Add a gtest for RTDE client only

Author: Felix Exner

ur_robot_driver/CMakeLists.txt

@@ -145,6 +145,11 @@ if(CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
 
   add_rostest(test/driver.test)
+
+  catkin_add_gtest(test_rtde_client
+    test/test_rtde_client.cpp
+    WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/test)
+  target_link_libraries(test_rtde_client ${catkin_LIBRARIES} ur_robot_driver)
 endif()
 
 

ur_robot_driver/test/resources/empty.txt

@@ -0,0 +1 @@
+ 

ur_robot_driver/test/resources/rtde_input_recipe.txt

@@ -0,0 +1,12 @@
+speed_slider_mask
+speed_slider_fraction
+standard_digital_output_mask
+standard_digital_output
+configurable_digital_output_mask
+configurable_digital_output
+tool_digital_output_mask
+tool_digital_output
+standard_analog_output_mask
+standard_analog_output_type
+standard_analog_output_0
+standard_analog_output_1

ur_robot_driver/test/resources/rtde_output_recipe.txt

@@ -0,0 +1,27 @@
+timestamp
+actual_q
+actual_qd
+speed_scaling
+target_speed_fraction
+runtime_state
+actual_TCP_force
+actual_TCP_pose
+actual_digital_input_bits
+actual_digital_output_bits
+standard_analog_input0
+standard_analog_input1
+standard_analog_output0
+standard_analog_output1
+analog_io_types
+tool_mode
+tool_analog_input_types
+tool_analog_input0
+tool_analog_input1
+tool_output_voltage
+tool_output_current
+tool_temperature
+robot_mode
+safety_mode
+robot_status_bits
+safety_status_bits
+actual_current

ur_robot_driver/test/test_rtde_client.cpp

@@ -0,0 +1,76 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Felix Exner [email protected]
+ * \date    2020-07-09
+ *
+ */
+//----------------------------------------------------------------------
+
+#include <gtest/gtest.h>
+
+#include <ur_robot_driver/rtde/rtde_client.h>
+
+using namespace ur_driver;
+
+const std::string ROBOT_IP = "172.17.0.2";
+
+TEST(UrRobotDriver, rtde_handshake)
+{
+  comm::INotifier notifier;
+  std::string output_recipe = "resources/rtde_output_recipe.txt";
+  std::string input_recipe = "resources/rtde_input_recipe.txt";
+  rtde_interface::RTDEClient client(ROBOT_IP, notifier, output_recipe, input_recipe);
+
+  EXPECT_TRUE(client.init());
+}
+
+TEST(UrRobotDriver, rtde_handshake_wrong_ip)
+{
+  comm::INotifier notifier;
+  std::string output_recipe = "resources/rtde_output_recipe.txt";
+  std::string input_recipe = "resources/rtde_input_recipe.txt";
+  rtde_interface::RTDEClient client("1.2.3.4", notifier, output_recipe, input_recipe);
+
+  EXPECT_THROW(client.init(), UrException);
+}
+
+TEST(UrRobotDriver, rtde_handshake_illegal_ip)
+{
+  comm::INotifier notifier;
+  std::string output_recipe = "resources/rtde_output_recipe.txt";
+  std::string input_recipe = "resources/rtde_input_recipe.txt";
+  rtde_interface::RTDEClient client("abcd", notifier, output_recipe, input_recipe);
+
+  EXPECT_THROW(client.init(), UrException);
+}
+
+TEST(UrRobotDriver, no_recipe)
+{
+  comm::INotifier notifier;
+  std::string output_recipe = "";
+  std::string input_recipe = "";
+  EXPECT_THROW(rtde_interface::RTDEClient client(ROBOT_IP, notifier, output_recipe, input_recipe), UrException);
+}
+
+TEST(UrRobotDriver, empty_recipe)
+{
+  comm::INotifier notifier;
+  std::string output_recipe = "resources/empty.txt";
+  std::string input_recipe = "resources/empty.txt";
+  rtde_interface::RTDEClient client(ROBOT_IP, notifier, output_recipe, input_recipe);
+
+  EXPECT_THROW(client.init(), UrException);
+}
+
+int main(int argc, char* argv[])
+{
+  ::testing::InitGoogleTest(&argc, argv);
+
+  return RUN_ALL_TESTS();
+}