Add headless tests and PolyScope X switch

Author: urfeex

tests/CMakeLists.txt

@@ -83,13 +83,20 @@ if (INTEGRATION_TESTS)
   )
 
   # ExternalControlProgram tests
-  add_executable(external_control_program_tests test_external_control_program.cpp)
-  target_link_libraries(external_control_program_tests PRIVATE ur_client_library::urcl GTest::gtest_main)
-  gtest_add_tests(TARGET      external_control_program_tests
+  add_executable(external_control_program_tests_urcap test_external_control_program.cpp)
+  target_link_libraries(external_control_program_tests_urcap PRIVATE ur_client_library::urcl GTest::gtest_main)
+  gtest_add_tests(TARGET      external_control_program_tests_urcap
                   WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
                   EXTRA_ARGS --headless false
                   TEST_SUFFIX _urcap
   )
+  add_executable(external_control_program_tests_headless test_external_control_program.cpp)
+  target_link_libraries(external_control_program_tests_headless PRIVATE ur_client_library::urcl GTest::gtest_main)
+  gtest_add_tests(TARGET      external_control_program_tests_headless
+                  WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+                  EXTRA_ARGS --headless true
+                  TEST_SUFFIX _headless
+  )
 
   # InstructionExecutor tests
   add_executable(instruction_executor_test_urcap test_instruction_executor.cpp)

tests/test_external_control_program.cpp

@@ -30,6 +30,7 @@
 
 #include <gtest/gtest.h>
 
+#include "test_utils.h"
 #include "ur_client_library/example_robot_wrapper.h"
 
 using namespace urcl;
@@ -55,6 +56,13 @@ class ExternalControlProgramTest : public ::testing::Test
   }
 
 protected:
+  static void SetUpTestSuite()
+  {
+    if (!(robotVersionLessThan(g_ROBOT_IP, "10.0.0") || g_HEADLESS))
+    {
+      GTEST_SKIP_("Running URCap tests for PolyScope X is currently not supported.");
+    }
+  }
   void SetUp() override
   {
     std::string modified_script_path = extendScript(SCRIPT_FILE);