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Added timestamp check and documentation for constructor
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@urmahp
urmahp committed Aug 29, 2023
1 parent ad89905 commit 65db944
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Showing 3 changed files with 70 additions and 52 deletions.
11 changes: 11 additions & 0 deletions include/ur_client_library/rtde/rtde_client.h
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Original file line number Diff line number Diff line change
Expand Up @@ -105,6 +105,17 @@ class RTDEClient
*/
RTDEClient(std::string robot_ip, comm::INotifier& notifier, const std::string& output_recipe_file,
const std::string& input_recipe_file, double target_frequency = 0.0);

/*!
* \brief Creates a new RTDEClient object, including a used URStream and Pipeline to handle the
* communication with the robot.
*
* \param robot_ip The IP of the robot
* \param notifier The notifier to use in the pipeline
* \param output_recipe Vector containing the output recipe
* \param input_recipe_file Vector containing the input recipe
* \param target_frequency Frequency to run at. Defaults to 0.0 which means maximum frequency.
*/
RTDEClient(std::string robot_ip, comm::INotifier& notifier, const std::vector<std::string>& output_recipe,
const std::vector<std::string>& input_recipe, double target_frequency = 0.0);
~RTDEClient();
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2 changes: 1 addition & 1 deletion src/rtde/rtde_client.cpp
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Expand Up @@ -52,7 +52,7 @@ RTDEClient::RTDEClient(std::string robot_ip, comm::INotifier& notifier, const st
RTDEClient::RTDEClient(std::string robot_ip, comm::INotifier& notifier, const std::vector<std::string>& output_recipe,
const std::vector<std::string>& input_recipe, double target_frequency)
: stream_(robot_ip, UR_RTDE_PORT)
, output_recipe_(output_recipe)
, output_recipe_(ensureTimestampIsPresent(output_recipe))
, input_recipe_(input_recipe)
, parser_(output_recipe_)
, prod_(stream_, parser_)
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109 changes: 58 additions & 51 deletions tests/test_rtde_client.cpp
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Expand Up @@ -54,49 +54,49 @@ class RTDEClientTest : public ::testing::Test
std::string input_recipe_file_ = "resources/rtde_input_recipe.txt";
comm::INotifier notifier_;
std::unique_ptr<rtde_interface::RTDEClient> client_;
};

std::vector<std::string> resources_output_recipe = { "timestamp",
"actual_q",
"actual_qd",
"speed_scaling",
"target_speed_fraction",
"runtime_state",
"actual_TCP_force",
"actual_TCP_pose",
"actual_digital_input_bits",
"actual_digital_output_bits",
"standard_analog_input0",
"standard_analog_input1",
"standard_analog_output0",
"standard_analog_output1",
"analog_io_types",
"tool_mode",
"tool_analog_input_types",
"tool_analog_input0",
"tool_analog_input1",
"tool_output_voltage",
"tool_output_current",
"tool_temperature",
"robot_mode",
"safety_mode",
"robot_status_bits",
"safety_status_bits",
"actual_current",
"tcp_offset" };

std::vector<std::string> resources_input_recipe = { "speed_slider_mask",
"speed_slider_fraction",
"standard_digital_output_mask",
"standard_digital_output",
"configurable_digital_output_mask",
"configurable_digital_output",
"tool_digital_output_mask",
"tool_digital_output",
"standard_analog_output_mask",
"standard_analog_output_type",
"standard_analog_output_0",
"standard_analog_output_1" };
std::vector<std::string> resources_output_recipe_ = { "timestamp",
"actual_q",
"actual_qd",
"speed_scaling",
"target_speed_fraction",
"runtime_state",
"actual_TCP_force",
"actual_TCP_pose",
"actual_digital_input_bits",
"actual_digital_output_bits",
"standard_analog_input0",
"standard_analog_input1",
"standard_analog_output0",
"standard_analog_output1",
"analog_io_types",
"tool_mode",
"tool_analog_input_types",
"tool_analog_input0",
"tool_analog_input1",
"tool_output_voltage",
"tool_output_current",
"tool_temperature",
"robot_mode",
"safety_mode",
"robot_status_bits",
"safety_status_bits",
"actual_current",
"tcp_offset" };

std::vector<std::string> resources_input_recipe_ = { "speed_slider_mask",
"speed_slider_fraction",
"standard_digital_output_mask",
"standard_digital_output",
"configurable_digital_output_mask",
"configurable_digital_output",
"tool_digital_output_mask",
"tool_digital_output",
"standard_analog_output_mask",
"standard_analog_output_type",
"standard_analog_output_0",
"standard_analog_output_1" };
};

TEST_F(RTDEClientTest, rtde_handshake)
{
Expand Down Expand Up @@ -246,19 +246,19 @@ TEST_F(RTDEClientTest, output_recipe_file)
{
std::vector<std::string> actual_output_recipe = client_->getOutputRecipe();
// Verify that the size is the same
ASSERT_EQ(resources_output_recipe.size(), actual_output_recipe.size());
ASSERT_EQ(resources_output_recipe_.size(), actual_output_recipe.size());

// Verify that the order and contect is equal
for (unsigned int i = 0; i < resources_output_recipe.size(); ++i)
for (unsigned int i = 0; i < resources_output_recipe_.size(); ++i)
{
EXPECT_EQ(resources_output_recipe[i], actual_output_recipe[i]);
EXPECT_EQ(resources_output_recipe_[i], actual_output_recipe[i]);
}
}

TEST_F(RTDEClientTest, recipe_compairson)
{
// Check that vectorized constructor provides same recipes as from file
auto client = rtde_interface::RTDEClient(ROBOT_IP, notifier_, resources_output_recipe, resources_input_recipe);
auto client = rtde_interface::RTDEClient(ROBOT_IP, notifier_, resources_output_recipe_, resources_input_recipe_);

std::vector<std::string> output_recipe_from_file = client_->getOutputRecipe();
std::vector<std::string> output_recipe_from_vector = client.getOutputRecipe();
Expand Down Expand Up @@ -330,13 +330,20 @@ TEST_F(RTDEClientTest, write_rtde_data)

TEST_F(RTDEClientTest, output_recipe_without_timestamp)
{
std::string output_recipe = "resources/rtde_output_recipe_without_timestamp.txt";
client_.reset(new rtde_interface::RTDEClient(ROBOT_IP, notifier_, output_recipe, input_recipe_file_));
std::string output_recipe_file = "resources/rtde_output_recipe_without_timestamp.txt";
client_.reset(new rtde_interface::RTDEClient(ROBOT_IP, notifier_, output_recipe_file, input_recipe_file_));

std::vector<std::string> actual_output_recipe = client_->getOutputRecipe();
std::vector<std::string> actual_output_recipe_from_file = client_->getOutputRecipe();
const std::string timestamp = "timestamp";
auto it = std::find(actual_output_recipe.begin(), actual_output_recipe.end(), timestamp);
EXPECT_FALSE(it == actual_output_recipe.end());
auto it = std::find(actual_output_recipe_from_file.begin(), actual_output_recipe_from_file.end(), timestamp);
EXPECT_FALSE(it == actual_output_recipe_from_file.end());

// Verify that timestamp is added to the recipe when using the vectorized constructor
std::vector<std::string> output_recipe = { "actual_q", "actual_qd" };
auto client = rtde_interface::RTDEClient(ROBOT_IP, notifier_, output_recipe, resources_input_recipe_);
std::vector<std::string> actual_output_recipe_from_vector = client.getOutputRecipe();
it = std::find(actual_output_recipe_from_vector.begin(), actual_output_recipe_from_vector.end(), timestamp);
EXPECT_FALSE(it == actual_output_recipe_from_vector.end());
}

int main(int argc, char* argv[])
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