Pas headless mode to tests

Author: urfeex

.github/workflows/ci.yml

@@ -10,7 +10,7 @@ jobs:
   build:
     timeout-minutes: 30
     runs-on: ubuntu-latest
-    name: build (${{matrix.env.URSIM_VERSION}}-${{matrix.env.ROBOT_MODEL}}-${{matrix.HEADLESS}})
+    name: build (${{matrix.env.URSIM_VERSION}}-${{matrix.env.ROBOT_MODEL}}-${{matrix.HEADLESS && 'headless' || 'urcap'}})
     strategy:
       fail-fast: false
       matrix:
@@ -79,15 +79,15 @@ jobs:
         uses: actions/upload-artifact@v4
         if: always()
         with:
-          name: ${{matrix.env.ROBOT_MODEL}}_${{matrix.env.URSIM_VERSION}}_URSim_Logs
+          name: ${{matrix.env.ROBOT_MODEL}}_${{matrix.env.URSIM_VERSION}}-${{matrix.HEADLESS && 'headless' || 'urcap'}}_URSim_Logs
           path: ursim_logs
           if-no-files-found: error
           retention-days: 10
       - name: Upload test artifacts
         uses: actions/upload-artifact@v4
         if: always()
         with:
-          name: ${{matrix.env.ROBOT_MODEL}}_${{matrix.env.URSIM_VERSION}}_test_artifacts
+          name: ${{matrix.env.ROBOT_MODEL}}_${{matrix.env.URSIM_VERSION}}-${{matrix.HEADLESS && 'headless' || 'urcap'}}_test_artifacts
           path: test_artifacts
           if-no-files-found: error
           retention-days: 10

tests/test_instruction_executor.cpp

@@ -29,6 +29,7 @@
 // -- END LICENSE BLOCK ------------------------------------------------
 
 #include <gtest/gtest.h>
+#include <iostream>
 #include <thread>
 #include "ur_client_library/ur/instruction_executor.h"
 #include "ur_client_library/control/motion_primitives.h"
@@ -55,6 +56,12 @@ class InstructionExecutorTest : public ::testing::Test
   {
     // Setup driver
     bool headless_mode = false;
+    auto headless_env = std::getenv("HEADLESS_MODE");
+    if (headless_env != nullptr)
+    {
+      headless_mode = std::string(headless_env) == "true" || std::string(headless_env) == "1" ||
+                      std::string(headless_env) == "True" || std::string(headless_env) == "TRUE";
+    }
     g_my_robot = std::make_unique<ExampleRobotWrapper>(ROBOT_IP, OUTPUT_RECIPE, INPUT_RECIPE, headless_mode,
                                                        "external_control.urp", SCRIPT_FILE);
   }

tests/test_spline_interpolation.cpp

@@ -97,6 +97,12 @@ class SplineInterpolationTest : public ::testing::Test
 
     // Setup driver
     bool headless_mode = false;
+    auto headless_env = std::getenv("HEADLESS_MODE");
+    if (headless_env != nullptr)
+    {
+      headless_mode = std::string(headless_env) == "true" || std::string(headless_env) == "1" ||
+                      std::string(headless_env) == "True" || std::string(headless_env) == "TRUE";
+    }
     g_my_robot = std::make_unique<ExampleRobotWrapper>(g_ROBOT_IP, OUTPUT_RECIPE, INPUT_RECIPE, headless_mode,
                                                        "external_control.urp", SPLINE_SCRIPT_FILE);
 

tests/test_ur_driver.cpp

@@ -52,6 +52,12 @@ class UrDriverTest : public ::testing::Test
   {
     // Setup driver
     bool headless_mode = false;
+    auto headless_env = std::getenv("HEADLESS_MODE");
+    if (headless_env != nullptr)
+    {
+      headless_mode = std::string(headless_env) == "true" || std::string(headless_env) == "1" ||
+                      std::string(headless_env) == "True" || std::string(headless_env) == "TRUE";
+    }
     g_my_robot = std::make_unique<ExampleRobotWrapper>(g_ROBOT_IP, OUTPUT_RECIPE, INPUT_RECIPE, headless_mode,
                                                        "external_control.urp", SCRIPT_FILE);