RTDEClient: pause and stop in destructor only if running

Otherwise we produce an error when destructing an initialized, but
non-started client.

Author: urfeex

src/rtde/rtde_client.cpp

@@ -256,7 +256,6 @@ void RTDEClient::queryURControlVersion()
 
 void RTDEClient::resetOutputRecipe(const std::vector<std::string> new_recipe)
 {
-  prod_->teardownProducer();
   disconnect();
 
   output_recipe_.assign(new_recipe.begin(), new_recipe.end());
@@ -445,10 +444,16 @@ void RTDEClient::setupInputs()
 void RTDEClient::disconnect()
 {
   // If communication is started it should be paused before disconnecting
-  if (client_state_ > ClientState::UNINITIALIZED)
+  if (client_state_ == ClientState::RUNNING)
+  {
+    pause();
+  }
+  if (client_state_ >= ClientState::INITIALIZING)
   {
-    sendPause();
     pipeline_->stop();
+  }
+  if (client_state_ > ClientState::UNINITIALIZED)
+  {
     stream_.disconnect();
   }
   client_state_ = ClientState::UNINITIALIZED;

tests/test_rtde_client.cpp

@@ -380,7 +380,7 @@ TEST_F(RTDEClientTest, check_all_rtde_output_variables_exist)
   client_.reset(new rtde_interface::RTDEClient(g_ROBOT_IP, notifier_, exhaustive_output_recipe_file_,
                                                input_recipe_file_, 0.0, true));
 
-  EXPECT_NO_THROW(client_->init());
+  EXPECT_TRUE(client_->init());
   client_->start();
 
   // Test that we can receive and parse the timestamp from the received package to prove the setup was successful