Added integration test for primary client

Author: urfeex

tests/CMakeLists.txt

@@ -78,6 +78,22 @@ if (INTEGRATION_TESTS)
                   EXTRA_ARGS --headless true
                   TEST_SUFFIX _headless
   )
+
+  # PrimaryClient tests
+  add_executable(primary_client_test_urcap test_primary_client.cpp)
+  target_link_libraries(primary_client_test_urcap PRIVATE ur_client_library::urcl GTest::gtest_main)
+  gtest_add_tests(TARGET primary_client_test_urcap
+                  WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+                  EXTRA_ARGS --headless false
+                  TEST_SUFFIX _urcap
+  )
+  add_executable(primary_client_test_headless test_primary_client.cpp)
+  target_link_libraries(primary_client_test_headless PRIVATE ur_client_library::urcl GTest::gtest_main)
+  gtest_add_tests(TARGET primary_client_test_headless
+                  WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+                  EXTRA_ARGS --headless true
+                  TEST_SUFFIX _headless
+  )
 else()
   message(STATUS "Skipping integration tests.")
 endif()

tests/test_primary_client.cpp

@@ -0,0 +1,82 @@
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2025 Universal Robots A/S
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the {copyright_holder} nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// -- END LICENSE BLOCK ------------------------------------------------
+
+#include <gtest/gtest.h>
+
+#include <ur_client_library/primary/primary_client.h>
+#include <ur_client_library/ur/calibration_checker.h>
+#include <memory>
+
+using namespace urcl;
+
+std::string g_ROBOT_IP = "192.168.56.101";
+
+class PrimaryClientTest : public ::testing::Test
+{
+protected:
+  void SetUp() override
+  {
+    client_ = std::make_unique<primary_interface::PrimaryClient>(g_ROBOT_IP, notifier_);
+  }
+
+  std::unique_ptr<primary_interface::PrimaryClient> client_;
+  comm::INotifier notifier_;
+};
+
+TEST_F(PrimaryClientTest, start_communication_succeeds)
+{
+  EXPECT_NO_THROW(client_->start());
+}
+
+TEST_F(PrimaryClientTest, add_and_remove_consumer)
+{
+  auto calibration_consumer = std::make_shared<urcl::CalibrationChecker>("test");
+
+  client_->addPrimaryConsumer(calibration_consumer);
+
+  EXPECT_NO_THROW(client_->start());
+
+  auto start_time = std::chrono::system_clock::now();
+  const auto timeout = std::chrono::seconds(5);
+  while (!calibration_consumer->isChecked() && std::chrono::system_clock::now() - start_time < timeout)
+  {
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+  }
+  EXPECT_TRUE(calibration_consumer->isChecked());
+
+  client_->removePrimaryConsumer(calibration_consumer);
+}
+
+int main(int argc, char* argv[])
+{
+  ::testing::InitGoogleTest(&argc, argv);
+
+  return RUN_ALL_TESTS();
+}