Added tests for the comm classes (UniversalRobots#129)

* Added tests for the comm classes

This add tests for
* bin parser
* package serializer
* TCP socket
* stream
* producer
* pipeline

Fixed check size in bin parser, so that it works with starndard data types

Added recconection time variable to TCP socket, this will control the time in between connection attempts if the server is unavailable.

Co-authored-by: Felix Exner <[email protected]>

Author: urmahp

include/ur_client_library/comm/bin_parser.h

@@ -350,7 +350,8 @@ class BinParser
   template <typename T>
   bool checkSize(void)
   {
-    return checkSize(T::SIZE);
+    size_t size = sizeof(T);
+    return checkSize(size);
   }
 
   /*!

include/ur_client_library/comm/tcp_socket.h

@@ -50,6 +50,7 @@ class TCPSocket
 private:
   std::atomic<int> socket_fd_;
   std::atomic<SocketState> state_;
+  std::chrono::seconds reconnection_time_;
 
 protected:
   virtual bool open(int socket_fd, struct sockaddr* address, size_t address_len)
@@ -138,6 +139,17 @@ class TCPSocket
    * \param timeout Timeout used for setting things up
    */
   void setReceiveTimeout(const timeval& timeout);
+
+  /*!
+   * \brief Set reconnection time, if the server is unavailable during connection this will set the time before
+   * trying connect to the server again.
+   *
+   * \param reconnection_time time in between connection attempts to the server
+   */
+  void setReconnectionTime(std::chrono::seconds reconnection_time)
+  {
+    reconnection_time_ = reconnection_time;
+  }
 };
 }  // namespace comm
 }  // namespace urcl

src/comm/tcp_socket.cpp

@@ -35,7 +35,7 @@ namespace urcl
 {
 namespace comm
 {
-TCPSocket::TCPSocket() : socket_fd_(-1), state_(SocketState::Invalid)
+TCPSocket::TCPSocket() : socket_fd_(-1), state_(SocketState::Invalid), reconnection_time_(std::chrono::seconds(10))
 {
 }
 TCPSocket::~TCPSocket()
@@ -101,9 +101,10 @@ bool TCPSocket::setup(std::string& host, int port)
       state_ = SocketState::Invalid;
       std::stringstream ss;
       ss << "Failed to connect to robot on IP " << host_name
-         << ". Please check that the robot is booted and reachable on " << host_name << ". Retrying in 10 seconds";
+         << ". Please check that the robot is booted and reachable on " << host_name << ". Retrying in "
+         << reconnection_time_.count() << " seconds";
       URCL_LOG_ERROR("%s", ss.str().c_str());
-      std::this_thread::sleep_for(std::chrono::seconds(10));
+      std::this_thread::sleep_for(reconnection_time_);
     }
   }
   setOptions(socket_fd_);

tests/CMakeLists.txt

@@ -153,3 +153,45 @@ target_include_directories(version_information_tests PRIVATE ${GTEST_INCLUDE_DIR
 target_link_libraries(version_information_tests PRIVATE ur_client_library::urcl ${GTEST_LIBRARIES})
 gtest_add_tests(TARGET version_information_tests
 )
+
+add_executable(bin_parser_tests test_bin_parser.cpp)
+target_compile_options(bin_parser_tests PRIVATE ${CXX17_FLAG})
+target_include_directories(bin_parser_tests PRIVATE ${GTEST_INCLUDE_DIRS})
+target_link_libraries(bin_parser_tests PRIVATE ur_client_library::urcl ${GTEST_LIBRARIES})
+gtest_add_tests(TARGET bin_parser_tests
+)
+
+add_executable(package_serializer_tests test_package_serializer.cpp)
+target_compile_options(package_serializer_tests PRIVATE ${CXX17_FLAG})
+target_include_directories(package_serializer_tests PRIVATE ${GTEST_INCLUDE_DIRS})
+target_link_libraries(package_serializer_tests PRIVATE ur_client_library::urcl ${GTEST_LIBRARIES})
+gtest_add_tests(TARGET package_serializer_tests
+)
+
+add_executable(tcp_socket_tests test_tcp_socket.cpp)
+target_compile_options(tcp_socket_tests PRIVATE ${CXX17_FLAG})
+target_include_directories(tcp_socket_tests PRIVATE ${GTEST_INCLUDE_DIRS})
+target_link_libraries(tcp_socket_tests PRIVATE ur_client_library::urcl ${GTEST_LIBRARIES})
+gtest_add_tests(TARGET tcp_socket_tests
+)
+
+add_executable(stream_tests test_stream.cpp)
+target_compile_options(stream_tests PRIVATE ${CXX17_FLAG})
+target_include_directories(stream_tests PRIVATE ${GTEST_INCLUDE_DIRS})
+target_link_libraries(stream_tests PRIVATE ur_client_library::urcl ${GTEST_LIBRARIES})
+gtest_add_tests(TARGET stream_tests
+)
+
+add_executable(producer_tests test_producer.cpp)
+target_compile_options(producer_tests PRIVATE ${CXX17_FLAG})
+target_include_directories(producer_tests PRIVATE ${GTEST_INCLUDE_DIRS})
+target_link_libraries(producer_tests PRIVATE ur_client_library::urcl ${GTEST_LIBRARIES})
+gtest_add_tests(TARGET producer_tests
+)
+
+add_executable(pipeline_tests test_pipeline.cpp)
+target_compile_options(pipeline_tests PRIVATE ${CXX17_FLAG})
+target_include_directories(pipeline_tests PRIVATE ${GTEST_INCLUDE_DIRS})
+target_link_libraries(pipeline_tests PRIVATE ur_client_library::urcl ${GTEST_LIBRARIES})
+gtest_add_tests(TARGET pipeline_tests
+)