Add tests for reverse interface callback lists

Author: urfeex

include/ur_client_library/ur/instruction_executor.h

@@ -187,7 +187,7 @@ class InstructionExecutor
     return trajectory_running_;
   }
 
-private:
+protected:
   void trajDoneCallback(const urcl::control::TrajectoryResult& result);
   void trajDisconnectCallback(const int filedescriptor);
 

src/control/reverse_interface.cpp

@@ -238,6 +238,13 @@ void ReverseInterface::disconnectionCallback(const socket_t filedescriptor)
   URCL_LOG_INFO("Connection to reverse interface dropped.", filedescriptor);
   client_fd_ = INVALID_SOCKET;
   handle_program_state_(false);
+  if (!disconnect_callbacks_.empty())
+  {
+    for (auto handler : disconnect_callbacks_)
+    {
+      handler.function(filedescriptor);
+    }
+  }
 }
 
 void ReverseInterface::messageCallback(const socket_t filedescriptor, char* buffer, int nbytesrecv)

src/control/trajectory_point_interface.cpp

@@ -275,7 +275,7 @@ void TrajectoryPointInterface::connectionCallback(const socket_t filedescriptor)
 void TrajectoryPointInterface::disconnectionCallback(const socket_t filedescriptor)
 {
   URCL_LOG_DEBUG("Connection to trajectory interface dropped.");
-  if (!trajectory_end_callbacks_.empty())
+  if (!disconnect_callbacks_.empty())
   {
     for (auto handler : disconnect_callbacks_)
     {

tests/test_reverse_interface.cpp

@@ -450,9 +450,61 @@ TEST_F(ReverseIntefaceTest, deprecated_set_keep_alive_count)
   EXPECT_EQ(expected_read_timeout, received_read_timeout);
 }
 
+TEST_F(ReverseIntefaceTest, disconnected_callbacks_are_called)
+{
+  // Wait for the client to connect to the server
+  EXPECT_TRUE(waitForProgramState(1000, true));
+
+  std::atomic<bool> disconnect_called_1 = false;
+  std::atomic<bool> disconnect_called_2 = false;
+
+  // Register disconnection callbacks
+  int disconnection_callback_id_1 =
+      reverse_interface_->registerDisconnectionCallback([&disconnect_called_1](const int fd) {
+        std::cout << "Disconnection 1 callback called with fd: " << fd << std::endl;
+        disconnect_called_1 = true;
+      });
+  int disconnection_callback_id_2 =
+      reverse_interface_->registerDisconnectionCallback([&disconnect_called_2](const int fd) {
+        std::cout << "Disconnection 2 callback called with fd: " << fd << std::endl;
+        disconnect_called_2 = true;
+      });
+
+  // Close the client connection
+  client_->close();
+  EXPECT_TRUE(waitForProgramState(1000, false));
+  sleep(1);
+  EXPECT_TRUE(disconnect_called_1);
+  EXPECT_TRUE(disconnect_called_2);
+
+  // Unregister 1. 2 should still be called
+  disconnect_called_1 = false;
+  disconnect_called_2 = false;
+  client_.reset(new Client(50001));
+  EXPECT_TRUE(waitForProgramState(1000, true));
+  reverse_interface_->unregisterDisconnectionCallback(disconnection_callback_id_1);
+  client_->close();
+  sleep(1);
+  EXPECT_TRUE(waitForProgramState(1000, false));
+  EXPECT_FALSE(disconnect_called_1);
+  EXPECT_TRUE(disconnect_called_2);
+
+  // Unregister both. None should be called
+  disconnect_called_1 = false;
+  disconnect_called_2 = false;
+  client_.reset(new Client(50001));
+  EXPECT_TRUE(waitForProgramState(1000, true));
+  reverse_interface_->unregisterDisconnectionCallback(disconnection_callback_id_2);
+  client_->close();
+  sleep(1);
+  EXPECT_TRUE(waitForProgramState(1000, false));
+  EXPECT_FALSE(disconnect_called_1);
+  EXPECT_FALSE(disconnect_called_2);
+}
+
 int main(int argc, char* argv[])
 {
   ::testing::InitGoogleTest(&argc, argv);
 
   return RUN_ALL_TESTS();
-}
+}

tests/test_trajectory_point_interface.cpp

@@ -599,9 +599,53 @@ TEST_F(TrajectoryPointInterfaceTest, unsupported_motion_type_throws)
   EXPECT_THROW(traj_point_interface_->writeMotionPrimitive(primitive), urcl::UnsupportedMotionType);
 }
 
+TEST_F(TrajectoryPointInterfaceTest, disconnected_callbacks_are_called_correctly)
+{
+  std::atomic<bool> disconnect_called_1 = false;
+  std::atomic<bool> disconnect_called_2 = false;
+
+  // Register disconnection callbacks
+  int disconnection_callback_id_1 =
+      traj_point_interface_->registerDisconnectionCallback([&disconnect_called_1](const int fd) {
+        std::cout << "Disconnection 1 callback called with fd: " << fd << std::endl;
+        disconnect_called_1 = true;
+      });
+  int disconnection_callback_id_2 =
+      traj_point_interface_->registerDisconnectionCallback([&disconnect_called_2](const int fd) {
+        std::cout << "Disconnection 2 callback called with fd: " << fd << std::endl;
+        disconnect_called_2 = true;
+      });
+
+  // Close the client connection
+  client_->close();
+  sleep(1);
+  EXPECT_TRUE(disconnect_called_1);
+  EXPECT_TRUE(disconnect_called_2);
+
+  // Unregister 1. 2 should still be called
+  disconnect_called_1 = false;
+  disconnect_called_2 = false;
+  client_.reset(new Client(50003));
+  traj_point_interface_->unregisterDisconnectionCallback(disconnection_callback_id_1);
+  client_->close();
+  sleep(1);
+  EXPECT_FALSE(disconnect_called_1);
+  EXPECT_TRUE(disconnect_called_2);
+
+  // Unregister both. None should be called
+  disconnect_called_1 = false;
+  disconnect_called_2 = false;
+  client_.reset(new Client(50003));
+  traj_point_interface_->unregisterDisconnectionCallback(disconnection_callback_id_2);
+  client_->close();
+  sleep(1);
+  EXPECT_FALSE(disconnect_called_1);
+  EXPECT_FALSE(disconnect_called_2);
+}
+
 int main(int argc, char* argv[])
 {
   ::testing::InitGoogleTest(&argc, argv);
 
   return RUN_ALL_TESTS();
-}
+}