From 135e4239dcd086d7b9c1135fc1384fe147b46e8d Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Tue, 28 Apr 2026 11:47:54 +0200
Subject: [PATCH] Make downloading and checking RTDE outputs from docs optional

It's not particularly nice to require internet access to build the
project every time.
Also, this reduces build requirements to run integration tests so we
don't need python3 and pandas to run integration tests.
---
 .github/workflows/ci.yml   |  1 +
 tests/CMakeLists.txt       | 10 +++++++---
 tests/test_rtde_client.cpp |  2 ++
 3 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index a55af3cfd..08ab61463 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -67,6 +67,7 @@ jobs:
           -DWITH_ASAN=ON
           -DPRIMARY_CLIENT_STRICT_PARSING=ON
           -DCMAKE_COMPILE_WARNING_AS_ERROR=ON
+          -DCHECK_RTDE_DOCS_RECIPE=ON
         env:
           CXXFLAGS: -g -O2 -fprofile-arcs -ftest-coverage
           CFLAGS: -g -O2 -fprofile-arcs -ftest-coverage
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 0aff4cdb4..b5d32993f 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -21,23 +21,27 @@ include(GoogleTest)
 
 option(INTEGRATION_TESTS "Build the integration tests that require a running robot / URSim" OFF)
 option(POLYSCOPE_X_TESTS_WITH_REMOTE_CONTROL "Run Polyscope X tests that require remote control" OFF)
+option(CHECK_RTDE_DOCS_RECIPE "Fetch the RTDE documentation to auto-generate a recipe containing all output fields and check that with the RTDE client. Requires python3 and pandas and an internet connection." OFF)
 # Build Tests
 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)
   if(POLYSCOPE_X_TESTS_WITH_REMOTE_CONTROL)
     add_compile_definitions(POLYSCOPE_X_TESTS_WITH_REMOTE_CONTROL=1 )
   endif()
 
-  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 fake_rtde_server.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}
   )
+  if (CHECK_RTDE_DOCS_RECIPE)
+    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_dependencies(rtde_tests generate_outputs)
+    target_compile_definitions(rtde_tests PRIVATE CHECK_RTDE_DOCS_RECIPE=1)
+  endif()
 
   add_executable(dashboard_client_g5_tests test_dashboard_client_g5.cpp)
   target_link_libraries(dashboard_client_g5_tests PRIVATE ur_client_library::urcl GTest::gtest_main)
diff --git a/tests/test_rtde_client.cpp b/tests/test_rtde_client.cpp
index 19190a449..a9b84e2b6 100644
--- a/tests/test_rtde_client.cpp
+++ b/tests/test_rtde_client.cpp
@@ -681,6 +681,7 @@ TEST_F(RTDEClientTest, check_all_rtde_output_variables_exist)
   client_->pause();
 }
 
+#ifdef CHECK_RTDE_DOCS_RECIPE
 TEST_F(RTDEClientTest, check_rtde_data_fields_match_docs)
 {
   std::ifstream docs_file(docs_output_recipe_file_);
@@ -725,6 +726,7 @@ TEST_F(RTDEClientTest, check_rtde_data_fields_match_docs)
     GTEST_FAIL();
   }
 }
+#endif
 
 TEST_F(RTDEClientTest, check_unknown_rtde_output_variable)
 {