FrameTransformSet_nwc_yarp_test.cpp

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/*
 * SPDX-FileCopyrightText: 2023-2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#include <yarp/dev/IFrameTransformStorage.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/os/ResourceFinder.h>
#include <yarp/os/Property.h>
#include <yarp/os/Network.h>
#include <iostream>
 
#include <yarp/dev/WrapperSingle.h>
#include <yarp/dev/tests/IFrameTransformStorageTest.h>
 
#include <catch2/catch_amalgamated.hpp>
#include <harness.h>
 
TEST_CASE("dev::frameTransformSet_nwc_yarp", "[yarp::dev]")
{
    #if defined(DISABLE_FAILING_TESTS)
        YARP_SKIP_TEST("Skipping failing tests")
    #endif
 
    YARP_REQUIRE_PLUGIN("frameTransformSet_nwc_yarp", "device");
 
    yarp::os::Network::setLocalMode(true);
    const bool verboseDebug = true;
 
    SECTION("test the frameTransformSet_nwc_yarp")
    {
        yarp::dev::PolyDriver pd_nws;
        yarp::dev::PolyDriver pd_dev;
        yarp::os::Property p_nws;
        yarp::os::Property p_dev;
 
        p_dev.put("device", "frameTransformStorage");
        REQUIRE(pd_dev.open(p_dev));
        p_nws.put("device", "frameTransformSet_nws_yarp");
        REQUIRE(pd_nws.open(p_nws));
 
        yarp::os::Time::delay(0.5);
 
        {yarp::dev::WrapperSingle* ww_nws=nullptr; pd_nws.view(ww_nws);
        REQUIRE(ww_nws);
        bool result_att = ww_nws->attach(&pd_dev);
        REQUIRE(result_att); }
 
        yarp::dev::PolyDriver pd_nwc;
        yarp::os::Property p_nwc;
 
        p_nwc.put("device", "frameTransformSet_nwc_yarp");
        REQUIRE(pd_nwc.open(p_nwc));
 
        IFrameTransformStorageGet*   itf_get = nullptr;
        IFrameTransformStorageSet*   itf_set = nullptr;
        IFrameTransformStorageUtils* itf_utils = nullptr;
 
        yarp::os::Time::delay(0.5);
 
        REQUIRE(pd_nwc.view(itf_set));
 
        yarp::dev::tests::exec_frameTransformStorage_test_1(itf_set, itf_get, itf_utils);
 
        REQUIRE(pd_nwc .close());
    }
 
    yarp::os::Network::setLocalMode(false);
}