test_stream.cpp
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30 
31 #include <gtest/gtest.h>
32 #include <condition_variable>
33 
34 #include <ur_client_library/comm/stream.h>
35 #include <ur_client_library/comm/tcp_server.h>
36 #include <ur_client_library/rtde/data_package.h>
37 #include "ur_client_library/primary/primary_package.h"
38 
39 using namespace urcl;
40 
41 class StreamTest : public ::testing::Test
42 {
43 protected:
44  void SetUp()
45  {
46  server_.reset(new comm::TCPServer(60003));
47  server_->setConnectCallback(std::bind(&StreamTest::connectionCallback, this, std::placeholders::_1));
48  server_->setMessageCallback(std::bind(&StreamTest::messageCallback, this, std::placeholders::_1,
49  std::placeholders::_2, std::placeholders::_3));
50  server_->start();
51  }
52 
53  void Teardown()
54  {
55  // Clean up
56  server_.reset();
57  }
58 
59  // callback functions for the tcp server
60  void messageCallback(const int filedescriptor, char* buffer, size_t nbytesrecv)
61  {
62  std::lock_guard<std::mutex> lk(message_mutex_);
63  read_ = nbytesrecv;
64  received_message_ = std::string(buffer);
65  message_cv_.notify_one();
66  message_callback_ = true;
67  }
68 
69  void connectionCallback(const int filedescriptor)
70  {
71  std::lock_guard<std::mutex> lk(connect_mutex_);
72  client_fd_ = filedescriptor;
73  connect_cv_.notify_one();
74  connection_callback_ = true;
75  }
76 
77  bool waitForMessageCallback(int milliseconds = 100)
78  {
79  std::unique_lock<std::mutex> lk(message_mutex_);
80  if (message_cv_.wait_for(lk, std::chrono::milliseconds(milliseconds)) == std::cv_status::no_timeout ||
81  message_callback_ == true)
82  {
83  message_callback_ = false;
84  return true;
85  }
86  return false;
87  }
88 
89  bool waitForConnectionCallback(int milliseconds = 100)
90  {
91  std::unique_lock<std::mutex> lk(connect_mutex_);
92  if (connect_cv_.wait_for(lk, std::chrono::milliseconds(milliseconds)) == std::cv_status::no_timeout ||
93  connection_callback_ == true)
94  {
95  connection_callback_ = false;
96  return true;
97  }
98  return false;
99  }
100 
101  std::unique_ptr<comm::TCPServer> server_;
102  int client_fd_;
103  std::string received_message_;
104  size_t read_;
105 
106 private:
107  std::condition_variable message_cv_;
108  std::mutex message_mutex_;
109 
110  std::condition_variable connect_cv_;
111  std::mutex connect_mutex_;
112 
113  bool connection_callback_ = false;
114  bool message_callback_ = false;
115 };
116 
117 TEST_F(StreamTest, closed_stream)
118 {
119  comm::URStream<rtde_interface::RTDEPackage> stream("127.0.0.1", 60003);
120  stream.connect();
121 
122  EXPECT_TRUE(waitForConnectionCallback());
123  EXPECT_FALSE(stream.closed());
124 
125  stream.close();
126 
127  EXPECT_TRUE(stream.closed());
128 }
129 
130 TEST_F(StreamTest, connect_stream)
131 {
132  comm::URStream<rtde_interface::RTDEPackage> stream("127.0.0.1", 60003);
133 
134  // The socket state should be invalid until connect has been called
135  comm::SocketState expected_state = comm::SocketState::Invalid;
136  EXPECT_EQ(stream.getState(), expected_state);
137 
138  stream.connect();
139  EXPECT_TRUE(waitForConnectionCallback());
140 
141  expected_state = comm::SocketState::Connected;
142  EXPECT_EQ(stream.getState(), expected_state);
143 }
144 
145 TEST_F(StreamTest, read_buffer_to_small)
146 {
147  // RTDE package with timestamp
148  uint8_t data_package[] = { 0x00, 0x0c, 0x55, 0x01, 0x40, 0xcf, 0x8f, 0xf9, 0xdb, 0x22, 0xd0, 0xe5 };
149 
150  comm::URStream<rtde_interface::RTDEPackage> stream("127.0.0.1", 60003);
151  stream.connect();
152 
153  EXPECT_TRUE(waitForConnectionCallback());
154 
155  size_t written;
156  server_->write(client_fd_, data_package, sizeof(data_package), written);
157 
158  uint8_t buf[10];
159  size_t read = 0;
160 
161  // When the buffer is to small read should return false and the written bytes should be larger thant the read
162  EXPECT_FALSE(stream.read(buf, sizeof(buf), read));
163  EXPECT_GT(written, read);
164 }
165 
166 TEST_F(StreamTest, read_rtde_data_package)
167 {
168  // RTDE package with timestamp
169  uint8_t data_package[] = { 0x00, 0x0c, 0x55, 0x01, 0x40, 0xcf, 0x8f, 0xf9, 0xdb, 0x22, 0xd0, 0xe5 };
170 
171  comm::URStream<rtde_interface::RTDEPackage> stream("127.0.0.1", 60003);
172  stream.connect();
173 
174  EXPECT_TRUE(waitForConnectionCallback());
175 
176  size_t written;
177  server_->write(client_fd_, data_package, sizeof(data_package), written);
178 
179  uint8_t buf[4096];
180  size_t read = 0;
181  stream.read(buf, sizeof(buf), read);
182 
183  EXPECT_EQ(written, read);
184  for (unsigned int i = 0; i < read; ++i)
185  {
186  EXPECT_EQ(data_package[i], buf[i]);
187  }
188 }
189 
190 TEST_F(StreamTest, read_primary_data_package)
191 {
192  /* First RobotState of UR5e from URSim v5.8
193  *
194  * This package contains:
195  * - ROBOT_MODE_DATA
196  * - JOINT_DATA
197  * - CARTESIAN_INFO
198  * - KINEMATICS_INFO
199  * - NEEDED_FOR_CALIB_DATA
200  * - MASTERBOARD_DATA
201  * - TOOL_DATA
202  * - CONFIGURATION_DATA
203  * - FORCE_MODE_DATA
204  * - ADDITIONAL_INFO
205  * - SAFETY_DATA
206  * - TOOL_COMM_INFO
207  * - TOOL_MODE_INFO
208  */
209  unsigned char data_package[] = {
210  0x00, 0x00, 0x05, 0x6a, 0x10, 0x00, 0x00, 0x00, 0x2f, 0x00, 0x00, 0x00, 0x00, 0x05, 0xf8, 0x7d, 0x17, 0x40, 0x01,
211  0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x07, 0x00, 0x3f, 0xef, 0x0a, 0x3d, 0x70, 0xa3, 0xd7, 0x0a, 0x00, 0x00, 0x00,
212  0x00, 0x00, 0x00, 0x00, 0x00, 0x3f, 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xfb, 0x01,
213  0xbf, 0xf9, 0x9c, 0x77, 0x9a, 0x6b, 0x50, 0xb0, 0xbf, 0xf9, 0x9c, 0x77, 0x9a, 0x6b, 0x50, 0xb0, 0x00, 0x00, 0x00,
214  0x00, 0x00, 0x00, 0x00, 0x00, 0xa3, 0xa8, 0x79, 0x38, 0x00, 0x00, 0x00, 0x00, 0x41, 0xcc, 0x00, 0x00, 0x00, 0x00,
215  0x00, 0x00, 0xfd, 0xbf, 0xfb, 0xa2, 0x33, 0x9c, 0x0e, 0xbe, 0xe0, 0xbf, 0xfb, 0xa2, 0x33, 0x9c, 0x0e, 0xbe, 0xe0,
216  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x09, 0x06, 0x5a, 0x00, 0x00, 0x00, 0x00, 0x41, 0xc8, 0x00,
217  0x00, 0x00, 0x00, 0x00, 0x00, 0xfd, 0xc0, 0x01, 0x9f, 0xbe, 0x76, 0xc8, 0xb4, 0x38, 0xc0, 0x01, 0x9f, 0xbe, 0x76,
218  0xc8, 0xb4, 0x38, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3f, 0xbf, 0x0f, 0xf7, 0x00, 0x00, 0x00, 0x00,
219  0x41, 0xc4, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xfd, 0xbf, 0xe9, 0xdb, 0x22, 0xd0, 0xe5, 0x60, 0x40, 0xbf, 0xe9,
220  0xdb, 0x22, 0xd0, 0xe5, 0x60, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3e, 0x6e, 0xbb, 0xe2, 0x00,
221  0x00, 0x00, 0x00, 0x41, 0xc0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xfd, 0x3f, 0xf9, 0x85, 0x87, 0x93, 0xdd, 0x97,
222  0xf6, 0x3f, 0xf9, 0x85, 0x87, 0x93, 0xdd, 0x97, 0xf6, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3a, 0xe6,
223  0x05, 0x69, 0x00, 0x00, 0x00, 0x00, 0x41, 0xbc, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xfd, 0xbf, 0x9f, 0xbe, 0x76,
224  0xc8, 0xb4, 0x39, 0x00, 0xbf, 0x9f, 0xbe, 0x76, 0xc8, 0xb4, 0x39, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
225  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x41, 0xbc, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xfd, 0x00,
226  0x00, 0x00, 0x65, 0x04, 0xbf, 0xc2, 0x6d, 0x90, 0xa0, 0x1d, 0xe7, 0x77, 0xbf, 0xdb, 0xe1, 0x32, 0xf6, 0xa8, 0x66,
227  0x44, 0x3f, 0xc9, 0xdc, 0x1e, 0xb0, 0x03, 0x31, 0xe6, 0xbf, 0x54, 0x02, 0xc0, 0xf8, 0xe6, 0xe6, 0x79, 0x40, 0x08,
228  0xee, 0x22, 0x63, 0x78, 0xfa, 0xe0, 0x3f, 0xa3, 0xe9, 0xa4, 0x23, 0x7a, 0x7b, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00,
229  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
230  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
231  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xe1, 0x05, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
232  0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00,
233  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
234  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
235  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xbf, 0xdb, 0x33, 0x33, 0x33,
236  0x33, 0x33, 0x33, 0xbf, 0xd9, 0x19, 0xce, 0x07, 0x5f, 0x6f, 0xd2, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
237  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3f, 0xc4, 0xcc,
238  0xcc, 0xcc, 0xcc, 0xcc, 0xcd, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
239  0x00, 0x00, 0x3f, 0xc1, 0x0f, 0xf9, 0x72, 0x47, 0x45, 0x39, 0x3f, 0xb9, 0x85, 0xf0, 0x6f, 0x69, 0x44, 0x67, 0x3f,
240  0xb9, 0x7f, 0x62, 0xb6, 0xae, 0x7d, 0x56, 0x3f, 0xf9, 0x21, 0xfb, 0x54, 0x52, 0x45, 0x50, 0x00, 0x00, 0x00, 0x00,
241  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3f, 0xf9, 0x21, 0xfb, 0x54, 0x52, 0x45,
242  0x50, 0xbf, 0xf9, 0x21, 0xfb, 0x54, 0x52, 0x45, 0x50, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
243  0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x09, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
244  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
245  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
246  0x00, 0x4b, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
247  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3f, 0x70, 0x62, 0x4d, 0xe0, 0x00, 0x00,
248  0x00, 0x3f, 0x70, 0x62, 0x4d, 0xe0, 0x00, 0x00, 0x00, 0x41, 0xc0, 0x00, 0x00, 0x42, 0x40, 0x00, 0x00, 0x00, 0x00,
249  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x57, 0xf4, 0x28, 0x5b, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00,
250  0x25, 0x02, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
251  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xfd, 0x00, 0x00, 0x01, 0xbd,
252  0x06, 0xc0, 0x19, 0x57, 0x99, 0x28, 0x2c, 0x2f, 0x63, 0x40, 0x19, 0x57, 0x99, 0x28, 0x2c, 0x2f, 0x63, 0xc0, 0x19,
253  0x57, 0x99, 0x28, 0x2c, 0x2f, 0x63, 0x40, 0x19, 0x57, 0x99, 0x28, 0x2c, 0x2f, 0x63, 0xc0, 0x19, 0x57, 0x99, 0x28,
254  0x2c, 0x2f, 0x63, 0x40, 0x19, 0x57, 0x99, 0x28, 0x2c, 0x2f, 0x63, 0xc0, 0x19, 0x57, 0x99, 0x28, 0x2c, 0x2f, 0x63,
255  0x40, 0x19, 0x57, 0x99, 0x28, 0x2c, 0x2f, 0x63, 0xc0, 0x19, 0x57, 0x99, 0x28, 0x2c, 0x2f, 0x63, 0x40, 0x19, 0x57,
256  0x99, 0x28, 0x2c, 0x2f, 0x63, 0xc0, 0x19, 0x57, 0x99, 0x28, 0x2c, 0x2f, 0x63, 0x40, 0x19, 0x57, 0x99, 0x28, 0x2c,
257  0x2f, 0x63, 0x40, 0x0a, 0xbb, 0x94, 0xed, 0xdd, 0xc6, 0xb1, 0x40, 0x44, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40,
258  0x0a, 0xbb, 0x94, 0xed, 0xdd, 0xc6, 0xb1, 0x40, 0x44, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x0a, 0xbb, 0x94,
259  0xed, 0xdd, 0xc6, 0xb1, 0x40, 0x44, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x0a, 0xbb, 0x94, 0xed, 0xdd, 0xc6,
260  0xb1, 0x40, 0x44, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x0a, 0xbb, 0x94, 0xed, 0xdd, 0xc6, 0xb1, 0x40, 0x44,
261  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x0a, 0xbb, 0x94, 0xed, 0xdd, 0xc6, 0xb1, 0x40, 0x44, 0x00, 0x00, 0x00,
262  0x00, 0x00, 0x00, 0x3f, 0xf0, 0xc1, 0x52, 0x38, 0x2d, 0x73, 0x65, 0x3f, 0xf6, 0x57, 0x18, 0x4a, 0xe7, 0x44, 0x87,
263  0x3f, 0xd0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3f, 0xf3, 0x33, 0x33, 0x33, 0x33, 0x33, 0x33, 0x3f, 0xd0, 0x00,
264  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xbf, 0xdb, 0x33, 0x33, 0x33, 0x33,
265  0x33, 0x33, 0xbf, 0xd9, 0x19, 0xce, 0x07, 0x5f, 0x6f, 0xd2, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
266  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3f, 0xc4, 0xcc, 0xcc,
267  0xcc, 0xcc, 0xcc, 0xcd, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
268  0x00, 0x3f, 0xc1, 0x0f, 0xf9, 0x72, 0x47, 0x45, 0x39, 0x3f, 0xb9, 0x85, 0xf0, 0x6f, 0x69, 0x44, 0x67, 0x3f, 0xb9,
269  0x7f, 0x62, 0xb6, 0xae, 0x7d, 0x56, 0x3f, 0xf9, 0x21, 0xfb, 0x54, 0x52, 0x45, 0x50, 0x00, 0x00, 0x00, 0x00, 0x00,
270  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3f, 0xf9, 0x21, 0xfb, 0x54, 0x52, 0x45, 0x50,
271  0xbf, 0xf9, 0x21, 0xfb, 0x54, 0x52, 0x45, 0x50, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
272  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
273  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
274  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01,
275  0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x3d, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
276  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
277  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
278  0x3f, 0x6c, 0xf5, 0xac, 0x1d, 0xb9, 0xa1, 0x08, 0x00, 0x00, 0x00, 0x09, 0x08, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00,
279  0x00, 0x2b, 0x0a, 0x57, 0xf4, 0x28, 0x5b, 0x01, 0x01, 0xbf, 0xb8, 0x4d, 0xc2, 0x84, 0x9f, 0xed, 0xcf, 0xbf, 0xb0,
280  0x37, 0x9e, 0xd0, 0x87, 0xba, 0x97, 0x3f, 0xe2, 0xa2, 0x5b, 0x78, 0xc3, 0x9f, 0x6c, 0x3f, 0xc0, 0xa3, 0xd7, 0x0a,
281  0x3d, 0x70, 0xa4, 0x00, 0x00, 0x00, 0x1a, 0x0b, 0x00, 0x00, 0x01, 0xc2, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
282  0x00, 0x01, 0x3f, 0xc0, 0x00, 0x00, 0x40, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00, 0x08, 0x0c, 0x00, 0x01, 0x01
283  };
284  comm::URStream<primary_interface::PrimaryPackage> stream("127.0.0.1", 60003);
285  stream.connect();
286 
287  EXPECT_TRUE(waitForConnectionCallback());
288 
289  size_t written;
290  server_->write(client_fd_, data_package, sizeof(data_package), written);
291 
292  uint8_t buf[4096];
293  size_t read = 0;
294  stream.read(buf, sizeof(buf), read);
295 
296  EXPECT_EQ(written, read);
297  for (unsigned int i = 0; i < read; ++i)
298  {
299  EXPECT_EQ(data_package[i], buf[i]);
300  }
301 }
302 
303 TEST_F(StreamTest, write_data_package)
304 {
305  comm::URStream<rtde_interface::RTDEPackage> stream("127.0.0.1", 60003);
306  stream.connect();
307 
308  EXPECT_TRUE(waitForConnectionCallback());
309 
310  std::string send_message = "test message";
311  const uint8_t* data = reinterpret_cast<const uint8_t*>(send_message.c_str());
312  size_t len = send_message.size();
313  size_t written;
314  stream.write(data, len, written);
315 
316  EXPECT_TRUE(waitForMessageCallback());
317 
318  // Test that the message and the size of the message are equal
319  EXPECT_EQ(written, read_);
320  EXPECT_EQ(send_message, received_message_);
321 }
322 
323 int main(int argc, char* argv[])
324 {
325  ::testing::InitGoogleTest(&argc, argv);
326 
327  return RUN_ALL_TESTS();
328 }
StreamTest::connect_mutex_
std::mutex connect_mutex_
Definition: test_stream.cpp:111
urcl::comm::URStream::read
bool read(uint8_t *buf, const size_t buf_len, size_t &read)
Reads a full UR package out of a socket. For this, it looks into the package and reads the byte lengt...
Definition: stream.h:137
tcp_server.h
main
int main(int argc, char *argv[])
Definition: test_stream.cpp:323
StreamTest::message_cv_
std::condition_variable message_cv_
Definition: test_stream.cpp:107
urcl::comm::URStream
The stream is an abstraction of the TCPSocket that offers reading a full UR data package out of the s...
Definition: stream.h:42
urcl::comm::URStream::closed
bool closed()
Returns whether the underlying socket is currently closed.
Definition: stream.h:78
StreamTest::message_mutex_
std::mutex message_mutex_
Definition: test_stream.cpp:108
urcl::comm::TCPServer
Wrapper class for a TCP socket server.
Definition: tcp_server.h:59
StreamTest::waitForConnectionCallback
bool waitForConnectionCallback(int milliseconds=100)
Definition: test_stream.cpp:89
urcl::comm::SocketState
SocketState
State the socket can be in.
Definition: tcp_socket.h:37
urcl::comm::URStream::write
bool write(const uint8_t *buf, const size_t buf_len, size_t &written)
Writes directly to the underlying socket (with a mutex guard)
Definition: stream.h:130
StreamTest::SetUp
void SetUp()
Definition: test_stream.cpp:44
StreamTest::Teardown
void Teardown()
Definition: test_stream.cpp:53
StreamTest::received_message_
std::string received_message_
Definition: test_stream.cpp:103
StreamTest::messageCallback
void messageCallback(const int filedescriptor, char *buffer, size_t nbytesrecv)
Definition: test_stream.cpp:60
urcl::comm::SocketState::Invalid
Socket is initialized or setup failed.
urcl::comm::URStream::connect
bool connect()
Connects to the configured socket.
Definition: stream.h:61
urcl::comm::TCPSocket::getState
SocketState getState()
Getter for the state of the socket.
Definition: tcp_socket.h:78
StreamTest::server_
std::unique_ptr< comm::TCPServer > server_
Definition: test_stream.cpp:101
urcl::comm::TCPSocket::close
void close()
Closes the connection to the socket.
Definition: tcp_socket.cpp:116
StreamTest::waitForMessageCallback
bool waitForMessageCallback(int milliseconds=100)
Definition: test_stream.cpp:77
StreamTest::connectionCallback
void connectionCallback(const int filedescriptor)
Definition: test_stream.cpp:69
StreamTest::read_
size_t read_
Definition: test_stream.cpp:104
urcl::comm::SocketState::Connected
Socket is connected and ready to use.
StreamTest::connect_cv_
std::condition_variable connect_cv_
Definition: test_stream.cpp:110
primary_package.h
data_package.h
TEST_F
TEST_F(StreamTest, closed_stream)
Definition: test_stream.cpp:117

ur_client_library
Author(s): Thomas Timm Andersen, Simon Rasmussen, Felix Exner, Lea Steffen, Tristan Schnell
autogenerated on Tue Jul 4 2023 02:09:47