.py
index 22d7b8ff..33abe284 100644
--- a/clearpath_tests/clearpath_tests/timer.py
+++ b/clearpath_tests/clearpath_tests/timer.py
@@ -32,12 +32,14 @@
 from rclpy.duration import Duration
 from rclpy.node import Node
 
+
 class Timeout:
     """
     Reusable class for implementing basic timeouts during ROS operation.
 
     Starts a background thread that spins until the time has elapsed.
     """
+
     def __init__(self, node: Node, duration: float):
         self.node = node
         self.duration = Duration(seconds=duration)
diff --git a/clearpath_tests/clearpath_tests/wifi_test.py b/clearpath_tests/clearpath_tests/wifi_test.py
index 02669295..888a9bc4 100644
--- a/clearpath_tests/clearpath_tests/wifi_test.py
+++ b/clearpath_tests/clearpath_tests/wifi_test.py
@@ -31,9 +31,8 @@
 import subprocess
 import time
 
-from clearpath_generator_common.common import BaseGenerator
 from clearpath_tests.test_node import ClearpathTestNode, ClearpathTestResult
-import rclpy
+
 from wireless_msgs.msg import Connection
 
 

From 95f8e929c967a302b7214082810ce5b4ac0204b7 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Fri, 6 Jun 2025 12:57:55 -0400
Subject: [PATCH 15/24] Fix a parser error that occurs if wifi is turned off

---
 clearpath_tests/clearpath_tests/wifi_test.py | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/clearpath_tests/clearpath_tests/wifi_test.py b/clearpath_tests/clearpath_tests/wifi_test.py
index 888a9bc4..9ec91bb4 100644
--- a/clearpath_tests/clearpath_tests/wifi_test.py
+++ b/clearpath_tests/clearpath_tests/wifi_test.py
@@ -91,7 +91,11 @@ def check_connection(self, interface):
                     if key == 'ESSID':
                         c.essid = value.lstrip('"').rstrip('"')
                     elif key == 'Tx-Power':
-                        c.txpower = int(re.split(all_whitespace, value)[0])
+                        power = re.split(all_whitespace, value)[0]
+                        if power == 'off':
+                            c.txpower = 0
+                        else:
+                            c.txpower = int(power)
                     elif key == 'Bit Rate':
                         unit = re.split(all_whitespace, value)[-1]
                         multiplier = 1.0

From 7ff34709625c418bf6ce535c62b705aee69db77e Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Fri, 6 Jun 2025 12:58:19 -0400
Subject: [PATCH 16/24] Move motor currents initialization to constructor, call
 .start() in the linear acceleration test

---
 .../clearpath_tests/linear_acceleration_test.py     |  2 ++
 clearpath_tests/clearpath_tests/mobility_test.py    | 13 +++++++++----
 2 files changed, 11 insertions(+), 4 deletions(-)

diff --git a/clearpath_tests/clearpath_tests/linear_acceleration_test.py b/clearpath_tests/clearpath_tests/linear_acceleration_test.py
index cfba10b8..41e4bca9 100644
--- a/clearpath_tests/clearpath_tests/linear_acceleration_test.py
+++ b/clearpath_tests/clearpath_tests/linear_acceleration_test.py
@@ -105,6 +105,8 @@ def imu_callback(self, imu_data):
             self.accel_samples.append(transformed_accel)
 
     def run_test(self):
+        self.start()
+
         self.cmd_vel.twist.linear.x = 0.0
         self.cmd_vel.twist.linear.y = 0.0
         self.cmd_vel.twist.linear.z = 0.0
diff --git a/clearpath_tests/clearpath_tests/mobility_test.py b/clearpath_tests/clearpath_tests/mobility_test.py
index 38e0e876..fca07ad6 100644
--- a/clearpath_tests/clearpath_tests/mobility_test.py
+++ b/clearpath_tests/clearpath_tests/mobility_test.py
@@ -58,6 +58,9 @@ def __init__(self, test_name, node_name, setup_path='/etc/clearpath'):
         # is the current test finished?
         self.ne = False
 
+        # motor currents sampled during the test
+        self.motor_currents = []
+
         # the results of the test, possibly collected from multiple sources
         self.test_results = []
 
@@ -81,7 +84,6 @@ def __init__(self, test_name, node_name, setup_path='/etc/clearpath'):
             self.drive_topic = f'/{self.namespace}/{self.drive_topic}'
 
     def start(self):
-        self.motor_currents = []
         if self.platform == Platform.A300:
             self.motor_fb_sub = self.create_subscription(
                 LynxMultiFeedback,
@@ -158,9 +160,12 @@ def calculate_average_motor_currents(self):
     def get_test_result_details(self):
         details = ''
         details += '\n#### Average motor current draw during test\n\n'
-        avg = self.calculate_average_motor_currents()
-        for amps in avg:
-            details += f'* {amps:0.3f}A\n'
+        if len(self.motor_currents) == 0:
+            details += 'No motor current data recorded\n'
+        else:
+            avg = self.calculate_average_motor_currents()
+            for amps in avg:
+                details += f'* {amps:0.3f}A\n'
         return details
 
     def odom_callback(self, odom_msg):

From 068607be58285425ba9f2417140da17c76a3df4c Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Mon, 9 Jun 2025 11:40:21 -0400
Subject: [PATCH 17/24] Change how we calculate the IMU inclination; calculate
 the inclination and calculate the error based on that, rather than percentage
 error bars based on the vector

---
 clearpath_tests/clearpath_tests/imu_test.py | 78 +++++++++------------
 1 file changed, 35 insertions(+), 43 deletions(-)

diff --git a/clearpath_tests/clearpath_tests/imu_test.py b/clearpath_tests/clearpath_tests/imu_test.py
index 26ad9d8f..3564db91 100644
--- a/clearpath_tests/clearpath_tests/imu_test.py
+++ b/clearpath_tests/clearpath_tests/imu_test.py
@@ -184,13 +184,9 @@ def check_gravity(self, label, x_angle=0.0, y_angle=0.0) -> ClearpathTestResult:
                 f'{len(self.accel_samples)} samples collected; is IMU publishing at the right rate?',  # noqa: E501
             )
 
+        results = []
+
         g = 9.807
-        expected_x = g * math.sin(x_angle)
-        expected_y = g * math.sin(y_angle)
-        if abs(x_angle) > abs(y_angle):
-            expected_z = g * math.cos(x_angle)
-        else:
-            expected_z = g * math.cos(y_angle)
 
         avg_x = 0
         avg_y = 0
@@ -203,42 +199,38 @@ def check_gravity(self, label, x_angle=0.0, y_angle=0.0) -> ClearpathTestResult:
         avg_y /= len(self.accel_samples)
         avg_z /= len(self.accel_samples)
 
-        # allow 20% error on the IMU since the ground may never be completely level
-        # and the calibration may not be super accurate for some models
-        test_tolerance = 0.2
-
-        x_lower_limit = expected_x - g * test_tolerance
-        x_upper_limit = expected_x + g * test_tolerance
-
-        y_lower_limit = expected_y - g * test_tolerance
-        y_upper_limit = expected_y + g * test_tolerance
-
-        z_lower_limit = expected_z - g * test_tolerance
-        z_upper_limit = expected_z + g * test_tolerance
-        if (
-            # check that the measurements are witin our error bars
-            avg_x >= x_lower_limit and avg_x <= x_upper_limit and
-            avg_y >= y_lower_limit and avg_y <= y_upper_limit and
-            avg_z >= z_lower_limit and avg_z <= z_upper_limit and
+        # ensure the magnitude of the vector is about g
+        measured_g = math.sqrt(avg_x ** 2 + avg_y ** 2 + avg_z ** 2)
+        g_err = min(measured_g, g) / max(measured_g, g)
+        results.append(ClearpathTestResult(
+            g_err > 0.75,
+            f'{self.test_name} (g magnitude)',
+            f'Measured gravity: {measured_g:0.2f}m/s^2. Err {g_err:0.2f}',
+        ))
+
+        # estimate our actual inclination based on the IMU data
+        angle_slop = 10 * math.pi / 180.0  # allow +/- 10 degree measurement error
+        calculated_inclination_x = math.asin(avg_x / measured_g)
+        calculated_inclination_y = math.asin(avg_y / measured_g)
+
+        if x_angle != 0:
+            results.append(ClearpathTestResult(
+                (
+                    x_angle - angle_slop <= calculated_inclination_x
+                    and calculated_inclination_x + angle_slop <= x_angle
+                ),
+                f'{self.test_name} (x inclination)',
+                f'Measured inclination: {calculated_inclination_x * 180.0 / math.pi :0.2f}. Expected: {x_angle * 180 / math.pi:0.2f}',  # noqa:E501
+            ))
 
-            # ensure gravity is mainly +Z
-            avg_z > 5.0 and
+        if y_angle != 0:
+            results.append(ClearpathTestResult(
+                (
+                    y_angle - angle_slop <= calculated_inclination_y
+                    and calculated_inclination_y + angle_slop <= y_angle
+                ),
+                f'{self.test_name} (y inclination)',
+                f'Measured inclination: {calculated_inclination_y * 180.0 / math.pi :0.2f}. Expected: {y_angle * 180 / math.pi:0.2f}',  # noqa:E501
+            ))
 
-            # check our inclination is the right way
-            (
-                (avg_x > 0 and x_angle > 0) or
-                (avg_y > 0 and y_angle > 0) or
-                (x_angle == 0 and y_angle == 0)
-            )
-        ):
-            return ClearpathTestResult(
-                True,
-                f'{self.test_name} ({label})',
-                f'Measured gravity vector: ({avg_x:0.2f}, {avg_y:0.2f}, {avg_z:0.2f}) Expected: ({expected_x:0.2f}, {expected_y:0.2f}, {expected_z:0.2f})'  # noqa: E501
-            )
-        else:
-            return ClearpathTestResult(
-                False,
-                f'{self.test_name} ({label})',
-                f'Measured gravity vector: ({avg_x:0.2f}, {avg_y:0.2f}, {avg_z:0.2f}) Expected: ({expected_x:0.2f}, {expected_y:0.2f}, {expected_z:0.2f})'  # noqa: E501
-            )
+        return results

From 01b3df9676542c3891bb6d7536f9b16f283148b0 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Mon, 9 Jun 2025 11:51:59 -0400
Subject: [PATCH 18/24] Fix the logging for the linear acceleration test

---
 .../clearpath_tests/linear_acceleration_test.py | 17 ++++++++++++-----
 1 file changed, 12 insertions(+), 5 deletions(-)

diff --git a/clearpath_tests/clearpath_tests/linear_acceleration_test.py b/clearpath_tests/clearpath_tests/linear_acceleration_test.py
index 41e4bca9..240459e4 100644
--- a/clearpath_tests/clearpath_tests/linear_acceleration_test.py
+++ b/clearpath_tests/clearpath_tests/linear_acceleration_test.py
@@ -215,10 +215,17 @@ def run_test(self):
             #     self.test_name,
             #     f'Recorded linear acceleration: {avg_accel:0.2f}m/s^2 (accuracy: {measured_accuracy:0.2f})'  # noqa: E501
             # ))
-            results.append(ClearpathTestResult(
-                avg_accel > 0,
-                self.test_name,
-                'Acceleration oriented correctly'
-            ))
+            if avg_accel > 0:
+                results.append(ClearpathTestResult(
+                    True,
+                    self.test_name,
+                    f'Acceleration oriented correctly ({avg_accel:0.2f})m/s^2)'
+                ))
+            else:
+                results.append(ClearpathTestResult(
+                    False,
+                    self.test_name,
+                    f'Acceleration oriented incorrectly ({avg_accel:0.2f})m/s^2)'
+                ))
 
         return results

From 38b839be34564cb2cad87290b4c2b3d3779a163a Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Mon, 9 Jun 2025 11:56:57 -0400
Subject: [PATCH 19/24] Fix changing from a single result to multiple

---
 clearpath_tests/clearpath_tests/imu_test.py | 14 ++++++++++----
 1 file changed, 10 insertions(+), 4 deletions(-)

diff --git a/clearpath_tests/clearpath_tests/imu_test.py b/clearpath_tests/clearpath_tests/imu_test.py
index 3564db91..12cf4e79 100644
--- a/clearpath_tests/clearpath_tests/imu_test.py
+++ b/clearpath_tests/clearpath_tests/imu_test.py
@@ -133,7 +133,9 @@ def gather_samples():
             ))
         else:
             gather_samples()
-            results.append(self.check_gravity('level', 0, 0))
+            new_results = self.check_gravity('level', 0, 0)
+            for r in new_results:
+                results.append(r)
             self.accel_samples.clear()
             self.gyro_samples.clear()
 
@@ -146,7 +148,9 @@ def gather_samples():
             ))
         else:
             gather_samples()
-            results.append(self.check_gravity('rear raised', math.radians(-20), 0))
+            new_results = self.check_gravity('rear raised', math.radians(-20), 0)
+            for r in new_results:
+                results.append(r)
             self.accel_samples.clear()
             self.gyro_samples.clear()
 
@@ -159,7 +163,9 @@ def gather_samples():
             ))
         else:
             gather_samples()
-            results.append(self.check_gravity('left raised', 0, math.radians(20)))
+            new_results = self.check_gravity('left raised', 0, math.radians(20))
+            for r in new_results:
+                results.append(r)
             self.accel_samples.clear()
             self.gyro_samples.clear()
 
@@ -175,7 +181,7 @@ def check_gravity(self, label, x_angle=0.0, y_angle=0.0) -> ClearpathTestResult:
         @param x_angle  The robot's front/back inclination
         @param y_angle  The robot's left/right inclination
 
-        @return A ClearpathTestResult indicating if gravity is OK
+        @return A list of ClearpathTestResults indicating if gravity is OK
         """
         if len(self.accel_samples) < 10:
             return ClearpathTestResult(

From 4f7142517c418f4b60676441f0ee8c67ba22b786 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Mon, 9 Jun 2025 12:00:25 -0400
Subject: [PATCH 20/24] Include the labels in the results

---
 clearpath_tests/clearpath_tests/imu_test.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/clearpath_tests/clearpath_tests/imu_test.py b/clearpath_tests/clearpath_tests/imu_test.py
index 12cf4e79..3fbff91b 100644
--- a/clearpath_tests/clearpath_tests/imu_test.py
+++ b/clearpath_tests/clearpath_tests/imu_test.py
@@ -210,8 +210,8 @@ def check_gravity(self, label, x_angle=0.0, y_angle=0.0) -> ClearpathTestResult:
         g_err = min(measured_g, g) / max(measured_g, g)
         results.append(ClearpathTestResult(
             g_err > 0.75,
-            f'{self.test_name} (g magnitude)',
-            f'Measured gravity: {measured_g:0.2f}m/s^2. Err {g_err:0.2f}',
+            f'{self.test_name} {label} (g magnitude)',
+            f'Measured gravity: {measured_g:0.2f}m/s^2. Accuracy {g_err:0.2f}',
         ))
 
         # estimate our actual inclination based on the IMU data
@@ -225,7 +225,7 @@ def check_gravity(self, label, x_angle=0.0, y_angle=0.0) -> ClearpathTestResult:
                     x_angle - angle_slop <= calculated_inclination_x
                     and calculated_inclination_x + angle_slop <= x_angle
                 ),
-                f'{self.test_name} (x inclination)',
+                f'{self.test_name} {label}',
                 f'Measured inclination: {calculated_inclination_x * 180.0 / math.pi :0.2f}. Expected: {x_angle * 180 / math.pi:0.2f}',  # noqa:E501
             ))
 
@@ -235,7 +235,7 @@ def check_gravity(self, label, x_angle=0.0, y_angle=0.0) -> ClearpathTestResult:
                     y_angle - angle_slop <= calculated_inclination_y
                     and calculated_inclination_y + angle_slop <= y_angle
                 ),
-                f'{self.test_name} (y inclination)',
+                f'{self.test_name} {label}',
                 f'Measured inclination: {calculated_inclination_y * 180.0 / math.pi :0.2f}. Expected: {y_angle * 180 / math.pi:0.2f}',  # noqa:E501
             ))
 

From d51c40d61270951cef641a8dec0792aed511c541 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Mon, 9 Jun 2025 12:03:08 -0400
Subject: [PATCH 21/24] Fix the math for the error bars

---
 clearpath_tests/clearpath_tests/imu_test.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/clearpath_tests/clearpath_tests/imu_test.py b/clearpath_tests/clearpath_tests/imu_test.py
index 3fbff91b..b085351d 100644
--- a/clearpath_tests/clearpath_tests/imu_test.py
+++ b/clearpath_tests/clearpath_tests/imu_test.py
@@ -223,7 +223,7 @@ def check_gravity(self, label, x_angle=0.0, y_angle=0.0) -> ClearpathTestResult:
             results.append(ClearpathTestResult(
                 (
                     x_angle - angle_slop <= calculated_inclination_x
-                    and calculated_inclination_x + angle_slop <= x_angle
+                    and calculated_inclination_x <= x_angle + angle_slop
                 ),
                 f'{self.test_name} {label}',
                 f'Measured inclination: {calculated_inclination_x * 180.0 / math.pi :0.2f}. Expected: {x_angle * 180 / math.pi:0.2f}',  # noqa:E501
@@ -233,7 +233,7 @@ def check_gravity(self, label, x_angle=0.0, y_angle=0.0) -> ClearpathTestResult:
             results.append(ClearpathTestResult(
                 (
                     y_angle - angle_slop <= calculated_inclination_y
-                    and calculated_inclination_y + angle_slop <= y_angle
+                    and calculated_inclination_y <= y_angle + angle_slop
                 ),
                 f'{self.test_name} {label}',
                 f'Measured inclination: {calculated_inclination_y * 180.0 / math.pi :0.2f}. Expected: {y_angle * 180 / math.pi:0.2f}',  # noqa:E501

From 09b729cd2c0c7159b5f12eabb9bfbcf9d4eefe83 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Mon, 9 Jun 2025 12:12:12 -0400
Subject: [PATCH 22/24] Remove whitespace before formatting

---
 clearpath_tests/clearpath_tests/imu_test.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/clearpath_tests/clearpath_tests/imu_test.py b/clearpath_tests/clearpath_tests/imu_test.py
index b085351d..21e46f7c 100644
--- a/clearpath_tests/clearpath_tests/imu_test.py
+++ b/clearpath_tests/clearpath_tests/imu_test.py
@@ -226,7 +226,7 @@ def check_gravity(self, label, x_angle=0.0, y_angle=0.0) -> ClearpathTestResult:
                     and calculated_inclination_x <= x_angle + angle_slop
                 ),
                 f'{self.test_name} {label}',
-                f'Measured inclination: {calculated_inclination_x * 180.0 / math.pi :0.2f}. Expected: {x_angle * 180 / math.pi:0.2f}',  # noqa:E501
+                f'Measured inclination: {calculated_inclination_x * 180.0 / math.pi:0.2f}. Expected: {x_angle * 180 / math.pi:0.2f}',  # noqa:E501
             ))
 
         if y_angle != 0:
@@ -236,7 +236,7 @@ def check_gravity(self, label, x_angle=0.0, y_angle=0.0) -> ClearpathTestResult:
                     and calculated_inclination_y <= y_angle + angle_slop
                 ),
                 f'{self.test_name} {label}',
-                f'Measured inclination: {calculated_inclination_y * 180.0 / math.pi :0.2f}. Expected: {y_angle * 180 / math.pi:0.2f}',  # noqa:E501
+                f'Measured inclination: {calculated_inclination_y * 180.0 / math.pi:0.2f}. Expected: {y_angle * 180 / math.pi:0.2f}',  # noqa:E501
             ))
 
         return results

From de60d1ddf8bdd61e1cfec29fac0d590b55e93229 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Mon, 9 Jun 2025 12:35:29 -0400
Subject: [PATCH 23/24] Test the direction & magnitude of the angular velocity
 separately. Fix some extra parentheses in the results

---
 .../linear_acceleration_test.py               |  4 ++--
 .../clearpath_tests/rotation_test.py          | 19 ++++++++++++++++---
 2 files changed, 18 insertions(+), 5 deletions(-)

diff --git a/clearpath_tests/clearpath_tests/linear_acceleration_test.py b/clearpath_tests/clearpath_tests/linear_acceleration_test.py
index 240459e4..6bdd3bdb 100644
--- a/clearpath_tests/clearpath_tests/linear_acceleration_test.py
+++ b/clearpath_tests/clearpath_tests/linear_acceleration_test.py
@@ -219,13 +219,13 @@ def run_test(self):
                 results.append(ClearpathTestResult(
                     True,
                     self.test_name,
-                    f'Acceleration oriented correctly ({avg_accel:0.2f})m/s^2)'
+                    f'Acceleration oriented correctly ({avg_accel:0.2f}m/s^2)'
                 ))
             else:
                 results.append(ClearpathTestResult(
                     False,
                     self.test_name,
-                    f'Acceleration oriented incorrectly ({avg_accel:0.2f})m/s^2)'
+                    f'Acceleration oriented incorrectly ({avg_accel:0.2f}m/s^2)'
                 ))
 
         return results
diff --git a/clearpath_tests/clearpath_tests/rotation_test.py b/clearpath_tests/clearpath_tests/rotation_test.py
index 1969cd91..9daf5224 100644
--- a/clearpath_tests/clearpath_tests/rotation_test.py
+++ b/clearpath_tests/clearpath_tests/rotation_test.py
@@ -210,16 +210,29 @@ def run_test(self):
             ))
         else:
             avg_vel = sum(gyro.vector.z for gyro in self.gyro_samples) / len(self.gyro_samples)
-            min_accuracy = 0.8
+            if avg_vel > 0.0:
+                results.append(ClearpathTestResult(
+                    True,
+                    f'{self.test_name} (direction)',
+                    f'Angular velocity oriented correctly: {avg_vel:0.2f}rad/s'
+                ))
+            else:
+                results.append(ClearpathTestResult(
+                    False,
+                    f'{self.test_name} (direction)',
+                    f'Angular velocity oriented incorrectly: {avg_vel:0.2f}rad/s'
+                ))
+
+            min_accuracy = 0.75
 
             if self.clearpath_config.platform.get_platform_model() == Platform.J100:
                 # default Jackal IMU is terrible, so allow wider margins
-                min_accuracy = 0.6
+                min_accuracy = 0.5
 
             measured_accuracy = min(avg_vel, self.max_speed) / max(avg_vel, self.max_speed)
             results.append(ClearpathTestResult(
                 measured_accuracy >= min_accuracy,
-                self.test_name,
+                f'{self.test_name} (magnitude)',
                 f'Recorded angular velocity: {avg_vel}rad/s (accuracy: {measured_accuracy:0.2f})'
             ))
 

From 52f32924bd44059672bb2ec9a92241c41972bc55 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Mon, 9 Jun 2025 12:39:24 -0400
Subject: [PATCH 24/24] Allow long string

---
 clearpath_tests/clearpath_tests/rotation_test.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/clearpath_tests/clearpath_tests/rotation_test.py b/clearpath_tests/clearpath_tests/rotation_test.py
index 9daf5224..e59841d6 100644
--- a/clearpath_tests/clearpath_tests/rotation_test.py
+++ b/clearpath_tests/clearpath_tests/rotation_test.py
@@ -233,7 +233,7 @@ def run_test(self):
             results.append(ClearpathTestResult(
                 measured_accuracy >= min_accuracy,
                 f'{self.test_name} (magnitude)',
-                f'Recorded angular velocity: {avg_vel}rad/s (accuracy: {measured_accuracy:0.2f})'
+                f'Recorded angular velocity: {avg_vel:0.2f}rad/s (accuracy: {measured_accuracy:0.2f})'  # noqa: E501
             ))
 
         return results