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Make UrDriver tests run without ctest #270

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Merged
merged 1 commit into from
Feb 19, 2025
Merged

Make UrDriver tests run without ctest #270

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21 changes: 17 additions & 4 deletions tests/test_ur_driver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -62,7 +62,17 @@ class UrDriverTest : public ::testing::Test

void SetUp()
{
ASSERT_TRUE(g_my_robot->isHealthy());
if (!g_my_robot->isHealthy())
{
ASSERT_TRUE(g_my_robot->resendRobotProgram());
ASSERT_TRUE(g_my_robot->waitForProgramRunning(500));
}
}

void TearDown()
{
g_my_robot->ur_driver_->stopControl();
g_my_robot->waitForProgramNotRunning(1000);
}
};

Expand Down Expand Up @@ -224,13 +234,16 @@ TEST_F(UrDriverTest, send_robot_program_retry_on_failure)
{
// Check that sendRobotProgram is robust to the secondary stream being disconnected. This is what happens when
// switching from Remote to Local and back to Remote mode for example.
g_my_robot->ur_driver_->secondary_stream_->close();

std::this_thread::sleep_for(std::chrono::milliseconds(100));
// To be able to re-send the robot program we'll have to make sure it isn't running
g_my_robot->ur_driver_->stopControl();
g_my_robot->waitForProgramNotRunning();

g_my_robot->ur_driver_->secondary_stream_->close();

EXPECT_TRUE(g_my_robot->resendRobotProgram());

EXPECT_TRUE(g_my_robot->waitForProgramRunning());
EXPECT_TRUE(g_my_robot->waitForProgramRunning(1000));
}

TEST_F(UrDriverTest, reset_rtde_client)
Expand Down
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