DeviceBundler_test.cpp

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#include <yarp/dev/PolyDriver.h>
#include <yarp/os/ResourceFinder.h>
#include <yarp/os/Property.h>
#include <yarp/os/Network.h>
#include <iostream>
 
#include <catch2/catch_amalgamated.hpp>
#include <harness.h>
 
TEST_CASE("dev::DeviceBundlerTest", "[yarp::dev]")
{
    YARP_REQUIRE_PLUGIN("deviceBundler", "device");
    YARP_REQUIRE_PLUGIN("fakeBattery", "device");
    YARP_REQUIRE_PLUGIN("battery_nws_yarp", "device");
 
    yarp::os::Network::setLocalMode(true);
    const bool verboseDebug = true;
 
    SECTION("Test the DeviceBundler")
    {
        yarp::dev::PolyDriver pd;
        yarp::os::Property p;
 
        p.put("device", "deviceBundler");
        p.put("wrapper_device", "battery_nws_yarp");
        p.put("name", "/battery_nws_yarp");
        p.put("attached_device", "fakeBattery");
        REQUIRE(pd.open(p));
        yarp::os::Time::delay(1.0);
        REQUIRE(pd.close());
    }
 
    yarp::os::Network::setLocalMode(false);
}