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Add test for program continuation
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‎tests/CMakeLists.txt‎

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@@ -82,6 +82,22 @@ if (INTEGRATION_TESTS)
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TEST_SUFFIX _headless
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)
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# ExternalControlProgram tests
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add_executable(external_control_program_tests_urcap test_external_control_program.cpp)
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target_link_libraries(external_control_program_tests_urcap PRIVATE ur_client_library::urcl GTest::gtest_main)
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gtest_add_tests(TARGET external_control_program_tests_urcap
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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EXTRA_ARGS --headless false
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TEST_SUFFIX _urcap
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)
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add_executable(external_control_program_tests_headless test_external_control_program.cpp)
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target_link_libraries(external_control_program_tests_headless PRIVATE ur_client_library::urcl GTest::gtest_main)
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gtest_add_tests(TARGET external_control_program_tests_headless
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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EXTRA_ARGS --headless true
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TEST_SUFFIX _headless
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)
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# InstructionExecutor tests
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add_executable(instruction_executor_test_urcap test_instruction_executor.cpp)
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target_link_libraries(instruction_executor_test_urcap PRIVATE ur_client_library::urcl GTest::gtest_main)

‎tests/test_external_control_program.cpp‎

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// -- BEGIN LICENSE BLOCK ----------------------------------------------
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// Copyright 2026 Universal Robots A/S
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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//
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// * Neither the name of the {copyright_holder} nor the names of its
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// contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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// -- END LICENSE BLOCK ------------------------------------------------
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#include <gtest/gtest.h>
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#include "test_utils.h"
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#include "ur_client_library/example_robot_wrapper.h"
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#include "ur_client_library/log.h"
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using namespace urcl;
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const std::string SCRIPT_FILE = "../resources/external_control.urscript";
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const std::string OUTPUT_RECIPE = "resources/rtde_output_recipe.txt";
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const std::string INPUT_RECIPE = "resources/rtde_input_recipe.txt";
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std::string g_ROBOT_IP = "192.168.56.101";
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bool g_HEADLESS = true;
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std::unique_ptr<ExampleRobotWrapper> g_my_robot;
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class ExternalControlProgramTest : public ::testing::Test
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{
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public:
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// callback functions
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void connectionCallback(const socket_t filedescriptor)
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{
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std::lock_guard<std::mutex> lk(connect_mutex_);
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client_fd_ = filedescriptor;
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connect_cv_.notify_one();
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connection_callback_ = true;
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}
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protected:
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static void SetUpTestSuite()
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{
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if (!(robotVersionLessThan(g_ROBOT_IP, "10.0.0") || g_HEADLESS))
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{
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GTEST_SKIP_("Running URCap tests for PolyScope X is currently not supported.");
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}
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}
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void SetUp() override
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{
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std::string modified_script_path = extendScript(SCRIPT_FILE);
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g_my_robot = std::make_unique<ExampleRobotWrapper>(g_ROBOT_IP, OUTPUT_RECIPE, INPUT_RECIPE, g_HEADLESS,
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"external_control.urp", modified_script_path);
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if (!g_my_robot->isHealthy())
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{
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ASSERT_TRUE(g_my_robot->resendRobotProgram());
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ASSERT_TRUE(g_my_robot->waitForProgramRunning(500));
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}
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server_.reset(new comm::TCPServer(60005));
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server_->setConnectCallback(
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std::bind(&ExternalControlProgramTest::connectionCallback, this, std::placeholders::_1));
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server_->start();
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}
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void TearDown() override
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{
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server_.reset();
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}
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std::string extendScript(const std::string& script_path)
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{
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char modified_script_path[] = "urscript.XXXXXX";
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#ifdef _WIN32
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# define mkstemp _mktemp_s
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#endif
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std::ignore = mkstemp(modified_script_path);
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std::ofstream ofs(modified_script_path);
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if (ofs.bad())
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{
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std::cout << "Failed to create temporary files" << std::endl;
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throw std::runtime_error("Failed to create temporary files");
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}
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std::ifstream in_file(script_path);
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std::string prog((std::istreambuf_iterator<char>(in_file)), (std::istreambuf_iterator<char>()));
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prog += "\nsocket_open(\"{{SERVER_IP_REPLACE}}\", 60005, \"test_socket\")\n";
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prog += "\nsleep(0.6)\n";
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prog += "\ntextmsg(\"sleeping done.\")\n";
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std::ofstream out_file;
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out_file.open(modified_script_path);
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out_file << prog;
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out_file.close();
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return modified_script_path;
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}
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bool waitForConnectionCallback(int milliseconds = 100)
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{
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std::unique_lock<std::mutex> lk(connect_mutex_);
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if (connect_cv_.wait_for(lk, std::chrono::milliseconds(milliseconds),
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[this]() { return connection_callback_ == true; }))
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{
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connection_callback_ = false;
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return true;
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}
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else
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{
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return false;
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}
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}
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std::unique_ptr<comm::TCPServer> server_;
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private:
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std::condition_variable connect_cv_;
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std::mutex connect_mutex_;
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socket_t client_fd_ = INVALID_SOCKET;
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bool connection_callback_ = false;
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};
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TEST_F(ExternalControlProgramTest, program_halts_on_timeout)
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{
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vector6d_t zeros = { 0, 0, 0, 0, 0, 0 };
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g_my_robot->getUrDriver()->writeJointCommand(zeros, comm::ControlMode::MODE_IDLE, RobotReceiveTimeout::millisec(200));
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EXPECT_FALSE(waitForConnectionCallback(1000));
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}
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TEST_F(ExternalControlProgramTest, stop_control_does_not_halt_program)
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{
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vector6d_t zeros = { 0, 0, 0, 0, 0, 0 };
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g_my_robot->getUrDriver()->writeJointCommand(zeros, comm::ControlMode::MODE_IDLE, RobotReceiveTimeout::off());
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// Make sure that we can stop the robot control, when robot receive timeout has been set off
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g_my_robot->getUrDriver()->stopControl();
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EXPECT_TRUE(waitForConnectionCallback(1000));
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}
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int main(int argc, char* argv[])
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{
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::testing::InitGoogleTest(&argc, argv);
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for (int i = 0; i < argc; i++)
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{
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if (std::string(argv[i]) == "--robot_ip" && i + 1 < argc)
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{
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g_ROBOT_IP = argv[i + 1];
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++i;
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}
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if (std::string(argv[i]) == "--headless" && i + 1 < argc)
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{
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std::string headless = argv[i + 1];
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g_HEADLESS = headless == "true" || headless == "1" || headless == "True" || headless == "TRUE";
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++i;
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}
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}
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return RUN_ALL_TESTS();
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}

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