Fix tests

Author: Felix Exner

tests/test_dashboard_client.cpp

@@ -32,6 +32,7 @@
 #include <ur_client_library/exceptions.h>
 #include <chrono>
 #include <thread>
+#include "ur_client_library/comm/tcp_socket.h"
 #include "ur_client_library/ur/version_information.h"
 #define private public
 #include <ur_client_library/ur/dashboard_client.h>
@@ -208,7 +209,14 @@ TEST_F(DashboardClientTest, connect_non_running_robot)
   std::unique_ptr<DashboardClient> dashboard_client;
   // We use an IP address on the integration_test's subnet
   dashboard_client.reset(new DashboardClient("192.168.56.123"));
+  auto start = std::chrono::system_clock::now();
   EXPECT_FALSE(dashboard_client->connect(2, std::chrono::milliseconds(500)));
+  auto end = std::chrono::system_clock::now();
+  auto elapsed = end - start;
+  // This is only a rough estimate, obviously.
+  // Since this isn't done on the loopback device, trying to open a socket on a non-existing address
+  // takes considerably longer.
+  EXPECT_LT(elapsed, 2 * comm::TCPSocket::DEFAULT_RECONNECTION_TIME);
 }
 
 int main(int argc, char* argv[])

tests/test_pipeline.cpp

@@ -242,7 +242,12 @@ TEST_F(PipelineTest, connect_non_connected_robot)
   pipeline_.reset(
       new comm::Pipeline<rtde_interface::RTDEPackage>(*producer_.get(), &consumer, "RTDE_PIPELINE", notifier_));
 
+  auto start = std::chrono::system_clock::now();
   EXPECT_THROW(pipeline_->init(2, std::chrono::milliseconds(500)), UrException);
+  auto end = std::chrono::system_clock::now();
+  auto elapsed = end - start;
+  // This is only a rough estimate, obviously
+  EXPECT_LT(elapsed, std::chrono::milliseconds(1500));
 }
 
 int main(int argc, char* argv[])

tests/test_producer.cpp

@@ -29,6 +29,7 @@
 // -- END LICENSE BLOCK ------------------------------------------------
 
 #include <gtest/gtest.h>
+#include <chrono>
 #include <condition_variable>
 
 #include <ur_client_library/comm/producer.h>
@@ -127,7 +128,12 @@ TEST_F(ProducerTest, connect_non_connected_robot)
   parser.setProtocolVersion(2);
   comm::URProducer<rtde_interface::RTDEPackage> producer(stream, parser);
 
+  auto start = std::chrono::system_clock::now();
   EXPECT_THROW(producer.setupProducer(2, std::chrono::milliseconds(500)), UrException);
+  auto end = std::chrono::system_clock::now();
+  auto elapsed = end - start;
+  // This is only a rough estimate, obviously
+  EXPECT_LT(elapsed, std::chrono::milliseconds(1500));
 }
 
 int main(int argc, char* argv[])

tests/test_rtde_client.cpp

@@ -352,7 +352,14 @@ TEST_F(RTDEClientTest, connect_non_running_robot)
   // We use an IP address on the integration_test's subnet
   client_.reset(
       new rtde_interface::RTDEClient("192.168.56.123", notifier_, resources_output_recipe_, resources_input_recipe_));
+  auto start = std::chrono::system_clock::now();
   EXPECT_THROW(client_->init(2, std::chrono::milliseconds(500)), UrException);
+  auto end = std::chrono::system_clock::now();
+  auto elapsed = end - start;
+  // This is only a rough estimate, obviously.
+  // Since this isn't done on the loopback device, trying to open a socket on a non-existing address
+  // takes considerably longer.
+  EXPECT_LT(elapsed, 2 * comm::TCPSocket::DEFAULT_RECONNECTION_TIME);
 }
 
 int main(int argc, char* argv[])

tests/test_stream.cpp

@@ -324,7 +324,12 @@ TEST_F(StreamTest, write_data_package)
 TEST_F(StreamTest, connect_non_connected_robot)
 {
   comm::URStream<rtde_interface::RTDEPackage> stream("127.0.0.1", 12321);
+  auto start = std::chrono::system_clock::now();
   EXPECT_FALSE(stream.connect(2, std::chrono::milliseconds(500)));
+  auto end = std::chrono::system_clock::now();
+  auto elapsed = end - start;
+  // This is only a rough estimate, obviously
+  EXPECT_LT(elapsed, std::chrono::milliseconds(1500));
 }
 
 int main(int argc, char* argv[])

tests/test_tcp_socket.cpp

@@ -33,6 +33,9 @@
 #include <condition_variable>
 #include <cstddef>
 
+// This file adds a test for a deprecated function. To avoid a compiler warning in CI (where we want
+// to treat warnings as errors) we suppress the warning inside this file.
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
 #include <ur_client_library/comm/tcp_socket.h>
 #include <ur_client_library/comm/tcp_server.h>
 #include "ur_client_library/types.h"
@@ -156,7 +159,7 @@ class TCPSocketTest : public ::testing::Test
                      std::chrono::milliseconds reconnection_time = std::chrono::seconds(10))
     {
       std::string ip = "127.0.0.1";
-      TCPSocket::setup(ip, port);
+      TCPSocket::setup(ip, port, max_num_tries, reconnection_time);
       done_setting_up_client_ = true;
     }
   };
@@ -349,7 +352,18 @@ TEST_F(TCPSocketTest, setup_while_client_is_connected)
 TEST_F(TCPSocketTest, connect_non_running_robot)
 {
   Client client(12321, "127.0.0.1");
+  auto start = std::chrono::system_clock::now();
   EXPECT_FALSE(client.setup(2, std::chrono::milliseconds(500)));
+  auto end = std::chrono::system_clock::now();
+  auto elapsed = end - start;
+  // This is only a rough estimate, obviously
+  EXPECT_LT(elapsed, std::chrono::milliseconds(1500));
+}
+
+TEST_F(TCPSocketTest, test_deprecated_reconnection_time_interface)
+{
+  client_->setReconnectionTime(std::chrono::milliseconds(100));
+  EXPECT_TRUE(client_->setup(2));
 }
 
 int main(int argc, char* argv[])