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Refactor Rtde client test #389

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Merged
merged 7 commits into from
Oct 15, 2025
Merged

Refactor Rtde client test #389

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9792510
Generate exhaustive rtde output list at build time
URJala Oct 10, 2025
3f8263e
Edit ci and fail test if not using latest ursim
URJala Oct 10, 2025
3bbb7e4
Test should not fail, it should skip
URJala Oct 10, 2025
4c5dde4
Generate list of outputs from website
URJala Oct 13, 2025
9db3034
Install necessary pip packages in CI
URJala Oct 13, 2025
905d5fe
Make test to compare outputs to docs
URJala Oct 13, 2025
f976437
Check whether URSIM_VERSION env var is actually set
urfeex Oct 14, 2025
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4 changes: 4 additions & 0 deletions .github/workflows/ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,8 @@ jobs:
ROBOT_MODEL: ${{matrix.env.ROBOT_MODEL}}
URSIM_VERSION: ${{matrix.env.URSIM_VERSION}}
PROGRAM_FOLDER: ${{matrix.env.PROGRAM_FOLDER}}
- name: install-pips
run: pip install pandas lxml
- name: configure
run: mkdir build && cd build && cmake .. -DBUILDING_TESTS=1 -DINTEGRATION_TESTS=1 -DWITH_ASAN=ON
env:
Expand All @@ -52,6 +54,8 @@ jobs:
run: mkdir -p test_artifacts
- name: test
run: cd build && ctest --output-on-failure --output-junit junit.xml
env:
URSIM_VERSION: ${{matrix.env.URSIM_VERSION}}
- name: Upload test results to Codecov
if: ${{ !cancelled() }}
uses: codecov/test-results-action@v1
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3 changes: 2 additions & 1 deletion .gitignore
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Expand Up @@ -7,4 +7,5 @@ install_manifest.txt
.idea
.directory
.vscode
build/
build/
tests/resources/docs_rtde_output_recipe.txt
7 changes: 7 additions & 0 deletions tests/CMakeLists.txt
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Expand Up @@ -21,7 +21,12 @@ option(INTEGRATION_TESTS "Build the integration tests that require a running rob
if (INTEGRATION_TESTS)
# Integration tests require a robot reachable at 192.168.56.101. Therefore, they have to be
# activated separately.

find_package(Python3 COMPONENTS Interpreter REQUIRED)

add_custom_target(generate_outputs ALL COMMAND ${Python3_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/resources/generate_rtde_outputs.py)
add_executable(rtde_tests test_rtde_client.cpp)
add_dependencies(rtde_tests generate_outputs)
target_link_libraries(rtde_tests PRIVATE ur_client_library::urcl GTest::gtest_main)
gtest_add_tests(TARGET rtde_tests
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
Expand Down Expand Up @@ -111,6 +116,8 @@ target_link_libraries(primary_parser_tests PRIVATE ur_client_library::urcl GTest
gtest_add_tests(TARGET primary_parser_tests
)



add_executable(rtde_data_package_tests test_rtde_data_package.cpp)
target_link_libraries(rtde_data_package_tests PRIVATE ur_client_library::urcl GTest::gtest_main)
gtest_add_tests(TARGET rtde_data_package_tests
Expand Down
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