Make downloading and checking RTDE outputs from docs optional (UniversalRobots#493)

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.

Author: urfeex

.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

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)

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)
 {