Refactor Rtde client test (#389)

The exhaustive rtde output recipe is now generated at build time, and
the test will fail if the controller does not know all fields. The test
will also fail if using the wrong ursim version.

Author: URJala

.github/workflows/ci.yml

@@ -40,6 +40,8 @@ jobs:
           ROBOT_MODEL: ${{matrix.env.ROBOT_MODEL}}
           URSIM_VERSION: ${{matrix.env.URSIM_VERSION}}
           PROGRAM_FOLDER: ${{matrix.env.PROGRAM_FOLDER}}
+      - name: install-pips
+        run: pip install pandas lxml
       - name: configure
         run: mkdir build && cd build && cmake .. -DBUILDING_TESTS=1 -DINTEGRATION_TESTS=1 -DWITH_ASAN=ON
         env:
@@ -52,6 +54,8 @@ jobs:
         run: mkdir -p test_artifacts
       - name: test
         run: cd build && ctest --output-on-failure --output-junit junit.xml
+        env:
+          URSIM_VERSION: ${{matrix.env.URSIM_VERSION}}
       - name: Upload test results to Codecov
         if: ${{ !cancelled() }}
         uses: codecov/test-results-action@v1

.gitignore

@@ -7,4 +7,5 @@ install_manifest.txt
 .idea
 .directory
 .vscode
-build/
+build/
+tests/resources/docs_rtde_output_recipe.txt

tests/CMakeLists.txt

@@ -21,7 +21,12 @@ option(INTEGRATION_TESTS "Build the integration tests that require a running rob
 if (INTEGRATION_TESTS)
   # Integration tests require a robot reachable at 192.168.56.101. Therefore, they have to be
   # activated separately.
+  
+  find_package(Python3 COMPONENTS Interpreter REQUIRED)
+
+  add_custom_target(generate_outputs ALL COMMAND ${Python3_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/resources/generate_rtde_outputs.py)
   add_executable(rtde_tests test_rtde_client.cpp)
+  add_dependencies(rtde_tests generate_outputs)
   target_link_libraries(rtde_tests PRIVATE ur_client_library::urcl GTest::gtest_main)
   gtest_add_tests(TARGET      rtde_tests
                   WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
@@ -111,6 +116,8 @@ target_link_libraries(primary_parser_tests PRIVATE ur_client_library::urcl GTest
 gtest_add_tests(TARGET      primary_parser_tests
 )
 
+
+
 add_executable(rtde_data_package_tests test_rtde_data_package.cpp)
 target_link_libraries(rtde_data_package_tests PRIVATE ur_client_library::urcl GTest::gtest_main)
 gtest_add_tests(TARGET      rtde_data_package_tests