Added tests for the primary client and primary parser.

Author: urmarp

tests/CMakeLists.txt

@@ -48,6 +48,12 @@ else()
   message(STATUS "Skipping integration tests.")
 endif()
 
+add_executable(primary_client_tests test_primary_client.cpp)
+target_compile_options(primary_client_tests PRIVATE ${CXX17_FLAG})
+target_include_directories(primary_client_tests PRIVATE ${GTEST_INCLUDE_DIRS})
+target_link_libraries(primary_client_tests PRIVATE ur_client_library::urcl ${GTEST_LIBRARIES})
+gtest_add_tests(TARGET      primary_client_tests
+)
 
 add_executable(primary_parser_tests test_primary_parser.cpp)
 target_compile_options(primary_parser_tests PRIVATE ${CXX17_FLAG})

tests/test_primary_client.cpp

@@ -0,0 +1,296 @@
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2022 Universal Robots A/S
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the {copyright_holder} nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// -- END LICENSE BLOCK ------------------------------------------------
+
+#include <gtest/gtest.h>
+#include <condition_variable>
+#include <chrono>
+
+#include <ur_client_library/comm/tcp_server.h>
+#define private public
+#include <ur_client_library/primary/primary_client.h>
+
+using namespace urcl;
+
+std::string ROBOT_IP = "127.0.0.1";
+int PRIMARY_PORT = 30001;
+int DASHBOARD_PORT = 29999;
+int FAKE_PRIMARY_PORT = 60061;
+int FAKE_DASHBOARD_PORT = 60059;
+
+class PrimaryClientTest : public ::testing::Test
+{
+protected:
+  void SetUp()
+  {
+    in_remote_control_ = true;
+  }
+
+  void TearDown()
+  {
+    dashboard_server_.reset();
+    primary_server_.reset();
+    client_.reset();
+  }
+
+  void run()
+  {
+    unsigned char message[] = { 0x00, 0x00, 0x00, 0x50, 0x19, 0x00, 0x00, 0x00,
+                                0x00, 0x56, 0x76, 0xd3, 0xa0, 0x00, 0x00, 0x00 };  // Empty GlobalVariablesSetupMessage
+    size_t len = sizeof(message);
+    size_t written;
+    while (running_)
+    {
+      primary_server_->write(client_fd_, message, len, written);
+      std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    }
+  }
+
+  void stopThread()
+  {
+    URCL_LOG_DEBUG("Shutting down thread");
+    running_ = false;
+    if (server_thread_.joinable())
+    {
+      server_thread_.join();
+    }
+  }
+
+  void connectionCallback(const int filedescriptor)
+  {
+    std::lock_guard<std::mutex> lk(connect_mutex_);
+    client_fd_ = filedescriptor;
+    connect_cv_.notify_one();
+    connection_callback_ = true;
+  }
+
+  void connectionCallbackDB(const int filedescriptor)
+  {
+    std::lock_guard<std::mutex> lk(connect_mutex_db_);
+    client_fd_db_ = filedescriptor;
+
+    unsigned char message[] = {
+      0x43, 0x6f, 0x6e, 0x6e, 0x65, 0x63, 0x74, 0x65, 0x64, 0x3a, 0x20, 0x55, 0x6e, 0x69, 0x76, 0x65, 0x72, 0x73, 0x61,
+      0x6c, 0x20, 0x52, 0x6f, 0x62, 0x6f, 0x74, 0x73, 0x20, 0x46, 0x61, 0x6b, 0x65, 0x20, 0x54, 0x65, 0x73, 0x74, 0x20,
+      0x44, 0x61, 0x73, 0x68, 0x62, 0x6f, 0x61, 0x72, 0x64, 0x20, 0x53, 0x65, 0x72, 0x76, 0x65, 0x72, 0x0a
+    };  // "Connected: Universal Robots Fake Test Dashboard Server\n"
+    size_t len = sizeof(message);
+    size_t written;
+    dashboard_server_->write(client_fd_db_, message, len, written);
+    connect_cv_db_.notify_one();
+    connection_callback_db_ = true;
+  }
+
+  void messageCallback(const int filedescriptor, char* buffer)
+  {
+    std::lock_guard<std::mutex> lk(message_mutex_);
+    message_ = std::string(buffer);
+    message_cv_.notify_one();
+    message_callback_ = true;
+  }
+
+  void messageCallbackDB(const int filedescriptor, char* buffer)
+  {
+    std::lock_guard<std::mutex> lk(message_mutex_db_);
+    message_db_ = std::string(buffer);
+    if (message_db_ == "is in remote control\n")
+    {
+      unsigned char message_true[] = { 0x74, 0x72, 0x75, 0x65, 0x0a };         // "true\n"
+      unsigned char message_false[] = { 0x66, 0x61, 0x6c, 0x73, 0x65, 0x0a };  // "false\n"
+
+      size_t len = in_remote_control_ ? sizeof(message_true) : sizeof(message_false);
+      size_t written;
+      dashboard_server_->write(client_fd_db_, in_remote_control_ ? message_true : message_false, len, written);
+    }
+    if (message_db_ == "PolyscopeVersion\n")
+    {
+      unsigned char message_pv[] = {
+        0x55, 0x52, 0x53, 0x6f, 0x66, 0x74, 0x77, 0x61, 0x72, 0x65, 0x20, 0x35, 0x2e, 0x31,
+        0x32, 0x2e, 0x32, 0x2e, 0x31, 0x31, 0x30, 0x31, 0x35, 0x33, 0x34, 0x20, 0x28, 0x4a,
+        0x75, 0x6c, 0x20, 0x30, 0x36, 0x20, 0x32, 0x30, 0x32, 0x32, 0x29, 0x0a
+      };  // URSoftware 5.12.2.1101534 (Jul 06 2022)
+      size_t len = sizeof(message_pv);
+      size_t written;
+      dashboard_server_->write(client_fd_db_, message_pv, len, written);
+    }
+
+    message_cv_db_.notify_one();
+    message_callback_db_ = true;
+  }
+
+  bool waitForConnectionCallback(int milliseconds = 100)
+  {
+    std::unique_lock<std::mutex> lk(connect_mutex_);
+    if (connect_cv_.wait_for(lk, std::chrono::milliseconds(milliseconds)) == std::cv_status::no_timeout ||
+        connection_callback_ == true)
+    {
+      connection_callback_ = false;
+      return true;
+    }
+    else
+    {
+      return false;
+    }
+  }
+
+  bool waitForMessageCallback(int milliseconds = 100)
+  {
+    std::unique_lock<std::mutex> lk(message_mutex_);
+    if (message_cv_.wait_for(lk, std::chrono::milliseconds(milliseconds)) == std::cv_status::no_timeout ||
+        message_callback_ == true)
+    {
+      message_callback_ = false;
+      return true;
+    }
+    else
+    {
+      return false;
+    }
+  }
+
+  bool waitForMessageCallbackDB(int milliseconds = 100)
+  {
+    std::unique_lock<std::mutex> lk(message_mutex_db_);
+    if (message_cv_db_.wait_for(lk, std::chrono::milliseconds(milliseconds)) == std::cv_status::no_timeout ||
+        message_callback_db_ == true)
+    {
+      message_callback_db_ = false;
+      return true;
+    }
+    else
+    {
+      return false;
+    }
+  }
+
+  std::string message_ = "";
+  std::string message_db_ = "";
+  int client_fd_ = -1;
+  int client_fd_db_ = -1;
+
+  std::atomic<bool> running_;
+  std::thread server_thread_;
+  std::unique_ptr<primary_interface::PrimaryClient> client_;
+  std::unique_ptr<comm::TCPServer> primary_server_;
+  std::unique_ptr<comm::TCPServer> dashboard_server_;
+
+  std::condition_variable connect_cv_, connect_cv_db_;
+  std::mutex connect_mutex_, connect_mutex_db_;
+
+  std::condition_variable message_cv_, message_cv_db_;
+  std::mutex message_mutex_, message_mutex_db_;
+
+  bool connection_callback_ = false;
+  bool connection_callback_db_ = false;
+  bool message_callback_ = false;
+  bool message_callback_db_ = false;
+
+  bool in_remote_control_;
+};
+
+TEST_F(PrimaryClientTest, check_remote_control)
+{
+  dashboard_server_.reset(new comm::TCPServer(FAKE_DASHBOARD_PORT));
+  primary_server_.reset(new comm::TCPServer(FAKE_PRIMARY_PORT));
+  primary_server_->setMessageCallback(std::bind(&PrimaryClientTest_check_remote_control_Test::messageCallback, this,
+                                                std::placeholders::_1, std::placeholders::_2));
+  dashboard_server_->setMessageCallback(std::bind(&PrimaryClientTest_check_remote_control_Test::messageCallbackDB, this,
+                                                  std::placeholders::_1, std::placeholders::_2));
+  primary_server_->setConnectCallback(
+      std::bind(&PrimaryClientTest_check_remote_control_Test::connectionCallback, this, std::placeholders::_1));
+  dashboard_server_->setConnectCallback(
+      std::bind(&PrimaryClientTest_check_remote_control_Test::connectionCallbackDB, this, std::placeholders::_1));
+  dashboard_server_->start();
+  primary_server_->start();
+  server_thread_ = std::thread(&PrimaryClientTest_check_remote_control_Test::run, this);
+
+  std::unique_ptr<primary_interface::PrimaryClient> temp_client;
+  client_.reset(new primary_interface::PrimaryClient(ROBOT_IP, ""));
+  std::this_thread::sleep_for(std::chrono::milliseconds(1000));  // Let connections set up
+
+  // Disconnect from URSim servers and connect to fake servers
+  client_->pipeline_->stop();
+  client_->stream_->disconnect();
+  client_->dashboard_client_->disconnect();
+  client_->dashboard_client_->port_ = FAKE_DASHBOARD_PORT;
+  client_->stream_->port_ = FAKE_PRIMARY_PORT;
+  client_->stream_->connect();
+  client_->dashboard_client_->connect();
+  client_->pipeline_->run();
+  std::this_thread::sleep_for(std::chrono::milliseconds(1000));  // let connections set up
+
+  // When in_remote_control_ is true the primary client should be able to send script
+  in_remote_control_ = true;
+  client_->sendScript("true\n");
+  EXPECT_TRUE(waitForMessageCallback(1000));
+
+  // Make sure thread sets in_remote_control_ to false and primary client has time to reconnect
+  in_remote_control_ = false;
+  std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+
+  // When in_remote_control_ is false the primary client NOT should be able to send script
+  client_->sendScript("false\n");
+  EXPECT_FALSE(waitForMessageCallback(1000));
+
+  stopThread();
+}
+
+TEST_F(PrimaryClientTest, send_script)
+{
+  client_.reset(new primary_interface::PrimaryClient(ROBOT_IP, ""));
+  std::stringstream cmd;
+  cmd.imbue(std::locale::classic());  // Make sure, decimal divider is actually '.'
+  cmd << "sec setup():" << std::endl
+      << " textmsg(\"Command through primary interface complete \")" << std::endl
+      << "end";
+
+  std::string script_code = cmd.str();
+  auto program_with_newline = script_code + '\n';
+  // Should always return false in pipeline as robot will never be in remote control
+  EXPECT_FALSE(client_->sendScript(program_with_newline));
+}
+
+TEST_F(PrimaryClientTest, get_data)
+{
+  client_.reset(new primary_interface::PrimaryClient(ROBOT_IP, ""));
+  EXPECT_EQ(client_->getVersionMessage()->build_number_, 0);
+  vector6d_t zero_array = { 0 };
+  EXPECT_EQ(client_->getCartesianInfo()->tcp_offset_coordinates_, zero_array);
+  EXPECT_EQ(client_->getForceModeData()->wrench_, zero_array);
+  // getGlobalVariablesSetupMessage() will throw an exception since a program on the robot has not been started while
+  // this client has been connected
+  EXPECT_THROW(client_->getGlobalVariablesSetupMessage()->variable_names_, UrException);
+}
+
+int main(int argc, char* argv[])
+{
+  ::testing::InitGoogleTest(&argc, argv);
+
+  return RUN_ALL_TESTS();
+}