assert that protective stop was cleared

Author: URJala

tests/test_primary_client.cpp

@@ -502,8 +502,8 @@ TEST_F(PrimaryClientTest, test_send_script_blocking_fail_on_robot_errors)
   // Impossible movement, will trigger a warning and protective stop
   EXPECT_FALSE(client_->sendScriptBlocking("movel(p[10,0,0,0,0,0])"));
   // reset the robot
-  client_->commandUnlockProtectiveStop();
-  EXPECT_TRUE(client_->sendScriptBlocking("movej([0,0,0,0,0,0])"));
+  ASSERT_NO_THROW(client_->commandUnlockProtectiveStop());
+  EXPECT_TRUE(client_->sendScriptBlocking("movej([0.5,-0.5,0.5,0,0,0])"));
 }
 
 TEST_F(PrimaryClientTest, test_send_script_blocking_fail_on_bad_script)
@@ -521,14 +521,14 @@ TEST_F(PrimaryClientTest, test_send_script_blocking_fail_on_bad_script)
   EXPECT_FALSE(client_->sendScriptBlocking(script_code));
 }
 
-// TEST_F(PrimaryClientTest, test_send_script_blocking_ignore_warnings)
-// {
-//   EXPECT_NO_THROW(client_->start());
-//   EXPECT_NO_THROW(client_->commandPowerOff());
-//   EXPECT_NO_THROW(client_->commandBrakeRelease());
-//   // Impossible movement, will trigger an error and protective stop
-//   EXPECT_TRUE(client_->sendScriptBlocking("movel(p[10,0,0,0,0,0])", "", std::chrono::seconds(1), false));
-// }
+TEST_F(PrimaryClientTest, test_send_script_blocking_ignore_warnings)
+{
+  EXPECT_NO_THROW(client_->start());
+  EXPECT_NO_THROW(client_->commandPowerOff());
+  EXPECT_NO_THROW(client_->commandBrakeRelease());
+  // Impossible movement, will trigger an error and protective stop
+  EXPECT_TRUE(client_->sendScriptBlocking("movel(p[10,0,0,0,0,0])", "", std::chrono::seconds(1), false));
+}
 
 int main(int argc, char* argv[])
 {