IPositionSensorsTest.h

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/*
 * SPDX-FileCopyrightText: 2023-2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef IPOSITIONSENSOTSTEST_H
#define IPOSITIONSENSOTSTEST_H
 
#include <yarp/dev/MultipleAnalogSensorsInterfaces.h>
#include <catch2/catch_amalgamated.hpp>
 
using namespace yarp::dev;
using namespace yarp::os;
 
namespace yarp::dev::tests
{
    inline void exec_IPositionSensors_test_1(IPositionSensors* ios)
    {
        REQUIRE(ios != nullptr);
 
        int nrOfSensors = ios->getNrOfPositionSensors();
        CHECK(nrOfSensors == 1); // getNrOfPositionSensors of multipleanalogsensorsclient works correctly
 
        yarp::sig::Vector sensorMeasure(3, 0.0), clientMeasure(3, 0.0);
        double timestamp{ 0.0 }, clientTimestamp{ 0.0 };
 
        MAS_status status = ios->getPositionSensorStatus(0);
        CHECK(status == MAS_status::MAS_OK); // multipleanalogsensorsclient getPositionSensorStatus return value is MAS_OK
 
        bool result = ios->getPositionSensorMeasure(0, sensorMeasure, timestamp);
        bool resultClient = ios->getPositionSensorMeasure(0, clientMeasure, clientTimestamp);
 
        CHECK(result == resultClient); // getPositionSensorMeasure return value is consistent between sensor and client
 
        for (int i = 0; i < 3; i++) {
            CHECK(sensorMeasure[i] == Catch::Approx(clientMeasure[i])); // getPositionSensorMeasure measure is consistent between sensor and client
        }
 
        CHECK(std::abs(timestamp - clientTimestamp) < 0.2); // getOrientationSensorMeasureAsRollPitchYaw measure is consistent between sensor and client (up to 200 ms)
 
        std::string name;
        result = ios->getPositionSensorName(0,name);
        CHECK(result);
        CHECK(!name.empty());
 
        result = ios->getPositionSensorFrameName(0,name);
        CHECK(result);
        CHECK(!name.empty());
    }
}
 
#endif