Use wrapper's resend function

Author: urfeex

tests/test_instruction_executor.cpp

@@ -197,7 +197,7 @@ TEST_F(InstructionExecutorTest, sending_commands_without_reverse_interface_conne
   ASSERT_FALSE(executor_->executeMotion(motion_sequence));
 
   // Disconnect mid-motion
-  g_my_robot->ur_driver_->sendRobotProgram();
+  g_my_robot->resendRobotProgram();
   ASSERT_TRUE(g_my_robot->waitForProgramRunning(1000));
 
   // move to first pose

tests/test_ur_driver.cpp

@@ -51,7 +51,7 @@ class UrDriverTest : public ::testing::Test
   static void SetUpTestSuite()
   {
     // Setup driver
-    bool headless_mode = true;
+    bool headless_mode = false;
     g_my_robot = std::make_unique<ExampleRobotWrapper>(g_ROBOT_IP, OUTPUT_RECIPE, INPUT_RECIPE, headless_mode,
                                                        "external_control.urp", SCRIPT_FILE);
 
@@ -99,7 +99,7 @@ TEST_F(UrDriverTest, robot_receive_timeout)
   EXPECT_TRUE(g_my_robot->waitForProgramNotRunning(400));
 
   // Start robot program
-  g_my_robot->ur_driver_->sendRobotProgram();
+  g_my_robot->resendRobotProgram();
   EXPECT_TRUE(g_my_robot->waitForProgramRunning(1000));
 
   // Robot program should time out after the robot receive timeout, whether it takes exactly 200 ms is not so important
@@ -108,7 +108,7 @@ TEST_F(UrDriverTest, robot_receive_timeout)
   EXPECT_TRUE(g_my_robot->waitForProgramNotRunning(400));
 
   // Start robot program
-  g_my_robot->ur_driver_->sendRobotProgram();
+  g_my_robot->resendRobotProgram();
   EXPECT_TRUE(g_my_robot->waitForProgramRunning(1000));
 
   // Robot program should time out after the robot receive timeout, whether it takes exactly 200 ms is not so important
@@ -117,7 +117,7 @@ TEST_F(UrDriverTest, robot_receive_timeout)
   EXPECT_TRUE(g_my_robot->waitForProgramNotRunning(400));
 
   // Start robot program
-  g_my_robot->ur_driver_->sendRobotProgram();
+  g_my_robot->resendRobotProgram();
   EXPECT_TRUE(g_my_robot->waitForProgramRunning(1000));
 
   // Robot program should time out after the robot receive timeout, whether it takes exactly 200 ms is not so important
@@ -226,14 +226,14 @@ TEST_F(UrDriverTest, target_outside_limits_pose)
 TEST_F(UrDriverTest, send_robot_program_retry_on_failure)
 {
   // Start robot program
-  g_my_robot->ur_driver_->sendRobotProgram();
+  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();
 
-  EXPECT_TRUE(g_my_robot->ur_driver_->sendRobotProgram());
+  EXPECT_TRUE(g_my_robot->resendRobotProgram());
 }
 
 TEST_F(UrDriverTest, reset_rtde_client)