New tests for UrDriver recipe reading changes

Pablo David Aranda Rodriguez · Pablo David Aranda Rodriguez · commit 7d9ba11b0bf5 · 2025-11-27T11:12:51.000+01:00
diff --git a/examples/direct_torque_control.cpp b/examples/direct_torque_control.cpp
@@ -30,13 +30,15 @@
 
 #include <ur_client_library/example_robot_wrapper.h>
 #include <cstddef>
+#include <vector>
 
 // In a real-world example it would be better to get those values from command line parameters / a
 // better configuration system such as Boost.Program_options
 const std::string DEFAULT_ROBOT_IP = "192.168.56.101";
 const std::string SCRIPT_FILE = "resources/external_control.urscript";
 const std::string OUTPUT_RECIPE = "examples/resources/rtde_output_recipe.txt";
 const std::string INPUT_RECIPE = "examples/resources/rtde_input_recipe.txt";
+const std::vector<std::string> NULL_VECTOR = std::vector<std::string>();
 
 const size_t JOINT_INDEX = 5;  // Joint index to control, in this case joint 6 (index 5)
 
@@ -62,8 +64,8 @@ int main(int argc, char* argv[])
   }
 
   bool headless_mode = true;
-  g_my_robot = std::make_unique<urcl::ExampleRobotWrapper>(robot_ip, OUTPUT_RECIPE, INPUT_RECIPE, headless_mode,
-                                                           "external_control.urp");
+  g_my_robot = std::make_unique<urcl::ExampleRobotWrapper>(robot_ip, OUTPUT_RECIPE, INPUT_RECIPE, NULL_VECTOR,
+                                                           NULL_VECTOR, headless_mode, "external_control.urp");
   if (!g_my_robot->isHealthy())
   {
     URCL_LOG_ERROR("Something in the robot initialization went wrong. Exiting. Please check the output above.");
diff --git a/examples/external_fts_through_rtde.cpp b/examples/external_fts_through_rtde.cpp
@@ -97,6 +97,7 @@ const std::string DEFAULT_ROBOT_IP = "192.168.56.101";
 const std::string SCRIPT_FILE = "resources/external_control.urscript";
 const std::string OUTPUT_RECIPE = "examples/resources/rtde_output_recipe.txt";
 const std::string INPUT_RECIPE = "examples/resources/rtde_input_only_ft.txt";
+const std::vector<std::string> NULL_VECTOR = std::vector<std::string>();
 
 std::unique_ptr<urcl::ExampleRobotWrapper> g_my_robot;
 std::atomic<bool> g_RUNNING = true;
@@ -271,7 +272,8 @@ int main(int argc, char* argv[])
     second_to_run = std::stoi(argv[2]);
   }
 
-  g_my_robot = std::make_unique<urcl::ExampleRobotWrapper>(robot_ip, OUTPUT_RECIPE, INPUT_RECIPE, true);
+  g_my_robot = std::make_unique<urcl::ExampleRobotWrapper>(robot_ip, OUTPUT_RECIPE, INPUT_RECIPE, NULL_VECTOR,
+                                                           NULL_VECTOR, true);
   if (!g_my_robot->isHealthy())
   {
     URCL_LOG_ERROR("Something in the robot initialization went wrong. Exiting. Please check the output above.");
diff --git a/examples/force_mode_example.cpp b/examples/force_mode_example.cpp
@@ -51,6 +51,7 @@ const std::string DEFAULT_ROBOT_IP = "192.168.56.101";
 const std::string SCRIPT_FILE = "resources/external_control.urscript";
 const std::string OUTPUT_RECIPE = "examples/resources/rtde_output_recipe.txt";
 const std::string INPUT_RECIPE = "examples/resources/rtde_input_recipe.txt";
+const std::vector<std::string> NULL_VECTOR = std::vector<std::string>();
 const std::string CALIBRATION_CHECKSUM = "calib_12788084448423163542";
 
 std::unique_ptr<ExampleRobotWrapper> g_my_robot;
@@ -83,8 +84,8 @@ int main(int argc, char* argv[])
   }
 
   bool headless_mode = true;
-  g_my_robot = std::make_unique<ExampleRobotWrapper>(robot_ip, OUTPUT_RECIPE, INPUT_RECIPE, headless_mode,
-                                                     "external_control.urp");
+  g_my_robot = std::make_unique<ExampleRobotWrapper>(robot_ip, OUTPUT_RECIPE, INPUT_RECIPE, NULL_VECTOR, NULL_VECTOR,
+                                                     headless_mode, "external_control.urp");
 
   if (!g_my_robot->isHealthy())
   {
diff --git a/examples/freedrive_example.cpp b/examples/freedrive_example.cpp
@@ -50,6 +50,7 @@ using namespace urcl;
 const std::string DEFAULT_ROBOT_IP = "192.168.56.101";
 const std::string OUTPUT_RECIPE = "examples/resources/rtde_output_recipe.txt";
 const std::string INPUT_RECIPE = "examples/resources/rtde_input_recipe.txt";
+const std::vector<std::string> NULL_VECTOR = std::vector<std::string>();
 
 std::unique_ptr<ExampleRobotWrapper> g_my_robot;
 
@@ -82,8 +83,8 @@ int main(int argc, char* argv[])
 
   bool headless_mode = true;
 
-  g_my_robot = std::make_unique<ExampleRobotWrapper>(robot_ip, OUTPUT_RECIPE, INPUT_RECIPE, headless_mode,
-                                                     "external_control.urp");
+  g_my_robot = std::make_unique<ExampleRobotWrapper>(robot_ip, OUTPUT_RECIPE, INPUT_RECIPE, NULL_VECTOR, NULL_VECTOR,
+                                                     headless_mode, "external_control.urp");
 
   if (!g_my_robot->isHealthy())
   {
diff --git a/examples/full_driver.cpp b/examples/full_driver.cpp
@@ -44,6 +44,7 @@ const std::string DEFAULT_ROBOT_IP = "192.168.56.101";
 const std::string SCRIPT_FILE = "resources/external_control.urscript";
 const std::string OUTPUT_RECIPE = "examples/resources/rtde_output_recipe.txt";
 const std::string INPUT_RECIPE = "examples/resources/rtde_input_recipe.txt";
+const std::vector<std::string> NULL_VECTOR = std::vector<std::string>();
 
 std::unique_ptr<ExampleRobotWrapper> g_my_robot;
 vector6d_t g_joint_positions;
@@ -60,8 +61,8 @@ int main(int argc, char* argv[])
   }
 
   bool headless_mode = true;
-  g_my_robot = std::make_unique<ExampleRobotWrapper>(robot_ip, OUTPUT_RECIPE, INPUT_RECIPE, headless_mode,
-                                                     "external_control.urp");
+  g_my_robot = std::make_unique<ExampleRobotWrapper>(robot_ip, OUTPUT_RECIPE, INPUT_RECIPE, NULL_VECTOR, NULL_VECTOR,
+                                                     headless_mode, "external_control.urp");
   if (!g_my_robot->isHealthy())
   {
     URCL_LOG_ERROR("Something in the robot initialization went wrong. Exiting. Please check the output above.");
diff --git a/examples/instruction_executor.cpp b/examples/instruction_executor.cpp
@@ -44,6 +44,7 @@ const std::string DEFAULT_ROBOT_IP = "192.168.56.101";
 const std::string SCRIPT_FILE = "resources/external_control.urscript";
 const std::string OUTPUT_RECIPE = "examples/resources/rtde_output_recipe.txt";
 const std::string INPUT_RECIPE = "examples/resources/rtde_input_recipe.txt";
+const std::vector<std::string> NULL_VECTOR = std::vector<std::string>();
 const std::string CALIBRATION_CHECKSUM = "calib_12788084448423163542";
 
 std::unique_ptr<urcl::ExampleRobotWrapper> g_my_robot;
@@ -59,8 +60,8 @@ int main(int argc, char* argv[])
   }
 
   bool headless_mode = true;
-  g_my_robot = std::make_unique<urcl::ExampleRobotWrapper>(robot_ip, OUTPUT_RECIPE, INPUT_RECIPE, headless_mode,
-                                                           "external_control.urp");
+  g_my_robot = std::make_unique<urcl::ExampleRobotWrapper>(robot_ip, OUTPUT_RECIPE, INPUT_RECIPE, NULL_VECTOR,
+                                                           NULL_VECTOR, headless_mode, "external_control.urp");
   if (!g_my_robot->getUrDriver()->checkCalibration(CALIBRATION_CHECKSUM))
   {
     URCL_LOG_ERROR("Calibration checksum does not match actual robot.");
@@ -113,4 +114,4 @@ int main(int argc, char* argv[])
 
   g_my_robot->getUrDriver()->stopControl();
   return 0;
-}
+}
diff --git a/examples/script_command_interface.cpp b/examples/script_command_interface.cpp
@@ -41,6 +41,7 @@ const std::string DEFAULT_ROBOT_IP = "192.168.56.101";
 const std::string SCRIPT_FILE = "resources/external_control.urscript";
 const std::string OUTPUT_RECIPE = "examples/resources/rtde_output_recipe.txt";
 const std::string INPUT_RECIPE = "examples/resources/rtde_input_recipe.txt";
+const std::vector<std::string> NULL_VECTOR = std::vector<std::string>();
 
 std::unique_ptr<ExampleRobotWrapper> g_my_robot;
 bool g_HEADLESS = true;
@@ -103,8 +104,8 @@ int main(int argc, char* argv[])
                  std::string(argv[3]) == "TRUE";
   }
 
-  g_my_robot =
-      std::make_unique<ExampleRobotWrapper>(robot_ip, OUTPUT_RECIPE, INPUT_RECIPE, g_HEADLESS, "external_control.urp");
+  g_my_robot = std::make_unique<ExampleRobotWrapper>(robot_ip, OUTPUT_RECIPE, INPUT_RECIPE, NULL_VECTOR, NULL_VECTOR,
+                                                     g_HEADLESS, "external_control.urp");
 
   if (!g_my_robot->isHealthy())
   {
diff --git a/examples/spline_example.cpp b/examples/spline_example.cpp
@@ -47,6 +47,7 @@ const std::string DEFAULT_ROBOT_IP = "192.168.56.101";
 const std::string SCRIPT_FILE = "resources/external_control.urscript";
 const std::string OUTPUT_RECIPE = "examples/resources/rtde_output_recipe.txt";
 const std::string INPUT_RECIPE = "examples/resources/rtde_input_recipe.txt";
+const std::vector<std::string> NULL_VECTOR = std::vector<std::string>();
 
 std::unique_ptr<ExampleRobotWrapper> g_my_robot;
 vector6d_t g_joint_positions;
@@ -123,8 +124,8 @@ int main(int argc, char* argv[])
   }
 
   bool headless_mode = true;
-  g_my_robot = std::make_unique<ExampleRobotWrapper>(robot_ip, OUTPUT_RECIPE, INPUT_RECIPE, headless_mode,
-                                                     "external_control.urp");
+  g_my_robot = std::make_unique<ExampleRobotWrapper>(robot_ip, OUTPUT_RECIPE, INPUT_RECIPE, NULL_VECTOR, NULL_VECTOR,
+                                                     headless_mode, "external_control.urp");
   if (!g_my_robot->isHealthy())
   {
     URCL_LOG_ERROR("Something in the robot initialization went wrong. Exiting. Please check the output above.");
diff --git a/examples/tool_contact_example.cpp b/examples/tool_contact_example.cpp
@@ -47,6 +47,7 @@ const std::string DEFAULT_ROBOT_IP = "192.168.56.101";
 const std::string SCRIPT_FILE = "resources/external_control.urscript";
 const std::string OUTPUT_RECIPE = "examples/resources/rtde_output_recipe.txt";
 const std::string INPUT_RECIPE = "examples/resources/rtde_input_recipe.txt";
+const std::vector<std::string> NULL_VECTOR = std::vector<std::string>();
 
 std::unique_ptr<ExampleRobotWrapper> g_my_robot;
 std::atomic<bool> g_tool_contact_result_triggered;
@@ -78,8 +79,8 @@ int main(int argc, char* argv[])
   }
 
   bool headless_mode = true;
-  g_my_robot = std::make_unique<ExampleRobotWrapper>(robot_ip, OUTPUT_RECIPE, INPUT_RECIPE, headless_mode,
-                                                     "external_control.urp");
+  g_my_robot = std::make_unique<ExampleRobotWrapper>(robot_ip, OUTPUT_RECIPE, INPUT_RECIPE, NULL_VECTOR, NULL_VECTOR,
+                                                     headless_mode, "external_control.urp");
   if (!g_my_robot->isHealthy())
   {
     URCL_LOG_ERROR("Something in the robot initialization went wrong. Exiting. Please check the output above.");
diff --git a/examples/trajectory_point_interface.cpp b/examples/trajectory_point_interface.cpp
@@ -43,6 +43,7 @@ const std::string DEFAULT_ROBOT_IP = "192.168.56.101";
 const std::string SCRIPT_FILE = "resources/external_control.urscript";
 const std::string OUTPUT_RECIPE = "examples/resources/rtde_output_recipe.txt";
 const std::string INPUT_RECIPE = "examples/resources/rtde_input_recipe.txt";
+const std::vector<std::string> NULL_VECTOR = std::vector<std::string>();
 
 std::unique_ptr<urcl::ExampleRobotWrapper> g_my_robot;
 std::atomic<bool> g_trajectory_done = false;
@@ -64,8 +65,8 @@ int main(int argc, char* argv[])
   }
 
   bool headless_mode = true;
-  g_my_robot = std::make_unique<urcl::ExampleRobotWrapper>(robot_ip, OUTPUT_RECIPE, INPUT_RECIPE, headless_mode,
-                                                           "external_control.urp");
+  g_my_robot = std::make_unique<urcl::ExampleRobotWrapper>(robot_ip, OUTPUT_RECIPE, INPUT_RECIPE, NULL_VECTOR,
+                                                           NULL_VECTOR, headless_mode, "external_control.urp");
   if (!g_my_robot->isHealthy())
   {
     URCL_LOG_ERROR("Something in the robot initialization went wrong. Exiting. Please check the output above.");
diff --git a/include/ur_client_library/example_robot_wrapper.h b/include/ur_client_library/example_robot_wrapper.h
@@ -74,7 +74,8 @@ class ExampleRobotWrapper
    * communicating to the driver's reverse interface and trajectory interface.
    */
   ExampleRobotWrapper(const std::string& robot_ip, const std::string& output_recipe_file,
-                      const std::string& input_recipe_file, const bool headless_mode = true,
+                      const std::string& input_recipe_file, const std::vector<std::string> output_recipe,
+                      const std::vector<std::string> input_recipe, const bool headless_mode = true,
                       const std::string& autostart_program = "", const std::string& script_file = SCRIPT_FILE);
   ~ExampleRobotWrapper();
 
diff --git a/src/example_robot_wrapper.cpp b/src/example_robot_wrapper.cpp
@@ -30,14 +30,17 @@
 
 #include <ur_client_library/example_robot_wrapper.h>
 #include <iostream>
+#include <vector>
 #include "ur_client_library/exceptions.h"
 #include "ur_client_library/log.h"
 #include "ur_client_library/ur/version_information.h"
 
 namespace urcl
 {
 ExampleRobotWrapper::ExampleRobotWrapper(const std::string& robot_ip, const std::string& output_recipe_file,
-                                         const std::string& input_recipe_file, const bool headless_mode,
+                                         const std::string& input_recipe_file,
+                                         const std::vector<std::string> output_recipe,
+                                         const std::vector<std::string> input_recipe, const bool headless_mode,
                                          const std::string& autostart_program, const std::string& script_file)
   : headless_mode_(headless_mode), autostart_program_(autostart_program)
 {
@@ -73,6 +76,8 @@ ExampleRobotWrapper::ExampleRobotWrapper(const std::string& robot_ip, const std:
   driver_config.script_file = script_file;
   driver_config.output_recipe_file = output_recipe_file;
   driver_config.input_recipe_file = input_recipe_file;
+  driver_config.output_recipe = output_recipe;
+  driver_config.input_recipe = input_recipe;
   driver_config.handle_program_state =
       std::bind(&ExampleRobotWrapper::handleRobotProgramState, this, std::placeholders::_1);
   driver_config.headless_mode = headless_mode;
diff --git a/tests/test_instruction_executor.cpp b/tests/test_instruction_executor.cpp
@@ -63,8 +63,8 @@ class InstructionExecutorTest : public ::testing::Test
       GTEST_SKIP_("Running URCap tests for PolyScope X is currently not supported.");
     }
     // Setup driver
-    g_my_robot = std::make_unique<ExampleRobotWrapper>(g_ROBOT_IP, OUTPUT_RECIPE, INPUT_RECIPE, g_HEADLESS,
-                                                       "external_control.urp", SCRIPT_FILE);
+    g_my_robot = std::make_unique<ExampleRobotWrapper>(g_ROBOT_IP, OUTPUT_RECIPE, INPUT_RECIPE, NULL_VECTOR,
+                                                       NULL_VECTOR, g_HEADLESS, "external_control.urp", SCRIPT_FILE);
   }
   void SetUp() override
   {
@@ -273,8 +273,9 @@ TEST(InstructionExecutorTestStandalone, canceling_without_receiving_answer_retur
     }
   }
   out_file.close();
-  auto my_robot = std::make_unique<ExampleRobotWrapper>(g_ROBOT_IP, OUTPUT_RECIPE, INPUT_RECIPE, g_HEADLESS,
-                                                        "external_control.urp", test_script_file);
+  auto my_robot =
+      std::make_unique<ExampleRobotWrapper>(g_ROBOT_IP, OUTPUT_RECIPE, INPUT_RECIPE, NULL_VECTOR, NULL_VECTOR,
+                                            g_HEADLESS, "external_control.urp", test_script_file);
   auto executor = std::make_unique<InstructionExecutor>(my_robot->getUrDriver());
   my_robot->clearProtectiveStop();
   // Make sure script is running on the robot
@@ -475,4 +476,4 @@ int main(int argc, char* argv[])
   }
 
   return RUN_ALL_TESTS();
-}
+}
diff --git a/tests/test_spline_interpolation.cpp b/tests/test_spline_interpolation.cpp
@@ -114,8 +114,9 @@ class SplineInterpolationTest : public ::testing::Test
     }
 
     // Setup driver
-    g_my_robot = std::make_unique<ExampleRobotWrapper>(g_ROBOT_IP, OUTPUT_RECIPE, INPUT_RECIPE, g_HEADLESS,
-                                                       "external_control.urp", SPLINE_SCRIPT_FILE);
+    g_my_robot =
+        std::make_unique<ExampleRobotWrapper>(g_ROBOT_IP, OUTPUT_RECIPE, INPUT_RECIPE, NULL_VECTOR, NULL_VECTOR,
+                                              g_HEADLESS, "external_control.urp", SPLINE_SCRIPT_FILE);
 
     g_my_robot->startRTDECommununication(true);
 
@@ -292,34 +293,14 @@ class SplineInterpolationTest : public ::testing::Test
   {
     std::ofstream outfile(filename);
     // Header
-    outfile << "time, "
-            << "actual_positions0, "
-            << "actual_positions1, "
-            << "actual_positions2, "
-            << "actual_positions3, "
-            << "actual_positions4, "
-            << "actual_positions5, "
-            << "actual_velocities0, "
-            << "actual_velocities1, "
-            << "actual_velocities2, "
-            << "actual_velocities3, "
-            << "actual_velocities4, "
-            << "actual_velocities5, "
-            << "actual_acceleration0, "
-            << "actual_acceleration1, "
-            << "actual_acceleration2, "
-            << "actual_acceleration3, "
-            << "actual_acceleration4, "
-            << "actual_acceleration5, "
-            << "error_positions0, "
-            << "error_positions1, "
-            << "error_positions2, "
-            << "error_positions3, "
-            << "error_positions4, "
-            << "error_positions5, "
-            << "speed_scaling, "
-            << "spline_time"
-            << "\n";
+    outfile << "time, " << "actual_positions0, " << "actual_positions1, " << "actual_positions2, "
+            << "actual_positions3, " << "actual_positions4, " << "actual_positions5, " << "actual_velocities0, "
+            << "actual_velocities1, " << "actual_velocities2, " << "actual_velocities3, " << "actual_velocities4, "
+            << "actual_velocities5, " << "actual_acceleration0, " << "actual_acceleration1, "
+            << "actual_acceleration2, " << "actual_acceleration3, " << "actual_acceleration4, "
+            << "actual_acceleration5, " << "error_positions0, " << "error_positions1, " << "error_positions2, "
+            << "error_positions3, " << "error_positions4, " << "error_positions5, " << "speed_scaling, "
+            << "spline_time" << "\n";
 
     // Data
     for (unsigned int i = 0; i < actual_positions.size(); ++i)
diff --git a/tests/test_ur_driver.cpp b/tests/test_ur_driver.cpp
