Fix test to fail when not halting

Author: urfeex

tests/test_external_control_program.cpp

@@ -32,6 +32,7 @@
 
 #include "test_utils.h"
 #include "ur_client_library/example_robot_wrapper.h"
+#include "ur_client_library/log.h"
 
 using namespace urcl;
 
@@ -74,6 +75,15 @@ class ExternalControlProgramTest : public ::testing::Test
       ASSERT_TRUE(g_my_robot->resendRobotProgram());
       ASSERT_TRUE(g_my_robot->waitForProgramRunning(500));
     }
+    server_.reset(new comm::TCPServer(60005));
+    server_->setConnectCallback(
+        std::bind(&ExternalControlProgramTest::connectionCallback, this, std::placeholders::_1));
+    server_->start();
+  }
+
+  void TearDown() override
+  {
+    server_.reset();
   }
 
   std::string extendScript(const std::string& script_path)
@@ -117,6 +127,7 @@ class ExternalControlProgramTest : public ::testing::Test
       return false;
     }
   }
+  std::unique_ptr<comm::TCPServer> server_;
 
 private:
   std::condition_variable connect_cv_;
@@ -129,21 +140,17 @@ TEST_F(ExternalControlProgramTest, program_halts_on_timeout)
 {
   vector6d_t zeros = { 0, 0, 0, 0, 0, 0 };
   g_my_robot->getUrDriver()->writeJointCommand(zeros, comm::ControlMode::MODE_IDLE, RobotReceiveTimeout::millisec(200));
-  EXPECT_TRUE(g_my_robot->waitForProgramNotRunning(400));
+  EXPECT_FALSE(waitForConnectionCallback(1000));
 }
 
 TEST_F(ExternalControlProgramTest, stop_control_does_not_halt_program)
 {
-  comm::TCPServer server(60005);
-  server.setConnectCallback(std::bind(&ExternalControlProgramTest::connectionCallback, this, std::placeholders::_1));
-  server.start();
-
   vector6d_t zeros = { 0, 0, 0, 0, 0, 0 };
   g_my_robot->getUrDriver()->writeJointCommand(zeros, comm::ControlMode::MODE_IDLE, RobotReceiveTimeout::off());
 
   // Make sure that we can stop the robot control, when robot receive timeout has been set off
   g_my_robot->getUrDriver()->stopControl();
-  EXPECT_TRUE(waitForConnectionCallback());
+  EXPECT_TRUE(waitForConnectionCallback(1000));
 }
 
 int main(int argc, char* argv[])