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Testing duplicate and reordered events for Universal Robots UR5e

NoahAdams0107 · 2026年9月4日 03:04 UTC

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NO
NoahAdams0107
I'm testing our inspection result reconciliation tracking offline for a setup using Universal Robots UR5e in a workshop fixture-checking station, with a fixture-mounted plate as a reference. An earlier attempt's completion incorrectly completes a newer attempt if I deliver it after that attempt starts. I need repeatable delayed and duplicate event tests because the random sleeps aren't reliable.

9 条回复

CA
CarlaBarnes0575

Save the exact event order. Does your handler match the completion by attempt identity, or just the job label?

16
NO
NoahAdams0107

Just the job label. I've saved the sequence: earlier completion arrives after the new attempt starts. It reproduces the wrong match.

8
CA
CarlaBarnes0575

Replay that sequence with explicit attempt matching. Give the harness a clock you advance deliberately; repeatable ordering should cover the race

7
JA
JasperChen1160

It covers that order, not every race. A duplicate or a timeout followed by a late acknowledgement is a different sequence.

-3
CA
CarlaBarnes0575

Fair. I meant this reproduced wrong match, not the whole class. Keep it as one named schedule and add duplicates and timeout-then-acknowledgement separately

22
NO
NoahAdams0107

@CarlaBarnes0575 How should I handle history when the same completion is delivered twice? I'd expect one count change but still want both observations visible.

4
CA
CarlaBarnes0575

Yes. Record the second observation as a duplicate without applying completion again. You want repeat delivery to leave the accepted result unchanged

13
RA
RachelBell0696

@CarlaBarnes0575 Idempotent means ignoring it, basically? Or am I missing why you'd log something you ignored?

21
CA
CarlaBarnes0575

Same effect when applied again. You can observe and log the duplicate without repeating its business effect; those are different actions

20

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