test_producer.cpp

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#include <gtest/gtest.h>
#include <chrono>
#include <condition_variable>
 
#include <ur_client_library/comm/producer.h>
#include <ur_client_library/comm/stream.h>
#include <ur_client_library/comm/tcp_server.h>
#include <ur_client_library/rtde/rtde_parser.h>
 
using namespace urcl;
 
class ProducerTest : public ::testing::Test
{
protected:
  void SetUp()
  {
    server_.reset(new comm::TCPServer(60002));
    server_->setConnectCallback(std::bind(&ProducerTest::connectionCallback, this, std::placeholders::_1));
    server_->start();
  }
 
  void teardown()
  {
    // Clean up
    server_.reset();
  }
 
  void connectionCallback(const socket_t filedescriptor)
  {
    std::lock_guard<std::mutex> lk(connect_mutex_);
    client_fd_ = filedescriptor;
    connect_cv_.notify_one();
    connection_callback_ = true;
  }
 
  bool waitForConnectionCallback(int milliseconds = 100)
  {
    std::unique_lock<std::mutex> lk(connect_mutex_);
    if (connect_cv_.wait_for(lk, std::chrono::milliseconds(milliseconds)) == std::cv_status::no_timeout ||
        connection_callback_ == true)
    {
      connection_callback_ = false;
      return true;
    }
    return false;
  }
 
  std::unique_ptr<comm::TCPServer> server_;
  socket_t client_fd_;
 
private:
  std::condition_variable connect_cv_;
  std::mutex connect_mutex_;
 
  bool connection_callback_ = false;
};
 
TEST_F(ProducerTest, get_data_package)
{
  comm::URStream<rtde_interface::RTDEPackage> stream("127.0.0.1", 60002);
  std::vector<std::string> recipe = { "timestamp" };
  rtde_interface::RTDEParser parser(recipe);
  parser.setProtocolVersion(2);
  comm::URProducer<rtde_interface::RTDEPackage> producer(stream, parser);
 
  producer.setupProducer();
  waitForConnectionCallback();
  producer.startProducer();
 
  // RTDE package with timestamp
  uint8_t data_package[] = { 0x00, 0x0c, 0x55, 0x01, 0x40, 0xbb, 0xbf, 0xdb, 0xa5, 0xe3, 0x53, 0xf7 };
  size_t written;
  server_->write(client_fd_, data_package, sizeof(data_package), written);
 
  std::vector<std::unique_ptr<rtde_interface::RTDEPackage>> products;
  EXPECT_EQ(producer.tryGet(products), true);
 
  if (rtde_interface::DataPackage* data = dynamic_cast<rtde_interface::DataPackage*>(products[0].get()))
  {
    double timestamp;
    data->getData("timestamp", timestamp);
    EXPECT_FLOAT_EQ(timestamp, 7103.86);
  }
  else
  {
    std::cout << "Failed to get data package" << std::endl;
    GTEST_FAIL();
  }
 
  producer.stopProducer();
}
 
TEST_F(ProducerTest, connect_non_connected_robot)
{
  comm::URStream<rtde_interface::RTDEPackage> stream("127.0.0.1", 12321);
  std::vector<std::string> recipe = { "timestamp" };
  rtde_interface::RTDEParser parser(recipe);
  parser.setProtocolVersion(2);
  comm::URProducer<rtde_interface::RTDEPackage> producer(stream, parser);
 
  auto start = std::chrono::system_clock::now();
  EXPECT_THROW(producer.setupProducer(2, std::chrono::milliseconds(500)), UrException);
  auto end = std::chrono::system_clock::now();
  auto elapsed = end - start;
  // This is only a rough estimate, obviously
  EXPECT_LT(elapsed, std::chrono::milliseconds(7500));
}
 
int main(int argc, char* argv[])
{
  ::testing::InitGoogleTest(&argc, argv);
 
  return RUN_ALL_TESTS();
}