An ExUnit case template for integration tests against the UFACTORY firmware simulator (or a physical arm).

Handles the boilerplate that firmware integration tests need:

• Tags every test :simulator (exclude it by default in your test_helper.exs: ExUnit.start(exclude: [:simulator])) and applies a generous per-test timeout — firmware round-trips are slow compared to unit tests.
• Gates the whole module on BB.Ufactory.Simulator.wait_until_ready/1 in setup_all, so tests never run against a firmware that is still booting (the simulator accepts TCP several seconds before its services respond — every cold start hits this window).
• Imports BB.Ufactory.Simulator and aliases BB.Ufactory.Protocol / BB.Ufactory.Report.
• Provides sim_model/0 and sim_joints/0, reading the SIM_MODEL environment variable so one suite can run against every arm model (matching mix bb_ufactory.sim start <model>).

Usage

# test/my_robot/simulator_test.exs
defmodule MyRobot.SimulatorTest do
  use BB.Ufactory.SimulatorCase

  test "arm reports joint state" do
    {:ok, report} = current_state()
    assert length(Enum.take(report.angles, sim_joints())) == sim_joints()
  end

  test "my pick pose is reachable" do
    {:ok, cmd} = connect_command()
    prepare_arm(cmd)
    assert {:ok, true} = reachable?(cmd, {300.0, 0.0, 200.0, 3.14, 0.0, 0.0})
  end
end

Run against a started simulator (see mix bb_ufactory.sim):

mix bb_ufactory.sim start lite6
SIM_MODEL=lite6 mix test --include simulator

Options

• :readiness_timeout — milliseconds to wait for firmware readiness in setup_all before failing the module (default 60000):

  use BB.Ufactory.SimulatorCase, readiness_timeout: 120_000

Tests run against one shared firmware instance, so suites using this template are implicitly async: false.