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Succeed power on command on PolyScope 5 when robot is running #397

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Merged
merged 2 commits into from
Oct 29, 2025
Merged

Succeed power on command on PolyScope 5 when robot is running #397

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2f2c82d
Succeed power on command on PolyScope 5 when robot is running
urfeex Oct 25, 2025
0437788
Add a power_cycle test to dashboard_client_g5
urfeex Oct 27, 2025
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2 changes: 1 addition & 1 deletion src/ur/dashboard_client_implementation_g5.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -438,7 +438,7 @@ DashboardResponse DashboardClientImplG5::commandPowerOn(const std::chrono::durat
DashboardResponse response;
try
{
response.message = retryCommandString("power on", "Powering on", "robotmode", "Robotmode: IDLE", timeout);
response.message = retryCommandString("power on", "Powering on", "robotmode", "Robotmode: (IDLE|RUNNING)", timeout);
response.ok = true;
}
catch (const UnexpectedResponse& e)
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37 changes: 37 additions & 0 deletions tests/test_dashboard_client_g5.cpp
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Expand Up @@ -91,6 +91,43 @@ TEST_F(DashboardClientTestG5, connect)
ASSERT_TRUE(response.ok);
}

TEST_F(DashboardClientTestG5, power_cycle)
{
EXPECT_TRUE(dashboard_client_->connect());
DashboardResponse response;

// Cycle from POWER_OFF to IDLE to RUNNING
response = dashboard_client_->commandPowerOff();
EXPECT_TRUE(response.ok);
response = dashboard_client_->commandPowerOn(std::chrono::seconds(5));
EXPECT_TRUE(response.ok);
response = dashboard_client_->commandBrakeRelease();
EXPECT_TRUE(response.ok);

// Calling power_on on a brake-released robot should succeed
response = dashboard_client_->commandPowerOn(std::chrono::seconds(5));
EXPECT_TRUE(response.ok);

// Power off from brake-released state (RUNNING)
response = dashboard_client_->commandPowerOff();
EXPECT_TRUE(response.ok);

// Power off from powered_on state (IDLE)
dashboard_client_->commandPowerOn();
response = dashboard_client_->commandPowerOff();
EXPECT_TRUE(response.ok);

// Power off from powered_on state (IDLE)
dashboard_client_->commandPowerOff();
response = dashboard_client_->commandPowerOff();
EXPECT_TRUE(response.ok);

// Brake release from POWER_OFF should succeed
dashboard_client_->commandPowerOff();
response = dashboard_client_->commandBrakeRelease();
EXPECT_TRUE(response.ok);
}

TEST_F(DashboardClientTestG5, run_program)
{
EXPECT_TRUE(dashboard_client_->connect());
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