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Make downloading and checking RTDE outputs from docs optional #493

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Merged
urfeex merged 1 commit into from
Apr 29, 2026
Merged

Make downloading and checking RTDE outputs from docs optional #493

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1 change: 1 addition & 0 deletions .github/workflows/ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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10 changes: 7 additions & 3 deletions tests/CMakeLists.txt
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Expand Up @@ -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)
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2 changes: 2 additions & 0 deletions tests/test_rtde_client.cpp
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Expand Up @@ -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_);
Expand Down Expand Up @@ -725,6 +726,7 @@ TEST_F(RTDEClientTest, check_rtde_data_fields_match_docs)
GTEST_FAIL();
}
}
#endif

TEST_F(RTDEClientTest, check_unknown_rtde_output_variable)
{
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