diff --git a/conftest.py b/conftest.py
new file mode 100644
index 0000000000000000000000000000000000000000..6bed591f2eacef71e87e92059d8502c226870522
--- /dev/null
+++ b/conftest.py
@@ -0,0 +1,21 @@
+import pytest
+
+
+def pytest_addoption(parser):
+ parser.addoption(
+ "--run_integration", action="store_true", default=False, help="run slow tests"
+ )
+
+
+def pytest_configure(config):
+ config.addinivalue_line("markers", "integration: mark test as integration tests")
+
+
+def pytest_collection_modifyitems(config, items):
+ if config.getoption("--run_integration"):
+ # --run_integration given in cli: do not skip
+ return
+ skip_integration = pytest.mark.skip(reason="need --run_integration option to run")
+ for item in items:
+ if "integration" in item.keywords:
+ item.add_marker(skip_integration)
diff --git a/tests/test_integration.py b/tests/test_integration.py
new file mode 100644
index 0000000000000000000000000000000000000000..0ce0f7c22906050f693d85db35e4ab31144c3187
--- /dev/null
+++ b/tests/test_integration.py
@@ -0,0 +1,41 @@
+import re
+import socket
+
+import pytest
+
+from ur_py_ctl import URSocketClient, socket_close, socket_open, socket_send_string
+
+UR_HOSTNAME = "marius.d.control.lth.se"
+UR_PORT = 30002
+
+SERVER_ADDRESS = f"{socket.gethostname()}.control.lth.se"
+SERVER_PORT = 30003
+
+
+@pytest.mark.integration
+def test_get_tcp():
+
+ socket_open_str = socket_open(f'"{SERVER_ADDRESS}"', SERVER_PORT)
+
+ script = f"""\
+def program():
+ pose = get_actual_tcp_pose()
+ {socket_open_str}
+ {socket_send_string("pose")}
+ {socket_close()}
+
+end
+
+program()
+"""
+
+ with URSocketClient(
+ UR_HOSTNAME,
+ UR_PORT,
+ recv_socket_hostname=SERVER_ADDRESS,
+ recv_socket_port=SERVER_PORT,
+ ) as client:
+
+ resp = client.send_script(script, await_response=True)
+
+ assert re.match(r"p\[[0-9\.,-]+\]", resp)
diff --git a/tests/test_urscript_commands.py b/tests/test_urscript_commands.py
index 84cf742b8007fa9343fbdcd8b1ff377d99bc0190..ce17c453e0079f10898639d878ef3645ffbabf78 100644
--- a/tests/test_urscript_commands.py
+++ b/tests/test_urscript_commands.py
@@ -55,16 +55,16 @@ def kwargs_input_output():
def test__quote_string_if_needed():
- # no added quotes needed
- assert (_quote_string_if_needed("'String'")) == "'String'"
+ # add quotes because only singlequotes
+ assert (_quote_string_if_needed("'String'")) == "\"'String'\""
# add quotes
- assert (_quote_string_if_needed("String")) == "'String'"
+ assert (_quote_string_if_needed("String")) == '"String"'
# already quoted but with "" instead of ''
assert (_quote_string_if_needed('"String"')) == '"String"'
# unbalanced
- assert (_quote_string_if_needed('"String')) == "'\"String'"
+ assert (_quote_string_if_needed('"String')) == '""String"'
# different quote marks
- assert (_quote_string_if_needed("'String\"")) == "''String\"'"
+ assert (_quote_string_if_needed("'String\"")) == '"\'String""'
def test__get_func():
@@ -106,23 +106,23 @@ def test_move_to_conf_kwargs(conf_list, conf_str, kwargs_input_output):
def test_socket_open():
ret_val = socket_open("192.168.1.2", 3003)
- assert ret_val == "socket_open('192.168.1.2', 3003)"
+ assert ret_val == "socket_open(192.168.1.2, 3003)"
- ret_val = socket_open("'192.168.1.2'", 3003, socket_name="socket_1")
- assert ret_val == "socket_open('192.168.1.2', 3003, socket_name='socket_1')"
+ ret_val = socket_open('"192.168.1.2"', 3003, socket_name='"socket_1"')
+ assert ret_val == 'socket_open("192.168.1.2", 3003, socket_name="socket_1")'
def test_socket_close():
assert socket_close() == "socket_close()"
assert (
- socket_close(socket_name="socket_other")
- == "socket_close(socket_name='socket_other')"
+ socket_close(socket_name='"socket_other"')
+ == 'socket_close(socket_name="socket_other")'
)
def test_socket_send_string():
- assert socket_send_string("'c'") == "socket_send_string('c')"
+ assert socket_send_string('"c"') == 'socket_send_string("c")'
assert (
socket_send_string("pose", socket_name="socket_other")
- == "socket_send_string(pose, socket_name='socket_other')"
+ == "socket_send_string(pose, socket_name=socket_other)"
)
diff --git a/ur_py_ctl/urscript_commands.py b/ur_py_ctl/urscript_commands.py
index b3b0c83f280158c24805062d3c68fa79d9935811..c201c0fc2f2bb4849a4bce1320aa098ce47b6824 100644
--- a/ur_py_ctl/urscript_commands.py
+++ b/ur_py_ctl/urscript_commands.py
@@ -10,12 +10,11 @@ def _quote_string_if_needed(string):
No smart parsing or tokenizing, only checks the start and end of string.
"""
- if string[0] in ('"', "'"):
- if string[-1] == string[0]:
- # already quoted
- return string
+ if string[0] == '"' and string[-1] == '"':
+ # already quoted
+ return string
- return "'" + string + "'"
+ return '"' + string + '"'
def _get_func(
@@ -250,20 +249,16 @@ def sleep(seconds: int) -> str:
def socket_open(address: str, port: int, socket_name=None):
- urscript_kwargs = (
- f"socket_name={_quote_string_if_needed(socket_name)}" if socket_name else None
- )
+ urscript_kwargs = f"socket_name={socket_name}" if socket_name else None
return _get_func(
"socket_open",
- urscript_args=f"{_quote_string_if_needed(address)}, {port}",
+ urscript_args=f"{address}, {port}",
urscript_kwargs=urscript_kwargs,
)
def socket_close(socket_name=None):
- urscript_kwargs = (
- f"socket_name={_quote_string_if_needed(socket_name)}" if socket_name else None
- )
+ urscript_kwargs = f"socket_name={socket_name}" if socket_name else None
return _get_func(
"socket_close",
urscript_kwargs=urscript_kwargs,
@@ -271,9 +266,7 @@ def socket_close(socket_name=None):
def socket_send_string(string_or_var_name: str, socket_name=None):
- urscript_kwargs = (
- f"socket_name={_quote_string_if_needed(socket_name)}" if socket_name else None
- )
+ urscript_kwargs = f"socket_name={socket_name}" if socket_name else None
return _get_func(
"socket_send_string",
urscript_args=string_or_var_name,