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tests/kins-switch-unsolved: wait for what each step needs, not for a time - #4758
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grandixximo merged 2 commits intoNov 5, 2026
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…time Tests run in parallel and under load. The test homed right after the machine-on command without waiting for it, and gave the error channel and the status a fixed 0.2 s after each MDI command to catch up. It now waits for machine on, all joints homed and the mode it asks for; after each command for the interpreter idle with the machine in position; for the report of the failed switch itself; and, before reading the position or checking that nothing else was reported, for a status newer than the event: the motion heartbeat changed and two task cycles gone, since task passes motion's reports on to the error channel in its cycle. It has not been seen failing; six copies at once with four busy loops, twice, pass before and after.
On a realtime host rtapi_app reports a late servo period once per session, and motion passes the report on to the error channel, where the test took it for an unexpected message after the switch.
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Tests run in parallel and under load, and several recent PRs fixed tests that relied on fixed sleeps. tests/kins-switch-unsolved homed right after the machine-on command without waiting for it, and gave the error channel and the status a fixed 0.2 s after each MDI command.
It now waits for what each step needs:
It has not been seen failing, so this is prevention: six copies at once with four busy loops, twice, pass before and after the change.
A second commit leaves out the late servo period report that a realtime host passes on to the error channel, which the test took for an unexpected message after the switch; the other tests get the same change in #4751. With one such report injected at 1.5 s, 4 s and 9 s under SCHED_FIFO the test passes each time.