Added test that fails connecting to a socket after n tries

Author: fmauch

tests/test_dashboard_client.cpp

@@ -203,6 +203,14 @@ TEST_F(DashboardClientTest, set_receive_timeout)
   }
 }
 
+TEST_F(DashboardClientTest, connect_non_running_robot)
+{
+  std::unique_ptr<DashboardClient> dashboard_client;
+  // We use an IP address on the integration_test's subnet
+  dashboard_client.reset(new DashboardClient("192.168.56.123"));
+  EXPECT_FALSE(dashboard_client->connect(2, std::chrono::milliseconds(500)));
+}
+
 int main(int argc, char* argv[])
 {
   ::testing::InitGoogleTest(&argc, argv);

tests/test_pipeline.cpp

@@ -234,6 +234,17 @@ TEST_F(PipelineTest, consumer_pipeline)
   pipeline_->stop();
 }
 
+TEST_F(PipelineTest, connect_non_connected_robot)
+{
+  stream_.reset(new comm::URStream<rtde_interface::RTDEPackage>("127.0.0.1", 12321));
+  producer_.reset(new comm::URProducer<rtde_interface::RTDEPackage>(*stream_.get(), *parser_.get()));
+  TestConsumer consumer;
+  pipeline_.reset(
+      new comm::Pipeline<rtde_interface::RTDEPackage>(*producer_.get(), &consumer, "RTDE_PIPELINE", notifier_));
+
+  EXPECT_THROW(pipeline_->init(2, std::chrono::milliseconds(500)), UrException);
+}
+
 int main(int argc, char* argv[])
 {
   ::testing::InitGoogleTest(&argc, argv);

tests/test_producer.cpp

@@ -119,9 +119,20 @@ TEST_F(ProducerTest, get_data_package)
   producer.stopProducer();
 }
 
+TEST_F(ProducerTest, connect_non_connected_robot)
+{
+  comm::URStream<rtde_interface::RTDEPackage> stream("127.0.0.1", 12321);
+  std::vector<std::string> recipe = { "timestamp" };
+  rtde_interface::RTDEParser parser(recipe);
+  parser.setProtocolVersion(2);
+  comm::URProducer<rtde_interface::RTDEPackage> producer(stream, parser);
+
+  EXPECT_THROW(producer.setupProducer(2, std::chrono::milliseconds(500)), UrException);
+}
+
 int main(int argc, char* argv[])
 {
   ::testing::InitGoogleTest(&argc, argv);
 
   return RUN_ALL_TESTS();
-}
+}

tests/test_rtde_client.cpp

@@ -28,6 +28,7 @@
 
 #include <gtest/gtest.h>
 #include <cmath>
+#include "ur_client_library/exceptions.h"
 
 #include <ur_client_library/rtde/rtde_client.h>
 
@@ -346,6 +347,14 @@ TEST_F(RTDEClientTest, output_recipe_without_timestamp)
   EXPECT_FALSE(it == actual_output_recipe_from_vector.end());
 }
 
+TEST_F(RTDEClientTest, connect_non_running_robot)
+{
+  // We use an IP address on the integration_test's subnet
+  client_.reset(
+      new rtde_interface::RTDEClient("192.168.56.123", notifier_, resources_output_recipe_, resources_input_recipe_));
+  EXPECT_THROW(client_->init(2, std::chrono::milliseconds(500)), UrException);
+}
+
 int main(int argc, char* argv[])
 {
   ::testing::InitGoogleTest(&argc, argv);

tests/test_stream.cpp

@@ -320,6 +320,13 @@ TEST_F(StreamTest, write_data_package)
   EXPECT_EQ(send_message, received_message_);
 }
 
+TEST_F(StreamTest, connect_non_connected_robot)
+{
+  comm::URStream<rtde_interface::RTDEPackage> stream("127.0.0.1", 12321);
+  stream.setReconnectionTime(std::chrono::milliseconds(500));
+  EXPECT_FALSE(stream.connect(2));
+}
+
 int main(int argc, char* argv[])
 {
   ::testing::InitGoogleTest(&argc, argv);

tests/test_tcp_socket.cpp

@@ -29,7 +29,9 @@
 // -- END LICENSE BLOCK ------------------------------------------------
 
 #include <gtest/gtest.h>
+#include <chrono>
 #include <condition_variable>
+#include <cstddef>
 
 #include <ur_client_library/comm/tcp_socket.h>
 #include <ur_client_library/comm/tcp_server.h>
@@ -101,15 +103,16 @@ class TCPSocketTest : public ::testing::Test
   class Client : public comm::TCPSocket
   {
   public:
-    Client(int port)
+    Client(int port, const std::string& ip = "127.0.0.1", const size_t max_num_tries = 0)
     {
       port_ = port;
+      ip_ = ip;
+      max_num_tries_ = max_num_tries;
     }
 
     bool setup()
     {
-      std::string ip = "127.0.0.1";
-      return TCPSocket::setup(ip, port_);
+      return TCPSocket::setup(ip_, port_, max_num_tries_);
     }
 
     void setupClientBeforeServer()
@@ -145,6 +148,8 @@ class TCPSocketTest : public ::testing::Test
   private:
     std::thread client_setup_thread_;
     int port_;
+    std::string ip_;
+    size_t max_num_tries_;
     bool done_setting_up_client_;
 
     void setupClient(int port)
@@ -341,6 +346,13 @@ TEST_F(TCPSocketTest, setup_while_client_is_connected)
   EXPECT_FALSE(client_->setup());
 }
 
+TEST_F(TCPSocketTest, connect_non_running_robot)
+{
+  Client client(12321, "127.0.0.1", 2);
+  client.setReconnectionTime(std::chrono::milliseconds(500));
+  EXPECT_FALSE(client.setup());
+}
+
 int main(int argc, char* argv[])
 {
   ::testing::InitGoogleTest(&argc, argv);