IRemoteCalibratorTest.h

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/*
 * SPDX-FileCopyrightText: 2023-2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef IREMOTECALIBRATORTEST_H
#define IREMOTECALIBRATORTEST_H
 
#include <yarp/dev/IRemoteCalibrator.h>
#include <yarp/dev/IControlMode.h>
#include <catch2/catch_amalgamated.hpp>
 
using namespace yarp::dev;
using namespace yarp::os;
 
namespace yarp::dev::tests
{
    inline void exec_iRemoteCalibrator_test_1(IRemoteCalibrator* icalib)
    {
        REQUIRE(icalib != nullptr);
 
        bool b =false;
        b = icalib->calibrateSingleJoint(0);
        CHECK(b);
 
        b = icalib->calibrateWholePart();
        CHECK(b);
 
        b = icalib->homingSingleJoint(0);
        CHECK(b);
 
        b = icalib->homingWholePart();
        CHECK(b);
 
        b = icalib->parkSingleJoint(0);
        CHECK(b);
 
        b = icalib->parkWholePart();
        CHECK(b);
 
        b = icalib->quitCalibrate();
        CHECK(b);
 
        b = icalib->quitPark();
        CHECK(b);
    }
}
 
#endif