test_rtde_client.cpp

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

// -- BEGIN LICENSE BLOCK ----------------------------------------------
// Copyright 2020 FZI Forschungszentrum Informatik
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// -- END LICENSE BLOCK ------------------------------------------------

//----------------------------------------------------------------------
//----------------------------------------------------------------------

#include <gtest/gtest.h>

#include <ur_client_library/rtde/rtde_client.h>

using namespace urcl;

const std::string ROBOT_IP = "192.168.56.101";

TEST(UrRobotDriver, rtde_handshake)
{
  comm::INotifier notifier;
  std::string output_recipe = "resources/rtde_output_recipe.txt";
  std::string input_recipe = "resources/rtde_input_recipe.txt";
  rtde_interface::RTDEClient client(ROBOT_IP, notifier, output_recipe, input_recipe);

  EXPECT_TRUE(client.init());
}

TEST(UrRobotDriver, rtde_handshake_wrong_ip)
{
  comm::INotifier notifier;
  std::string output_recipe = "resources/rtde_output_recipe.txt";
  std::string input_recipe = "resources/rtde_input_recipe.txt";
  rtde_interface::RTDEClient client("192.168.56.123", notifier, output_recipe, input_recipe);

  EXPECT_THROW(client.init(), UrException);
}

TEST(UrRobotDriver, rtde_handshake_illegal_ip)
{
  comm::INotifier notifier;
  std::string output_recipe = "resources/rtde_output_recipe.txt";
  std::string input_recipe = "resources/rtde_input_recipe.txt";
  rtde_interface::RTDEClient client("abcd", notifier, output_recipe, input_recipe);

  EXPECT_THROW(client.init(), UrException);
}

TEST(UrRobotDriver, no_recipe)
{
  comm::INotifier notifier;
  std::string output_recipe = "";
  std::string input_recipe = "";
  EXPECT_THROW(rtde_interface::RTDEClient client(ROBOT_IP, notifier, output_recipe, input_recipe), UrException);
}

TEST(UrRobotDriver, empty_recipe)
{
  comm::INotifier notifier;
  std::string output_recipe = "resources/empty.txt";
  std::string input_recipe = "resources/empty.txt";
  rtde_interface::RTDEClient client(ROBOT_IP, notifier, output_recipe, input_recipe);

  EXPECT_THROW(client.init(), UrException);
}

int main(int argc, char* argv[])
{
  ::testing::InitGoogleTest(&argc, argv);

  return RUN_ALL_TESTS();
}