Updated test to reflect changes to primary client

UniversalRobots · Jan 6, 2023 · 3cd736a · 3cd736a
1 parent 438eb84
commit 3cd736a
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Showing 4 changed files with 39 additions and 10 deletions.
diff --git a/include/ur_client_library/primary/primary_client.h b/include/ur_client_library/primary/primary_client.h
@@ -86,6 +86,13 @@ class PrimaryClient
    */
   bool isInRemoteControl();
 
+  /*!
+   * \brief Starts the checkRemoteLocalControl thread.
+   *
+   * Starts the thread checking for remote or local control
+   */
+  void startCheckRemoteControlThread();
+
   /*!
    * \brief Returns latest AdditionalInfo message
    *

diff --git a/src/primary/primary_client.cpp b/src/primary/primary_client.cpp
@@ -74,10 +74,20 @@ PrimaryClient::PrimaryClient(const std::string& robot_ip, const std::string& cal
                    "for details.");
   }
 
-  // Check robot version
-  e_series_ = getVersionMessage()->major_version_ > 3;
-  if (e_series_)
-    rc_thread_ = std::thread(&PrimaryClient::checkRemoteLocalControl, this);
+  try
+  {
+    // Check if robot is e-series or not
+    e_series_ = getVersionMessage()->major_version_ > 3;
+    if (e_series_)
+      startCheckRemoteControlThread();
+  }
+  catch (const UrException& e)
+  {
+    URCL_LOG_WARN(e.what());
+    URCL_LOG_WARN("This message is only relevant if the robot is an e-series:\nThe thread checking if the robot is in "
+                  "remote control or not has not been started. It needs to be started manually by calling the "
+                  "startCheckRemoteControlThread() function");
+  }
 }
 
 PrimaryClient::~PrimaryClient()
@@ -171,6 +181,11 @@ void PrimaryClient::stop()
   stream_->disconnect();
 }
 
+void PrimaryClient::startCheckRemoteControlThread()
+{
+  rc_thread_ = std::thread(&PrimaryClient::checkRemoteLocalControl, this);
+}
+
 bool PrimaryClient::isInRemoteControl()
 {
   return in_remote_control_;

diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
@@ -44,16 +44,18 @@ if (INTEGRATION_TESTS)
   target_link_libraries(dashboard_client_tests PRIVATE ur_client_library::urcl ${GTEST_LIBRARIES})
   gtest_add_tests(TARGET      dashboard_client_tests
   )
+
+  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
+  )
 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})

diff --git a/tests/test_primary_client.cpp b/tests/test_primary_client.cpp
@@ -234,6 +234,11 @@ TEST_F(PrimaryClientTest, check_remote_control)
   client_.reset(new primary_interface::PrimaryClient(ROBOT_IP, ""));
   std::this_thread::sleep_for(std::chrono::milliseconds(1000));  // Let connections set up
 
+  if (!client_->e_series_)
+  {
+    client_->startCheckRemoteControlThread();
+  }
+
   // Disconnect from URSim servers and connect to fake servers
   client_->pipeline_->stop();
   client_->stream_->disconnect();