IControlLimitsTest.h

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/*
 * SPDX-FileCopyrightText: 2023-2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef ICONTROLLIMITSTEST_H
#define ICONTROLLIMITSTEST_H
 
#include <memory>
#include <numeric>
#include <vector>
 
#include <yarp/dev/IAxisInfo.h>
#include <yarp/dev/IControlLimits.h>
#include <catch2/catch_amalgamated.hpp>
 
using namespace yarp::dev;
using namespace yarp::os;
 
namespace yarp::dev::tests
{
    inline void exec_iControlLimits_test1(IControlLimits* ilims, IAxisInfo* iinfo)
    {
        REQUIRE(ilims != nullptr);
        REQUIRE(iinfo != nullptr);
 
        bool b;
        int ax;
 
        b = iinfo->getAxes(&ax);
        CHECK(b);
        REQUIRE(ax > 0);
 
        double min=0;
        double max=0;
        b = ilims->getLimits (0, &min, &max);
        CHECK(b);
 
        b = ilims->getVelLimits(0, &min, &max);
        CHECK(b);
 
        b = ilims->setLimits(0, min, max);
        CHECK(b);
 
        b = ilims->setVelLimits(0, min, max);
        CHECK(b);
    }
}
 
#endif