use jazzy test; remove some stray spam; increase some loop timings in…

… tests due to intermittant test failure

.github/workflows/flexbe_ci.yml

@@ -8,10 +8,14 @@ jobs:
   test:
     strategy:
       matrix:
-        ros: [rolling]
+        ros: [jazzy] #, rolling]
         include:
+        # - os: ubuntu-24.04
+        #   ros: rolling
+        #   python: python3
+        #   ci_branch: ros2-devel
         - os: ubuntu-24.04
-          ros: rolling
+          ros: jazzy
           python: python3
           ci_branch: ros2-devel
 

flexbe_core/flexbe_core/core/operatable_state.py

@@ -85,7 +85,7 @@ def _operatable_execute(self, *args, **kwargs):
 
             # autonomy level is high enough, report the executed transition
             elif outcome is not None and outcome in self.outcomes:
-                Logger.localinfo(f"controlled State '{self.name}' from '{self.path}'permitting outcome '{outcome}' {self.__class__.__name__}")
+                #  Logger.localinfo(f"controlled State '{self.name}' from '{self.path}'permitting outcome '{outcome}' {self.__class__.__name__}")
                 self._force_transition = False
 
         return outcome
@@ -101,8 +101,8 @@ def _publish_outcome(self, outcome):
             return
 
         outcome_index = self.outcomes.index(outcome)
-        Logger.localinfo('Publish outcome: State result: %s > %s (%d) (%d) (%s)'
-                         % (self.name, outcome, outcome_index, self.state_id, self.__class__.__name__))
+        #  Logger.localinfo('Publish outcome: State result: %s > %s (%d) (%d) (%s)'
+        #                   % (self.name, outcome, outcome_index, self.state_id, self.__class__.__name__))
         # 0 outcome status denotes no outcome, not index so add +1 for valid outcome (subtract in mirror)
         self._pub.publish(Topics._OUTCOME_TOPIC, UInt32(data=StateMap.hash(self, outcome_index)))
         self._pub.publish(Topics._DEBUG_TOPIC, String(data='%s > %s' % (self.path, outcome)))

flexbe_core/test/test_core.py

@@ -117,8 +117,8 @@ class TestCore(unittest.TestCase):
 
     test = 0
 
-    __TIME_SLEEP = 0.025  # Sleep time for loops
-    __EXECUTE_TIMEOUT_SEC = 0.025  # Timeout in executor loops for spin once
+    __EXECUTE_TIMEOUT_SEC = 0.2  # 0.025  # Timeout in executor loops for spin once
+    __TIME_SLEEP = 0.2  # 0.025  # Sleep time for loops
     __LOOP_COUNT = 50  # Number of times to execute loops for checking (total time ~ LOOP_COUNT*(TIME_SLEEP + TIMEOUT))
 
     def __init__(self, *args, **kwargs):

flexbe_core/test/test_exceptions.py

@@ -45,8 +45,8 @@ class TestExceptions(unittest.TestCase):
     """Test FlexBE Exception handling."""
 
     test = 0
-    __EXECUTE_TIMEOUT_SEC=0.025
-    __TIME_SLEEP = 0.05  # Sleep time for loops
+    __EXECUTE_TIMEOUT_SEC = 0.2  # 0.025  # Timeout in executor loops for spin once
+    __TIME_SLEEP = 0.2  # 0.025  # Sleep time for loops
 
     def __init__(self, *args, **kwargs):
         """Initialize TestExceptions instance."""

flexbe_core/test/test_exceptions_spin.py

@@ -45,8 +45,8 @@ class TestExceptionsSpin(unittest.TestCase):
     """Test FlexBE Exception handling."""
 
     test = 0
-    __EXECUTE_TIMEOUT_SEC=0.025
-    __TIME_SLEEP = 0.05  # Sleep time for loops
+    __EXECUTE_TIMEOUT_SEC = 0.2  # 0.025  # Timeout in executor loops for spin once
+    __TIME_SLEEP = 0.2  # 0.025  # Sleep time for loops
 
     def __init__(self, *args, **kwargs):
         """Initialize TestExceptionsSpin instance."""

flexbe_core/test/test_logger.py

@@ -45,8 +45,8 @@ class TestLogger(unittest.TestCase):
     """Test FlexBE Logger handling."""
 
     test = 0
-    __EXECUTE_TIMEOUT_SEC=0.025
-    __TIME_SLEEP = 0.05  # Sleep time for loops
+    __EXECUTE_TIMEOUT_SEC = 0.2  # 0.025  # Timeout in executor loops for spin once
+    __TIME_SLEEP = 0.2  # 0.025  # Sleep time for loops
 
     def __init__(self, *args, **kwargs):
         """Initialize TestLogger instance."""

flexbe_core/test/test_proxies.py

@@ -54,8 +54,8 @@ class TestProxies(unittest.TestCase):
     """Test the FlexBE proxies."""
 
     test = 0
-    __EXECUTE_TIMEOUT_SEC=0.025
-    __TIME_SLEEP = 0.05  # Sleep time for loops
+    __EXECUTE_TIMEOUT_SEC = 0.2  # 0.025  # Timeout in executor loops for spin once
+    __TIME_SLEEP = 0.2  # 0.025  # Sleep time for loops
 
     def __init__(self, *args, **kwargs):
         """Initialize TestProxies instance."""

flexbe_onboard/tests/test_onboard.py

@@ -211,7 +211,7 @@ def test_onboard_behaviors(self):
         self.clear_extra_heartbeat_ready_messages()
 
         # send the same behavior with different parameters
-        self.node.get_logger().info('Republish modified behavior ...')
+        self.node.get_logger().info('\n\nRepublish modified behavior ...')
         request.arg_keys = ['param', 'invalid']
         request.arg_values = ['value_1', 'should be ignored']
         request.input_keys = []
@@ -224,7 +224,8 @@ def test_onboard_behaviors(self):
         behavior_logs = []
 
         # Wait for published message
-        end_time = time.time() + 1
+        self.node.get_logger().info('\n\nExecute modified behavior ...')
+        end_time = time.time() + 2
         try:
             while time.time() < end_time:
                 self.executor.spin_once(timeout_sec=0.1)
@@ -237,6 +238,7 @@ def test_onboard_behaviors(self):
                 self.executor.spin_once(timeout_sec=0.1)
             except Exception as exc:
                 print(f'\x1b[91mException in executor: {exc}\x1b[0m')
+        self.node.get_logger().info(f'{behavior_logs}')
         self.assertIn('value_1', behavior_logs)
         self.node.get_logger().info('Done onboard testing!')
         self.executor.spin_once(timeout_sec=0.1)