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Merge pull request #3301 from randaz81/improved_controlBoardRemapperTest
Improved control board remapper test
2 parents 4c0d1cd + e94f004 commit b20c218

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4 files changed

+178
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‎src/devices/controlBoardRemapper/tests/CMakeLists.txt‎

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create_device_test(controlBoardRemapper_t1)
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create_device_test(controlBoardRemapper_t2)
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create_device_test(controlBoardRemapper_t3)

‎src/devices/controlBoardRemapper/tests/controlBoardRemapper_t2_test.cpp‎

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@@ -73,7 +73,7 @@ TEST_CASE("dev::ControlBoardRemapperTest2", "[yarp::dev]")
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IImpedanceControl* iimp = nullptr;
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//IRemoteCalibrator* iremotecalib = nullptr;
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////////"Checking opening map2DServer and map2DClient polydrivers"
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////////"Test a controlboardremapper attached to a fakeMotionControl"
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{
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Property p_cfg;
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p_cfg.put("device", "fakeMotionControl");

‎src/devices/controlBoardRemapper/tests/controlBoardRemapper_t3_test.cpp‎

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/*
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* SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
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* SPDX-License-Identifier: BSD-3-Clause
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*/
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#include <yarp/dev/IAxisInfo.h>
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#include <yarp/dev/IPositionControl.h>
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#include <yarp/dev/IVelocityControl.h>
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#include <yarp/dev/ITorqueControl.h>
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#include <yarp/dev/IEncodersTimed.h>
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#include <yarp/dev/IAxisInfo.h>
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#include <yarp/dev/IInteractionMode.h>
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#include <yarp/dev/IMotorEncoders.h>
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#include <yarp/dev/IMotor.h>
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#include <yarp/dev/IPidControl.h>
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#include <yarp/dev/IPWMControl.h>
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#include <yarp/dev/ICurrentControl.h>
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#include <yarp/dev/IRemoteCalibrator.h>
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#include <yarp/dev/IControlLimits.h>
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#include <yarp/dev/IImpedanceControl.h>
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#include <yarp/os/Network.h>
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#include <yarp/dev/PolyDriver.h>
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#include <yarp/dev/WrapperMultiple.h>
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#include <yarp/dev/tests/IPositionControlTest.h>
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#include <yarp/dev/tests/IVelocityControlTest.h>
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#include <yarp/dev/tests/ITorqueControlTest.h>
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#include <yarp/dev/tests/IEncodersTimedTest.h>
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#include <yarp/dev/tests/IAxisInfoTest.h>
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#include <yarp/dev/tests/IControlModeTest.h>
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#include <yarp/dev/tests/IInteractionModeTest.h>
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#include <yarp/dev/tests/ICurrentControlTest.h>
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#include <yarp/dev/tests/IPWMControlTest.h>
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#include <yarp/dev/tests/IPidControlTest.h>
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#include <yarp/dev/tests/IMotorTest.h>
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#include <yarp/dev/tests/IMotorEncodersTest.h>
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#include <yarp/dev/tests/IRemoteCalibratorTest.h>
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#include <yarp/dev/tests/IJointFaultTest.h>
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#include <yarp/dev/tests/IControlLimitsTest.h>
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#include <yarp/dev/tests/IImpedanceControlTest.h>
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#include <catch2/catch_amalgamated.hpp>
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#include <harness.h>
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using namespace yarp::dev;
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using namespace yarp::os;
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TEST_CASE("dev::ControlBoardRemapperTest3", "[yarp::dev]")
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{
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YARP_REQUIRE_PLUGIN("fakeMotionControl", "device");
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YARP_REQUIRE_PLUGIN("controlboardremapper", "device");
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YARP_REQUIRE_PLUGIN("controlBoard_nws_yarp", "device");
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//YARP_REQUIRE_PLUGIN("controlBoard_nwc_yarp", "device");
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YARP_REQUIRE_PLUGIN("remote_controlboard", "device");
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Network::setLocalMode(true);
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SECTION("Checking controlboardremapper device attached to a controlBoard_nwc_yarp device")
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{
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PolyDriver ddfakemc;
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PolyDriver ddnws;
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PolyDriver ddnwc;
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PolyDriver ddremapper;
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IPositionControl* ipos = nullptr;
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IVelocityControl* ivel = nullptr;
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ITorqueControl* itrq = nullptr;
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IAxisInfo* iinfo = nullptr;
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IEncodersTimed* ienc = nullptr;
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IControlMode* icmd = nullptr;
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IInteractionMode* iint = nullptr;
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IMotor* imot = nullptr;
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IMotorEncoders* imotenc = nullptr;
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IPidControl* ipid = nullptr;
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IPWMControl* ipwm = nullptr;
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ICurrentControl* icurr = nullptr;
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IJointFault* ifault = nullptr;
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IControlLimits* ilims = nullptr;
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IImpedanceControl* iimp = nullptr;
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//IRemoteCalibrator* iremotecalib = nullptr;
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////////"Test a controlboardremapper attached to a controlBoard_nwc_yarp"
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{
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Property p_cfg;
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p_cfg.put("device", "fakeMotionControl");
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Property& grp = p_cfg.addGroup("GENERAL");
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grp.put("Joints", 4);
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REQUIRE(ddfakemc.open(p_cfg));
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}
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{
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Property p_cfg;
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p_cfg.put("device", "controlBoard_nws_yarp");
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p_cfg.put("name", "/alljoints");
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REQUIRE(ddnws.open(p_cfg));
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}
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{
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yarp::dev::IMultipleWrapper* ww_nws=nullptr; ddnws.view(ww_nws);
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REQUIRE(ww_nws);
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yarp::dev::PolyDriverList pdlist; pdlist.push(&ddfakemc,"fakeboard1");
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bool result_att = ww_nws->attachAll(pdlist);
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REQUIRE(result_att);
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}
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yarp::os::Time::delay(0.1);
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//client side
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{
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Property p_cfg;
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//p_cfg.put("device", "controlBoard_nwc_yarp");
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p_cfg.put("device", "remote_controlboard");
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p_cfg.put("local", "/localalljoints");
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p_cfg.put("remote", "/alljoints");
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REQUIRE(ddnwc.open(p_cfg));
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}
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{
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Property p_cfg;
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p_cfg.put("device", "controlboardremapper");
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yarp::os::Value* jlist = yarp::os::Value::makeList("joint3 joint2");
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p_cfg.put("axesNames", jlist);
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REQUIRE(ddremapper.open(p_cfg));
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}
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{
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yarp::dev::IMultipleWrapper* ww_rem=nullptr; ddremapper.view(ww_rem);
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REQUIRE(ww_rem);
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yarp::dev::PolyDriverList pdlist; pdlist.push(&ddnwc,"nwcboard1");
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bool result_att = ww_rem->attachAll(pdlist);
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REQUIRE(result_att);
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}
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ddremapper.view(ipos); REQUIRE(ipos);
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ddremapper.view(ivel); REQUIRE(ivel);
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ddremapper.view(itrq); REQUIRE(itrq);
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ddremapper.view(iinfo); REQUIRE(iinfo);
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ddremapper.view(ienc); REQUIRE(ienc);
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ddremapper.view(icmd); REQUIRE(icmd);
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ddremapper.view(iint); REQUIRE(iint);
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ddremapper.view(imot); REQUIRE(imot);
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ddremapper.view(imotenc); REQUIRE(imotenc);
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ddremapper.view(ipid); REQUIRE(ipid);
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ddremapper.view(ipwm); REQUIRE(ipwm);
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ddremapper.view(icurr); REQUIRE(icurr);
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ddremapper.view(ifault); REQUIRE(ifault);
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ddremapper.view(ilims); REQUIRE(ilims);
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ddremapper.view(iimp); REQUIRE(iimp);
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//ddremapper.view(iremotecalib); REQUIRE(iremotecalib);
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yarp::dev::tests::exec_iPositionControl_test_1(ipos, icmd);
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yarp::dev::tests::exec_iVelocityControl_test_1(ivel, icmd);
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yarp::dev::tests::exec_iTorqueControl_test_1(itrq, icmd);
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yarp::dev::tests::exec_iAxisInfo_test_1(iinfo, "joint3");
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yarp::dev::tests::exec_iEncodersTimed_test_1(ienc);
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yarp::dev::tests::exec_iControlMode_test_1(icmd, iinfo);
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yarp::dev::tests::exec_iInteractionMode_test_1(iint,iinfo);
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yarp::dev::tests::exec_iMotor_test_1(imot);
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yarp::dev::tests::exec_iMotorEncoders_test_1(imotenc);
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yarp::dev::tests::exec_iPidControl_test_1(ipid, iinfo);
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yarp::dev::tests::exec_iPidControl_test_2(ipid);
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yarp::dev::tests::exec_iPwmControl_test_1(ipwm, icmd);
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yarp::dev::tests::exec_iCurrentControl_test_1(icurr, icmd);
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//yarp::dev::tests::exec_iRemoteCalibrator_test_1(iremotecalib);
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yarp::dev::tests::exec_iJointFault_test_1(ifault);
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yarp::dev::tests::exec_iControlLimits_test1(ilims, iinfo);
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yarp::dev::tests::exec_iImpedanceControl_test_1(iimp);
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//"Close all polydrivers and check"
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{
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CHECK(ddremapper.close());
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CHECK(ddnwc.close());
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CHECK(ddnws.close());
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CHECK(ddfakemc.close());
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}
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}
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Network::setLocalMode(false);
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}

‎src/libYARP_dev/src/yarp/dev/tests/IAxisInfoTest.h‎

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@@ -14,7 +14,7 @@ using namespace yarp::os;
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namespace yarp::dev::tests
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{
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inline void exec_iAxisInfo_test_1(IAxisInfo* iinfo)
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inline void exec_iAxisInfo_test_1(IAxisInfo* iinfo, std::string jname="joint0")
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{
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REQUIRE(iinfo !=nullptr);
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std::string name;
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b = iinfo->getAxisName(0,name);
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CHECK(b);
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CHECK(name == std::string("joint0"));
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CHECK(name == jname);
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yarp::dev::JointTypeEnum type;
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b = iinfo->getJointType(0, type);

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