#include <gtest/gtest.h>
#include <ur_client_library/ur/dashboard_client.h>
#include <ur_client_library/ur/ur_driver.h>
#include <ur_client_library/example_robot_wrapper.h>
#include "test_utils.h"

Include dependency graph for test_ur_driver.cpp:

Classes
class	UrDriverTest

Functions
int	main (int argc, char *argv[])

	TEST (UrDriverInitTest, setting_connection_limits_works_correctly)

	TEST_F (UrDriverTest, read_error_code)

	TEST_F (UrDriverTest, read_existing_script_file)

	TEST_F (UrDriverTest, read_non_existing_script_file)

	TEST_F (UrDriverTest, reset_rtde_client)

	TEST_F (UrDriverTest, robot_receive_timeout)

	TEST_F (UrDriverTest, robot_receive_timeout_off)

	TEST_F (UrDriverTest, send_robot_program_retry_on_failure)

	TEST_F (UrDriverTest, stop_robot_control)

	TEST_F (UrDriverTest, target_outside_limits_pose)

	TEST_F (UrDriverTest, target_outside_limits_servoj)

Variables
const std::string	CALIBRATION_CHECKSUM = "calib_12788084448423163542"

bool	g_HEADLESS = true

std::unique_ptr< ExampleRobotWrapper >	g_my_robot

std::string	g_ROBOT_IP = "192.168.56.101"

const std::string	INPUT_RECIPE = "resources/rtde_input_recipe.txt"

const std::string	OUTPUT_RECIPE = "resources/rtde_output_recipe.txt"

const std::string	SCRIPT_FILE = "../resources/external_control.urscript"

Function Documentation

◆ main()

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 309 of file test_ur_driver.cpp.

◆ TEST()

TEST	(	UrDriverInitTest	,
		setting_connection_limits_works_correctly
	)

Definition at line 294 of file test_ur_driver.cpp.

◆ TEST_F() [1/10]

TEST_F	(	UrDriverTest	,
		read_error_code
	)

Definition at line 264 of file test_ur_driver.cpp.

◆ TEST_F() [2/10]

TEST_F	(	UrDriverTest	,
		read_existing_script_file
	)

Definition at line 87 of file test_ur_driver.cpp.

◆ TEST_F() [3/10]

TEST_F	(	UrDriverTest	,
		read_non_existing_script_file
	)

Definition at line 81 of file test_ur_driver.cpp.

◆ TEST_F() [4/10]

TEST_F	(	UrDriverTest	,
		reset_rtde_client
	)

Definition at line 256 of file test_ur_driver.cpp.

◆ TEST_F() [5/10]

TEST_F	(	UrDriverTest	,
		robot_receive_timeout
	)

Definition at line 108 of file test_ur_driver.cpp.

◆ TEST_F() [6/10]

TEST_F	(	UrDriverTest	,
		robot_receive_timeout_off
	)

Definition at line 142 of file test_ur_driver.cpp.

◆ TEST_F() [7/10]

TEST_F	(	UrDriverTest	,
		send_robot_program_retry_on_failure
	)

Definition at line 240 of file test_ur_driver.cpp.

◆ TEST_F() [8/10]

TEST_F	(	UrDriverTest	,
		stop_robot_control
	)

Definition at line 164 of file test_ur_driver.cpp.

◆ TEST_F() [9/10]

TEST_F	(	UrDriverTest	,
		target_outside_limits_pose
	)

Definition at line 207 of file test_ur_driver.cpp.

◆ TEST_F() [10/10]

TEST_F	(	UrDriverTest	,
		target_outside_limits_servoj
	)

Definition at line 174 of file test_ur_driver.cpp.

Variable Documentation

◆ CALIBRATION_CHECKSUM

const std::string CALIBRATION_CHECKSUM = "calib_12788084448423163542"

Definition at line 43 of file test_ur_driver.cpp.

◆ g_HEADLESS

bool g_HEADLESS = true

Definition at line 45 of file test_ur_driver.cpp.

◆ g_my_robot

std::unique_ptr<ExampleRobotWrapper> g_my_robot

Definition at line 47 of file test_ur_driver.cpp.

◆ g_ROBOT_IP

std::string g_ROBOT_IP = "192.168.56.101"

Definition at line 44 of file test_ur_driver.cpp.

◆ INPUT_RECIPE

const std::string INPUT_RECIPE = "resources/rtde_input_recipe.txt"

Definition at line 42 of file test_ur_driver.cpp.

◆ OUTPUT_RECIPE

const std::string OUTPUT_RECIPE = "resources/rtde_output_recipe.txt"

Definition at line 41 of file test_ur_driver.cpp.

◆ SCRIPT_FILE

const std::string SCRIPT_FILE = "../resources/external_control.urscript"

Definition at line 40 of file test_ur_driver.cpp.

Classes

Functions

Variables