Generate exhaustive rtde output list at build time

Author: URJala

tests/CMakeLists.txt

@@ -21,7 +21,19 @@ option(INTEGRATION_TESTS "Build the integration tests that require a running rob
 if (INTEGRATION_TESTS)
   # Integration tests require a robot reachable at 192.168.56.101. Therefore, they have to be
   # activated separately.
+  
+  find_package(Python3 COMPONENTS Interpreter REQUIRED)
+
+  add_custom_command(
+    OUTPUT ${CMAKE_CURRENT_SOURCE_DIR}/resources/exhaustive_rtde_output_recipe.txt
+    COMMAND ${Python3_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/resources/generate_rtde_outputs.py
+    BYPRODUCTS ${CMAKE_CURRENT_SOURCE_DIR}/resources/exhaustive_rtde_output_recipe.txt
+  )
+
+  add_custom_target(generate_outputs ALL DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/resources/exhaustive_rtde_output_recipe.txt)
+
   add_executable(rtde_tests test_rtde_client.cpp)
+  add_dependencies(rtde_tests generate_outputs)
   target_link_libraries(rtde_tests PRIVATE ur_client_library::urcl GTest::gtest_main)
   gtest_add_tests(TARGET      rtde_tests
                   WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
@@ -111,6 +123,8 @@ target_link_libraries(primary_parser_tests PRIVATE ur_client_library::urcl GTest
 gtest_add_tests(TARGET      primary_parser_tests
 )
 
+
+
 add_executable(rtde_data_package_tests test_rtde_data_package.cpp)
 target_link_libraries(rtde_data_package_tests PRIVATE ur_client_library::urcl GTest::gtest_main)
 gtest_add_tests(TARGET      rtde_data_package_tests

tests/resources/generate_rtde_outputs.py

@@ -0,0 +1,29 @@
+import pathlib
+
+URCL_PATH = pathlib.Path(__file__).parent.parent.parent.resolve()
+
+PKG_PATH = [i for i in pathlib.Path(URCL_PATH.as_posix()).glob("**/data_package.cpp")]
+
+assert len(PKG_PATH) == 1
+
+PKG_PATH = PKG_PATH[0].resolve()
+
+OUTPUT_PATH = pathlib.Path(__file__).parent.resolve().as_posix() + "/exhaustive_rtde_output_recipe.txt"
+
+with open(PKG_PATH) as pkg_file:
+    save_outputs = False
+    outputs = []
+    while True:
+        line = pkg_file.readline()
+        if not line:
+            break
+        if "// INPUT / OUTPUT" in line:
+            save_outputs = True
+        if save_outputs:
+            if "//" not in line and len(line) > 1:
+                outputs.append(line.split('"')[1] + "\n")
+        if "// NOT IN OFFICIAL DOCS" in line:
+            break
+
+    with open(OUTPUT_PATH, "w") as output_file:
+        output_file.writelines(outputs)