Edit ci and fail test if not using latest ursim

Author: URJala

.github/workflows/ci.yml

@@ -52,6 +52,8 @@ jobs:
         run: mkdir -p test_artifacts
       - name: test
         run: cd build && ctest --output-on-failure --output-junit junit.xml
+        env:
+          URSIM_VERSION: ${{matrix.env.URSIM_VERSION}}
       - name: Upload test results to Codecov
         if: ${{ !cancelled() }}
         uses: codecov/test-results-action@v1

tests/CMakeLists.txt

@@ -24,14 +24,7 @@ if (INTEGRATION_TESTS)
 
   find_package(Python3 COMPONENTS Interpreter REQUIRED)
 
-  add_custom_command(
-    OUTPUT ${CMAKE_CURRENT_SOURCE_DIR}/resources/exhaustive_rtde_output_recipe.txt
-    COMMAND ${Python3_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/resources/generate_rtde_outputs.py
-    BYPRODUCTS ${CMAKE_CURRENT_SOURCE_DIR}/resources/exhaustive_rtde_output_recipe.txt
-  )
-
-  add_custom_target(generate_outputs ALL DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/resources/exhaustive_rtde_output_recipe.txt)
-
+  add_custom_target(generate_outputs ALL COMMAND ${Python3_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/resources/generate_rtde_outputs.py)
   add_executable(rtde_tests test_rtde_client.cpp)
   add_dependencies(rtde_tests generate_outputs)
   target_link_libraries(rtde_tests PRIVATE ur_client_library::urcl GTest::gtest_main)

tests/test_rtde_client.cpp

@@ -377,9 +377,19 @@ TEST_F(RTDEClientTest, check_all_rtde_output_variables_exist)
 {
   client_->init();
 
+  VersionInformation version = client_->getVersion();
+  const char* env_var = std::getenv("URSIM_VERSION");
+  std::string env(env_var);
+
+  if (env != "latest")
+  {
+    std::cout << "Incorrect URSIM version, it should be the latest version, version is: " << env << std::endl;
+    GTEST_FAIL();
+  }
+
   // Ignore unknown output variables to account for variables not available in old urcontrol versions.
   client_.reset(new rtde_interface::RTDEClient(g_ROBOT_IP, notifier_, exhaustive_output_recipe_file_,
-                                               input_recipe_file_, 0.0, true));
+                                               input_recipe_file_, 0.0, false));
 
   EXPECT_TRUE(client_->init());
   client_->start();