Fixed unit tests

remi-siffert-ocado · Nov 18, 2024 · 43d652c · 43d652c
1 parent 3168832
commit 43d652c
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Showing 2 changed files with 6 additions and 4 deletions.
diff --git a/tests/test_rtde_client.cpp b/tests/test_rtde_client.cpp
@@ -142,11 +142,13 @@ TEST_F(RTDEClientTest, empty_recipe_file)
 TEST_F(RTDEClientTest, invalid_target_frequency)
 {
   // Setting target frequency below 0 or above 500, should throw an exception
-  client_.reset(new rtde_interface::RTDEClient(ROBOT_IP, notifier_, output_recipe_file_, input_recipe_file_, -1.0));
+  client_.reset(
+      new rtde_interface::RTDEClient(ROBOT_IP, notifier_, output_recipe_file_, input_recipe_file_, false, -1.0));
 
   EXPECT_THROW(client_->init(), UrException);
 
-  client_.reset(new rtde_interface::RTDEClient(ROBOT_IP, notifier_, output_recipe_file_, input_recipe_file_, 1000));
+  client_.reset(
+      new rtde_interface::RTDEClient(ROBOT_IP, notifier_, output_recipe_file_, input_recipe_file_, false, 1000));
 
   EXPECT_THROW(client_->init(), UrException);
 }
@@ -165,7 +167,7 @@ TEST_F(RTDEClientTest, unconfigured_target_frequency)
 
 TEST_F(RTDEClientTest, set_target_frequency)
 {
-  client_.reset(new rtde_interface::RTDEClient(ROBOT_IP, notifier_, output_recipe_file_, input_recipe_file_, 1));
+  client_.reset(new rtde_interface::RTDEClient(ROBOT_IP, notifier_, output_recipe_file_, input_recipe_file_, false, 1));
   client_->init();
 
   // Maximum frequency should still be equal to the robot's maximum frequency

diff --git a/tests/test_ur_driver.cpp b/tests/test_ur_driver.cpp
@@ -375,7 +375,7 @@ TEST_F(UrDriverTest, send_robot_program_retry_on_failure)
 TEST_F(UrDriverTest, reset_rtde_client)
 {
   double target_frequency = 50;
-  g_ur_driver_->resetRTDEClient(OUTPUT_RECIPE, INPUT_RECIPE, target_frequency);
+  g_ur_driver_->resetRTDEClient(OUTPUT_RECIPE, INPUT_RECIPE, false, target_frequency);
   ASSERT_EQ(g_ur_driver_->getControlFrequency(), target_frequency);
 }