Polyscope x integration tests (#295)

Run integration tests against a PolyScopeX URSim in CI

Author: urfeex

.github/workflows/ci.yml

@@ -26,6 +26,9 @@ jobs:
           - ROBOT_MODEL: 'ur20'
             URSIM_VERSION: 'latest'
             PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
+          - ROBOT_MODEL: 'ur5e'
+            URSIM_VERSION: '10.7.0'
+            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/polyscopex'
 
     steps:
       - uses: actions/checkout@v4
@@ -68,7 +71,7 @@ jobs:
           token: ${{ secrets.CODECOV_TOKEN }}
           flags: ${{ matrix.env.ROBOT_MODEL }}-${{ matrix.env.URSIM_VERSION }}
       - name: Generate URSim log files
-        if: always()
+        if: always() && matrix.env.URSIM_VERSION != '10.7.0'
         run: |
           nc -q 1 192.168.56.101 29999 <<END
           saveLog
@@ -78,21 +81,21 @@ jobs:
           docker cp ursim:/ursim/polyscope.log ursim_logs/polyscope.log
           docker cp ursim:/ursim/log_history.txt ursim_logs/log_history.txt
       - name: Copy flight reports
-        if: failure()
+        if: failure() && matrix.env.URSIM_VERSION != '10.7.0'
         run: |
           mkdir -p ursim_logs/flightreports
           docker cp ursim:/ursim/flightreports/. ursim_logs/flightreports/
       - name: Upload logfiles
         uses: actions/upload-artifact@v4
-        if: always()
+        if: always() && matrix.env.URSIM_VERSION != '10.7.0'
         with:
           name: ${{matrix.env.ROBOT_MODEL}}_${{matrix.env.URSIM_VERSION}}_URSim_Logs
           path: ursim_logs
           if-no-files-found: error
           retention-days: 10
       - name: Upload test artifacts
         uses: actions/upload-artifact@v4
-        if: always()
+        if: always() && matrix.env.URSIM_VERSION != '10.7.0'
         with:
           name: ${{matrix.env.ROBOT_MODEL}}_${{matrix.env.URSIM_VERSION}}_test_artifacts
           path: test_artifacts

examples/dashboard_example.cpp

@@ -33,8 +33,12 @@
 #include <ur_client_library/log.h>
 #include <ur_client_library/ur/dashboard_client.h>
 
+#include <iostream>
 #include <memory>
+#include <sstream>
 #include <thread>
+#include "ur_client_library/comm/pipeline.h"
+#include "ur_client_library/primary/primary_client.h"
 
 using namespace urcl;
 
@@ -55,6 +59,18 @@ int main(int argc, char* argv[])
     robot_ip = std::string(argv[1]);
   }
 
+  urcl::comm::INotifier notifier;
+  urcl::primary_interface::PrimaryClient primary_client(robot_ip, notifier);
+  primary_client.start();
+  auto version_information = primary_client.getRobotVersion();
+  if (version_information->major >= 10)
+  {
+    std::stringstream ss;
+    ss << "Robot has version " << *version_information << ". This example is not compatible with PolyScope X";
+    URCL_LOG_ERROR(ss.str().c_str());
+    return 0;
+  }
+
   // Connect to the robot Dashboard Server
   auto my_dashboard = std::make_unique<DashboardClient>(robot_ip);
   if (!my_dashboard->connect())