RGBDSensor_nwc_yarp_test.cpp

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/*
 * SPDX-FileCopyrightText: 2025-2025 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#include <yarp/os/Network.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/WrapperSingle.h>
#include <yarp/dev/IRGBDSensor.h>
#include <yarp/dev/tests/IRGBDSensorTest.h>
#include <yarp/dev/IFrameGrabberControls.h>
#include <yarp/dev/tests/IFrameGrabberControlsTest.h>
 
#include <catch2/catch_amalgamated.hpp>
#include <harness.h>
 
using namespace yarp::dev;
using namespace yarp::sig;
using namespace yarp::os;
 
TEST_CASE("dev::RGBDSensor_nwc_yarp", "[yarp::dev]")
{
    YARP_REQUIRE_PLUGIN("fakeDepthCamera", "device");
    YARP_REQUIRE_PLUGIN("fakeDepthCamera_mini", "device");
    YARP_REQUIRE_PLUGIN("RGBDSensor_nws_yarp", "device");
    YARP_REQUIRE_PLUGIN("RGBDSensor_nwc_yarp", "device");
 
    Network::setLocalMode(true);
 
    //fakeDepthCamera_mini only has IRGBDSensor
    SECTION("Checking RGBDSensor_nwc_yarp device with fakeDepthCamera_mini")
    {
        PolyDriver dddepth;
        PolyDriver ddnws;
        PolyDriver ddnwc;
        IRGBDSensor* irgbd = nullptr;
 
        {
            Property pdepth_cfg;
            pdepth_cfg.put("device", "fakeDepthCamera_mini");
            // small values to improve valgrind speed
            pdepth_cfg.put("rgb_w", 32);
            pdepth_cfg.put("rgb_h", 24);
            pdepth_cfg.put("dep_w", 32);
            pdepth_cfg.put("dep_h", 24);
            REQUIRE(dddepth.open(pdepth_cfg));
        }
        {
            Property pnws_cfg;
            pnws_cfg.put("device", "RGBDSensor_nws_yarp");
            pnws_cfg.put("name", "/rgbd_nws");
            REQUIRE(ddnws.open(pnws_cfg));
        }
 
        // attach the nws to the fakeDepthCamera device
        {
            yarp::dev::WrapperSingle* ww_nws = nullptr;
            ddnws.view(ww_nws);
            REQUIRE(ww_nws);
            bool result_att = ww_nws->attach(&dddepth);
            REQUIRE(result_att);
        }
 
        // wait some time
        yarp::os::SystemClock::delaySystem(1.0);
        INFO("rgbdSensor_nws_yarp and fakeDepthCamera ready");
 
        // create the nwc
        {
            Property pnwc_cfg;
            pnwc_cfg.put("device", "RGBDSensor_nwc_yarp");
            pnwc_cfg.put("localImagePort", "/rgbd_nwc/rgbImage:i");
            pnwc_cfg.put("remoteImagePort", "/rgbd_nws/rgbImage:o");
 
            pnwc_cfg.put("localDepthPort", "/rgbd_nwc/depthImage:i");
            pnwc_cfg.put("remoteDepthPort", "/rgbd_nws/depthImage:o");
 
            pnwc_cfg.put("localRpcPort", "/rgbd_nwc/rpc:o");
            pnwc_cfg.put("remoteRpcPort", "/rgbd_nws/rpc:i");
 
            // beware: default carrier is udp, but we do not want to use it for tests
            // since it may fail on the cloud CI.
            pnwc_cfg.put("ImageCarrier", "fast_tcp");
            pnwc_cfg.put("DepthCarrier", "fast_tcp");
            REQUIRE(ddnwc.open(pnwc_cfg));
        }
        REQUIRE(ddnwc.view(irgbd));
 
        // wait some time
        yarp::os::SystemClock::delaySystem(1.0);
        INFO("RGBDSensor_nwc_yarp ready");
 
        // execute tests
        yarp::dev::tests::exec_iRGBDSensor_test_1(irgbd);
 
        // Close all polydrivers and check
        CHECK(ddnwc.close());
        yarp::os::Time::delay(0.1);
        INFO("RGBDSensor_nwc_yarp closed");
 
        CHECK(ddnws.close());
        yarp::os::Time::delay(0.1);
        INFO("RGBDSensor_nws_yarp closed");
 
        CHECK(dddepth.close());
        yarp::os::Time::delay(0.1);
        INFO("fakeDepthCamera closed");
 
        INFO("Test complete");
    }
 
    // fakeDepthCamera has IRGBDSensor AND IFrameGrabberControls
    SECTION("Checking RGBDSensor_nwc_yarp device with fakeDepthCamera")
    {
        PolyDriver dddepth;
        PolyDriver ddnws;
        PolyDriver ddnwc;
        IRGBDSensor* irgbd = nullptr;
        IFrameGrabberControls* ictl = nullptr;
 
        {
            Property pdepth_cfg;
            pdepth_cfg.put("device", "fakeDepthCamera");
            // small values to improve valgrind speed
            pdepth_cfg.put("rgb_w", 32);
            pdepth_cfg.put("rgb_h", 24);
            pdepth_cfg.put("dep_w", 32);
            pdepth_cfg.put("dep_h", 24);
            REQUIRE(dddepth.open(pdepth_cfg));
        }
        {
            Property pnws_cfg;
            pnws_cfg.put("device", "RGBDSensor_nws_yarp");
            pnws_cfg.put("name",   "/rgbd_nws");
            REQUIRE(ddnws.open(pnws_cfg));
        }
 
        //attach the nws to the fakeDepthCamera device
        {yarp::dev::WrapperSingle* ww_nws = nullptr; ddnws.view(ww_nws);
        REQUIRE(ww_nws);
        bool result_att = ww_nws->attach(&dddepth);
        REQUIRE(result_att); }
 
        //wait some time
        yarp::os::SystemClock::delaySystem(1.0);
        INFO("rgbdSensor_nws_yarp and fakeDepthCamera ready");
 
        //create the nwc
        {
            Property pnwc_cfg;
            pnwc_cfg.put("device", "RGBDSensor_nwc_yarp");
            pnwc_cfg.put("localImagePort",  "/rgbd_nwc/rgbImage:i");
            pnwc_cfg.put("remoteImagePort", "/rgbd_nws/rgbImage:o");
 
            pnwc_cfg.put("localDepthPort",  "/rgbd_nwc/depthImage:i");
            pnwc_cfg.put("remoteDepthPort", "/rgbd_nws/depthImage:o");
 
            pnwc_cfg.put("localRpcPort",    "/rgbd_nwc/rpc:o");
            pnwc_cfg.put("remoteRpcPort",   "/rgbd_nws/rpc:i");
 
            //beware: default carrier is udp, but we do not want to use it for tests
            //since it may fail on the cloud CI.
            pnwc_cfg.put("ImageCarrier",   "fast_tcp");
            pnwc_cfg.put("DepthCarrier",   "fast_tcp");
            REQUIRE(ddnwc.open(pnwc_cfg));
        }
        REQUIRE(ddnwc.view(irgbd));
        REQUIRE(ddnwc.view(ictl));
 
        // wait some time
        yarp::os::SystemClock::delaySystem(1.0);
        INFO("RGBDSensor_nwc_yarp ready");
 
        //execute tests
        yarp::dev::tests::exec_iRGBDSensor_test_1(irgbd);
        yarp::dev::tests::exec_IFrameGrabberControls_test_1(ictl);
 
        //Close all polydrivers and check
        CHECK(ddnwc.close());
        yarp::os::Time::delay(0.1);
        INFO("RGBDSensor_nwc_yarp closed");
 
        CHECK(ddnws.close());
        yarp::os::Time::delay(0.1);
        INFO("RGBDSensor_nws_yarp closed");
 
        CHECK(dddepth.close());
        yarp::os::Time::delay(0.1);
        INFO("fakeDepthCamera closed");
 
        INFO("Test complete");
    }
 
    Network::setLocalMode(false);
}