Remove transition_pause parameter from YAML configuration (#14)

Author: lakhmanisahil

foreman/config/scenario.yaml

@@ -1,7 +1,5 @@
 controller_manager: b_controlled_box_cm
 
-transition_pause: 0.5
-
 hardware:
   - FrankaHardwareInterface
   - kassow

foreman/foreman/node.py

@@ -25,7 +25,6 @@ def __init__(self):
         # for error handling ,so we know what and when failed and who to blame
         self._service_call_active_future = False
         self._active_transition = None
-        self.last_transition_time = self.get_clock().now()
 
         self.callback_group_services = MutuallyExclusiveCallbackGroup()
         self.callback_group_subscriber = ReentrantCallbackGroup()
@@ -119,17 +118,11 @@ def callback_main_loop(self):
             finally:
                 self._service_call_active_future = None
                 self._active_transition = None
-                self.last_transition_time = self.get_clock().now()
 
         # prevent concurrent service calls to components
         if self._service_call_active_future:
             return
 
-        # throttle transitions by transition_pause
-        time_since_last = (self.get_clock().now() - self.last_transition_time).nanoseconds / 1e9
-        if time_since_last < self.foreman_config.transition_pause:
-            return
-
         # Ok, now we get next command
         command = self.foreman_engine.get_next_transition()
         if not command:

foreman/foreman/parser.py

@@ -23,7 +23,6 @@ class ParsedScenario:
     """Complete parsed scenario configuration."""
 
     controller_manager: str
-    transition_pause: float
     hardware: List[str]
     dependency_rules: List[ControllerDependencyRule]
     goals: Dict[str, SystemGoal]
@@ -98,7 +97,6 @@ def parse_yaml_file(file_path: Path) -> ParsedScenario:
         raise ValueError("Empty YAML file")
 
     controller_manager = data.get('controller_manager', '')
-    transition_pause = data.get('transition_pause', 0.0)
     hardware = data.get('hardware', [])
     lifecycle_nodes = data.get('lifecycle_nodes', [])
 
@@ -149,8 +147,8 @@ def parse_yaml_file(file_path: Path) -> ParsedScenario:
         )
 
     metadata = {}
-    known_keys = {'controller_manager', 'transition_pause',
-                  'hardware', 'lifecycle_nodes', 'controllers', 'goal_states'}
+    known_keys = {'controller_manager', 'hardware',
+                  'lifecycle_nodes', 'controllers', 'goal_states'}
     for key, value in data.items():
         if key not in known_keys:
             metadata[key] = value
@@ -165,7 +163,6 @@ def parse_yaml_file(file_path: Path) -> ParsedScenario:
 
     return ParsedScenario(
         controller_manager=controller_manager,
-        transition_pause=transition_pause,
         hardware=hardware,
         lifecycle_nodes=lifecycle_nodes,
         dependency_rules=dependency_rules,

foreman/test/test_engine.py

@@ -18,7 +18,6 @@ def minimal_foreman_config():
                       hardware_goals=[Component('hw1', ComponentType.HARDWARE, LifecycleState.ACTIVE)])
     return ParsedScenario(
         controller_manager="test_cm",
-        transition_pause=0.0,
         hardware=["hw1"],
         dependency_rules=[],
         goals={'active_goal': goal},
@@ -138,7 +137,6 @@ def lifecycle_foreman_config():
                       lifecycle_node_goals=[Component('robot_manager', ComponentType.LIFECYCLE_NODE, LifecycleState.ACTIVE)])
     return ParsedScenario(
         controller_manager="test_cm",
-        transition_pause=0.0,
         hardware=[],
         dependency_rules=[],
         goals={'active_goal': goal},
@@ -233,7 +231,6 @@ def dependency_config():
 
     return ParsedScenario(
         controller_manager="test_cm",
-        transition_pause=0.0,
         hardware=[],
         dependency_rules=rules,
         goals={'active': goal_missing_dep, 'active_full': goal_with_dep},

foreman/test/test_parser.py

@@ -30,9 +30,6 @@ class TestParsedScenario:
     def test_controller_manager(self, parsed_scenario):
         assert parsed_scenario.controller_manager == "b_controlled_box_cm"
 
-    def test_transition_pause(self, parsed_scenario):
-        assert parsed_scenario.transition_pause == 0.5
-
     def test_hardware_list(self, parsed_scenario):
         assert parsed_scenario.hardware == ["FrankaHardwareInterface", "kassow"]