Make UrDriver tests run without ctest

As ctest runs each test individually, an error with test initialization
introduced earlier didn't show.

This change makes sure that running all tests consecutively with initializing
the test suite only once works correctly.

Author: urfeex

tests/test_ur_driver.cpp

@@ -62,7 +62,17 @@ class UrDriverTest : public ::testing::Test
 
   void SetUp()
   {
-    ASSERT_TRUE(g_my_robot->isHealthy());
+    if (!g_my_robot->isHealthy())
+    {
+      ASSERT_TRUE(g_my_robot->resendRobotProgram());
+      ASSERT_TRUE(g_my_robot->waitForProgramRunning(500));
+    }
+  }
+
+  void TearDown()
+  {
+    g_my_robot->ur_driver_->stopControl();
+    g_my_robot->waitForProgramNotRunning(1000);
   }
 };
 
@@ -224,13 +234,16 @@ TEST_F(UrDriverTest, send_robot_program_retry_on_failure)
 {
   // Check that sendRobotProgram is robust to the secondary stream being disconnected. This is what happens when
   // switching from Remote to Local and back to Remote mode for example.
-  g_my_robot->ur_driver_->secondary_stream_->close();
 
-  std::this_thread::sleep_for(std::chrono::milliseconds(100));
+  // To be able to re-send the robot program we'll have to make sure it isn't running
+  g_my_robot->ur_driver_->stopControl();
+  g_my_robot->waitForProgramNotRunning();
+
+  g_my_robot->ur_driver_->secondary_stream_->close();
 
   EXPECT_TRUE(g_my_robot->resendRobotProgram());
 
-  EXPECT_TRUE(g_my_robot->waitForProgramRunning());
+  EXPECT_TRUE(g_my_robot->waitForProgramRunning(1000));
 }
 
 TEST_F(UrDriverTest, reset_rtde_client)