CI: Fix flaky example runs (#223)

The example runs seem to fail quite often. This PR aims at fixing that.

It seems that the simulated robot is reporting readiness for executing programs
a bit too early and if we execute the program rightaway it is not started correctly.
This only seems to happen in CI though.

.github/helpers/check_urls.sh

@@ -2,14 +2,54 @@
 
 set -e
 
+IGNORE_FILES=""
+IGNORE_PATTERNS=""
+
+while getopts ":f:d:p:" opt; do
+    case "${opt}" in
+        f)
+            IGNORE_FILES="${OPTARG}";;
+        d)
+            IGNORE_DIRS="${OPTARG}";;
+        p)
+            IGNORE_PATTERNS="${OPTARG}";;
+        \?)
+            echo "Invalid option -$OPTARG"
+            exit;;
+    esac
+done
+
+read -r -a ignore_files <<<"$IGNORE_FILES"
+read -r -a ignore_dirs <<<"$IGNORE_DIRS"
+read -r -a ignore_patterns <<<"$IGNORE_PATTERNS"
+
+IGNORE_FILES_ARG=""
+for item in "${ignore_files[@]}"; do
+  IGNORE_FILES_ARG="$IGNORE_FILES_ARG --exclude=$item"
+done
+IGNORE_DIRS_ARG=""
+for item in "${ignore_dirs[@]}"; do
+  IGNORE_DIRS_ARG="$IGNORE_DIRS_ARG --exclude-dir=$item"
+done
+
 #Find URLs in code:
-urls=$(grep -oP "(http|ftp|https):\/\/([a-zA-Z0-9_-]+(?:(?:\.[a-zA-Z0-9_-]+)+))([a-zA-Z0-9_.,@?^=%&:\/~+#-]*[a-zA-Z0-9_@?^=%&\/~+#-])?" "$@")
+urls=$(grep -oP '(http|ftp|https):\/\/([a-zA-Z0-9_-]+(?:(?:\.[a-zA-Z0-9_-]+)+))([a-zA-Z0-9_.,@?^=%&:\/~+#-]*[a-zA-Z0-9_@?^=%&\/~+#-])?' -rI $IGNORE_FILES_ARG $IGNORE_DIRS_ARG)
 
 fail_counter=0
 
 FAILED_LINKS=()
 for item in $urls; do
-#     echo $item  
+#     echo $item
+    skip=0
+    for pattern in "${ignore_patterns[@]}"; do
+      [[ "$item" =~ $pattern ]] && skip=1
+    done
+
+    if [[ $skip == 1 ]]; then
+      echo "SKIPPING $item"
+      continue
+    fi
+
     filename=$(echo "$item" | cut -d':' -f1)
     url=$(echo "$item" | cut -d':' -f2-)
     echo -n "Checking $url from file $filename"
@@ -24,4 +64,4 @@ done
 
 echo "Failed files:"
 printf '%s\n' "${FAILED_LINKS[@]}"
-exit $fail_counter
+exit $fail_counter

.github/workflows/ci.yml

@@ -7,6 +7,7 @@ jobs:
     runs-on: ubuntu-latest
     name: build (${{matrix.env.URSIM_VERSION}}-${{matrix.env.ROBOT_MODEL}})
     strategy:
+      fail-fast: false
       matrix:
         env:
           - DOCKER_RUN_OPTS: --network ursim_net
@@ -98,16 +99,10 @@ jobs:
       - uses: actions/checkout@v2
       - name: Check URLs
         run: |
-          .github/helpers/check_urls.sh -rI \
-            --exclude-dir=.git \
-            --exclude-dir=build/ \
-            --exclude-dir=tests \
-            --exclude=package.xml \
-            --exclude-dir=CMakeModules \
-            --exclude=tcp_socket.cpp \
-            --exclude-dir=debian \
-            --exclude=dataflow.graphml \
-            --exclude=start_ursim.sh
+          .github/helpers/check_urls.sh \
+            -d ".git build CMakeModules debian" \
+            -f "package.xml architecture_coarse.svg dataflow.graphml start_ursim.sh" \
+            -p "vnc\.html opensource\.org\/licenses\/BSD-3-Clause kernel\.org\/pub\/linux\/kernel"
 
   rosdoc_lite_check:
     runs-on: ubuntu-latest

examples/dashboard_example.cpp

@@ -36,6 +36,7 @@
 #include <iostream>
 #include <memory>
 #include <thread>
+#include <unistd.h>
 
 using namespace urcl;
 
@@ -96,6 +97,8 @@ int main(int argc, char* argv[])
     return 1;
   }
 
+  sleep(1);
+
   // Play loaded program
   if (!my_dashboard->commandPlay())
   {

src/ur/dashboard_client.cpp

@@ -156,6 +156,7 @@ bool DashboardClient::sendRequest(const std::string& command, const std::string&
 {
   URCL_LOG_DEBUG("Send Request: %s", command.c_str());
   std::string response = sendAndReceive(command);
+  URCL_LOG_DEBUG("Got Response: %s", response.c_str());
   bool ret = std::regex_match(response, std::regex(expected));
   if (!ret)
   {