Make CI capable to run with urcap

urfeex · urfeex · commit 6aad4ff58ff7 · 2025-02-03T11:08:48.000+01:00
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -15,22 +15,13 @@ jobs:
       fail-fast: false
       matrix:
         env:
-          - DOCKER_RUN_OPTS: --network ursim_net
-            BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
-            CTEST_OUTPUT_ON_FAILURE: 1
-            ROBOT_MODEL: 'ur5'
+          - ROBOT_MODEL: 'ur5'
             URSIM_VERSION: '3.14.3'
             PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/cb3'
-          - DOCKER_RUN_OPTS: --network ursim_net
-            BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
-            CTEST_OUTPUT_ON_FAILURE: 1
-            ROBOT_MODEL: 'ur5e'
+          - ROBOT_MODEL: 'ur5e'
             URSIM_VERSION: '5.9.4'
             PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
-          - DOCKER_RUN_OPTS: --network ursim_net
-            BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
-            CTEST_OUTPUT_ON_FAILURE: 1
-            ROBOT_MODEL: 'ur20'
+          - ROBOT_MODEL: 'ur20'
             URSIM_VERSION: 'latest'
             PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
 
@@ -39,7 +30,11 @@ jobs:
       - name: start ursim
         run: |
           scripts/start_ursim.sh -m $ROBOT_MODEL -v $URSIM_VERSION -p $PROGRAM_FOLDER -d
-        env: ${{matrix.env}}
+        env:
+          DOCKER_RUN_OPTS: --network ursim_net
+          ROBOT_MODEL: ${{matrix.env.ROBOT_MODEL}}
+          URSIM_VERSION: ${{matrix.env.URSIM_VERSION}}
+          PROGRAM_FOLDER: ${{matrix.env.PROGRAM_FOLDER}}
       - name: configure
         run: mkdir build && cd build && cmake .. -DBUILDING_TESTS=1 -DINTEGRATION_TESTS=1 -DWITH_ASAN=ON
         env:
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
@@ -31,22 +31,52 @@ if (INTEGRATION_TESTS)
   gtest_add_tests(TARGET      dashboard_client_tests
   )
 
-  add_executable(spline_tests test_spline_interpolation.cpp)
-  target_link_libraries(spline_tests PRIVATE ur_client_library::urcl GTest::gtest_main)
-  gtest_add_tests(TARGET      spline_tests
+  # Spline tests
+  add_executable(spline_tests_urcap test_spline_interpolation.cpp)
+  target_link_libraries(spline_tests_urcap PRIVATE ur_client_library::urcl GTest::gtest_main)
+  gtest_add_tests(TARGET      spline_tests_urcap
                   WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+                  EXTRA_ARGS --headless false
+                  TEST_SUFFIX _urcap
+  )
+  add_executable(spline_tests_headless test_spline_interpolation.cpp)
+  target_link_libraries(spline_tests_headless PRIVATE ur_client_library::urcl GTest::gtest_main)
+  gtest_add_tests(TARGET      spline_tests_headless
+                  WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+                  EXTRA_ARGS --headless true
+                  TEST_SUFFIX _headless
   )
 
-  add_executable(ur_driver_tests test_ur_driver.cpp)
-  target_link_libraries(ur_driver_tests PRIVATE ur_client_library::urcl GTest::gtest_main)
-  gtest_add_tests(TARGET      ur_driver_tests
+  # UrDriver tests
+  add_executable(ur_driver_tests_urcap test_ur_driver.cpp)
+  target_link_libraries(ur_driver_tests_urcap PRIVATE ur_client_library::urcl GTest::gtest_main)
+  gtest_add_tests(TARGET      ur_driver_tests_urcap
+                  WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+                  EXTRA_ARGS --headless false
+                  TEST_SUFFIX _urcap
+  )
+  add_executable(ur_driver_tests_headless test_ur_driver.cpp)
+  target_link_libraries(ur_driver_tests_headless PRIVATE ur_client_library::urcl GTest::gtest_main)
+  gtest_add_tests(TARGET      ur_driver_tests_headless
                   WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+                  EXTRA_ARGS --headless true
+                  TEST_SUFFIX _headless
   )
 
-  add_executable(instruction_executor_test test_instruction_executor.cpp)
-  target_link_libraries(instruction_executor_test PRIVATE ur_client_library::urcl GTest::gtest_main)
-  gtest_add_tests(TARGET instruction_executor_test
+  # InstructionExecutor tests
+  add_executable(instruction_executor_test_urcap test_instruction_executor.cpp)
+  target_link_libraries(instruction_executor_test_urcap PRIVATE ur_client_library::urcl GTest::gtest_main)
+  gtest_add_tests(TARGET instruction_executor_test_urcap
+                  WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+                  EXTRA_ARGS --headless false
+                  TEST_SUFFIX _urcap
+  )
+  add_executable(instruction_executor_test_headless test_instruction_executor.cpp)
+  target_link_libraries(instruction_executor_test_headless PRIVATE ur_client_library::urcl GTest::gtest_main)
+  gtest_add_tests(TARGET instruction_executor_test_headless
                   WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+                  EXTRA_ARGS --headless true
+                  TEST_SUFFIX _headless
   )
 else()
   message(STATUS "Skipping integration tests.")
diff --git a/tests/resources/dockerursim/programs/cb3/external_control.urp b/tests/resources/dockerursim/programs/cb3/external_control.urp
diff --git a/tests/resources/dockerursim/programs/e-series/external_control.urp b/tests/resources/dockerursim/programs/e-series/external_control.urp
diff --git a/tests/test_instruction_executor.cpp b/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"
@@ -43,6 +44,7 @@ const std::string OUTPUT_RECIPE = "resources/rtde_output_recipe.txt";
 const std::string INPUT_RECIPE = "resources/rtde_input_recipe.txt";
 const std::string CALIBRATION_CHECKSUM = "calib_12788084448423163542";
 std::string ROBOT_IP = "192.168.56.101";
+bool g_HEADLESS = true;
 
 std::unique_ptr<ExampleRobotWrapper> g_my_robot;
 
@@ -54,8 +56,7 @@ class InstructionExecutorTest : public ::testing::Test
   static void SetUpTestSuite()
   {
     // Setup driver
-    bool headless_mode = false;
-    g_my_robot = std::make_unique<ExampleRobotWrapper>(ROBOT_IP, OUTPUT_RECIPE, INPUT_RECIPE, headless_mode,
+    g_my_robot = std::make_unique<ExampleRobotWrapper>(ROBOT_IP, OUTPUT_RECIPE, INPUT_RECIPE, g_HEADLESS,
                                                        "external_control.urp", SCRIPT_FILE);
   }
   void SetUp() override
@@ -279,6 +280,12 @@ int main(int argc, char* argv[])
       ROBOT_IP = argv[i + 1];
       break;
     }
+    if (std::string(argv[i]) == "--headless" && i + 1 < argc)
+    {
+      std::string headless = argv[i + 1];
+      g_HEADLESS = headless == "true" || headless == "1" || headless == "True" || headless == "TRUE";
+      break;
+    }
   }
 
   return RUN_ALL_TESTS();
diff --git a/tests/test_spline_interpolation.cpp b/tests/test_spline_interpolation.cpp
@@ -51,6 +51,7 @@ const std::string OUTPUT_RECIPE = "resources/rtde_output_recipe_spline.txt";
 const std::string INPUT_RECIPE = "resources/rtde_input_recipe.txt";
 const std::string CALIBRATION_CHECKSUM = "calib_12788084448423163542";
 std::string g_ROBOT_IP = "192.168.56.101";
+bool g_HEADLESS = true;
 
 std::unique_ptr<ExampleRobotWrapper> g_my_robot;
 
@@ -96,8 +97,7 @@ class SplineInterpolationTest : public ::testing::Test
     out_file.close();
 
     // Setup driver
-    bool headless_mode = false;
-    g_my_robot = std::make_unique<ExampleRobotWrapper>(g_ROBOT_IP, OUTPUT_RECIPE, INPUT_RECIPE, headless_mode,
+    g_my_robot = std::make_unique<ExampleRobotWrapper>(g_ROBOT_IP, OUTPUT_RECIPE, INPUT_RECIPE, g_HEADLESS,
                                                        "external_control.urp", SPLINE_SCRIPT_FILE);
 
     g_my_robot->startRTDECommununication(true);
@@ -1105,6 +1105,12 @@ int main(int argc, char* argv[])
       g_ROBOT_IP = argv[i + 1];
       break;
     }
+    if (std::string(argv[i]) == "--headless" && i + 1 < argc)
+    {
+      std::string headless = argv[i + 1];
+      g_HEADLESS = headless == "true" || headless == "1" || headless == "True" || headless == "TRUE";
+      break;
+    }
   }
 
   return RUN_ALL_TESTS();
diff --git a/tests/test_ur_driver.cpp b/tests/test_ur_driver.cpp
@@ -31,6 +31,7 @@
 #include <gtest/gtest.h>
 
 #include <ur_client_library/ur/dashboard_client.h>
+#include <thread>
 #define private public
 #include <ur_client_library/ur/ur_driver.h>
 #include <ur_client_library/example_robot_wrapper.h>
@@ -42,6 +43,7 @@ const std::string OUTPUT_RECIPE = "resources/rtde_output_recipe.txt";
 const std::string INPUT_RECIPE = "resources/rtde_input_recipe.txt";
 const std::string CALIBRATION_CHECKSUM = "calib_12788084448423163542";
 std::string g_ROBOT_IP = "192.168.56.101";
+bool g_HEADLESS = true;
 
 std::unique_ptr<ExampleRobotWrapper> g_my_robot;
 
@@ -51,8 +53,7 @@ class UrDriverTest : public ::testing::Test
   static void SetUpTestSuite()
   {
     // Setup driver
-    bool headless_mode = false;
-    g_my_robot = std::make_unique<ExampleRobotWrapper>(g_ROBOT_IP, OUTPUT_RECIPE, INPUT_RECIPE, headless_mode,
+    g_my_robot = std::make_unique<ExampleRobotWrapper>(g_ROBOT_IP, OUTPUT_RECIPE, INPUT_RECIPE, g_HEADLESS,
                                                        "external_control.urp", SCRIPT_FILE);
 
     g_my_robot->startRTDECommununication(true);
@@ -225,15 +226,15 @@ TEST_F(UrDriverTest, target_outside_limits_pose)
 
 TEST_F(UrDriverTest, send_robot_program_retry_on_failure)
 {
-  // Start robot program
-  g_my_robot->resendRobotProgram();
-  EXPECT_TRUE(g_my_robot->waitForProgramRunning(1000));
-
   // 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));
+
   EXPECT_TRUE(g_my_robot->resendRobotProgram());
+
+  EXPECT_TRUE(g_my_robot->waitForProgramRunning());
 }
 
 TEST_F(UrDriverTest, reset_rtde_client)
@@ -257,6 +258,12 @@ int main(int argc, char* argv[])
       g_ROBOT_IP = argv[i + 1];
       break;
     }
+    if (std::string(argv[i]) == "--headless" && i + 1 < argc)
+    {
+      std::string headless = argv[i + 1];
+      g_HEADLESS = headless == "true" || headless == "1" || headless == "True" || headless == "TRUE";
+      break;
+    }
   }
 
   return RUN_ALL_TESTS();
