Throws exception if the URScript file doesn't exists (#173)

This will fix #142

include/ur_client_library/ur/ur_driver.h

@@ -467,7 +467,7 @@ class UrDriver
   }
 
 private:
-  std::string readScriptFile(const std::string& filename);
+  static std::string readScriptFile(const std::string& filename);
 
   int rtde_frequency_;
   comm::INotifier notifier_;

src/ur/ur_driver.cpp

@@ -493,7 +493,14 @@ bool UrDriver::stopControl()
 
 std::string UrDriver::readScriptFile(const std::string& filename)
 {
-  std::ifstream ifs(filename);
+  std::ifstream ifs;
+  ifs.open(filename);
+  if (!ifs)
+  {
+    std::stringstream ss;
+    ss << "URScript file '" << filename << "' doesn't exists.";
+    throw UrException(ss.str().c_str());
+  }
   std::string content((std::istreambuf_iterator<char>(ifs)), (std::istreambuf_iterator<char>()));
 
   return content;

tests/CMakeLists.txt

@@ -202,3 +202,10 @@ target_include_directories(script_command_interface_tests PRIVATE ${GTEST_INCLUD
 target_link_libraries(script_command_interface_tests PRIVATE ur_client_library::urcl ${GTEST_LIBRARIES})
 gtest_add_tests(TARGET script_command_interface_tests
 )
+
+add_executable(ur_driver_tests test_ur_driver.cpp)
+target_compile_options(ur_driver_tests PRIVATE ${CXX17_FLAG})
+target_include_directories(ur_driver_tests PRIVATE ${GTEST_INCLUDE_DIRS})
+target_link_libraries(ur_driver_tests PRIVATE ur_client_library::urcl ${GTEST_LIBRARIES})
+gtest_add_tests(TARGET      ur_driver_tests
+)

tests/test_ur_driver.cpp

@@ -0,0 +1,67 @@
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2023 Universal Robots A/S
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the {copyright_holder} nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// -- END LICENSE BLOCK ------------------------------------------------
+
+#include <gtest/gtest.h>
+
+#define private public
+#include <ur_client_library/ur/ur_driver.h>
+
+using namespace urcl;
+
+TEST(ur_driver, read_non_existing_script_file)
+{
+  const std::string non_existing_script_file = "";
+  EXPECT_THROW(UrDriver::readScriptFile(non_existing_script_file), UrException);
+}
+
+TEST(ur_driver, read_existing_script_file)
+{
+  char existing_script_file[] = "urscript.XXXXXX";
+  int fd = mkstemp(existing_script_file);
+  if (fd == -1)
+  {
+    std::cout << "Failed to create temporary files" << std::endl;
+    GTEST_FAIL();
+  }
+  EXPECT_NO_THROW(UrDriver::readScriptFile(existing_script_file));
+
+  // clean up
+  close(fd);
+  unlink(existing_script_file);
+}
+
+// TODO we should add more tests for the UrDriver class.
+
+int main(int argc, char* argv[])
+{
+  ::testing::InitGoogleTest(&argc, argv);
+
+  return RUN_ALL_TESTS();
+}