fakeNavigation_test.cpp

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#include <yarp/dev/INavigation2D.h>
#include <yarp/os/Network.h>
#include <yarp/os/LogStream.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/WrapperSingle.h>
#include <yarp/dev/tests/INavigation2DTest.h>
 
#include <catch2/catch_amalgamated.hpp>
#include <harness.h>
 
using namespace yarp::dev;
using namespace yarp::dev::Nav2D;
using namespace yarp::sig;
using namespace yarp::os;
 
TEST_CASE("dev::FakeNavigationTest", "[yarp::dev]")
{
    YARP_REQUIRE_PLUGIN("fakeNavigation", "device");
 
    Network::setLocalMode(true);
 
    SECTION("Checking fakeNavigation device")
    {
        PolyDriver ddfakeNavigation;
        INavigation2DTargetActions* inav_target = nullptr;
        INavigation2DControlActions* inav_control = nullptr;
        INavigation2DVelocityActions* inav_velocity = nullptr;
 
        {
            Property pfakeNavigation;
            pfakeNavigation.put("device", "fakeNavigation");
            REQUIRE(ddfakeNavigation.open(pfakeNavigation));
            REQUIRE(ddfakeNavigation.view(inav_target));
            REQUIRE(inav_target);
            REQUIRE(ddfakeNavigation.view(inav_control));
            REQUIRE(inav_control);
            REQUIRE(ddfakeNavigation.view(inav_velocity));
            REQUIRE(inav_velocity);
        }
 
        // Do tests
        yarp::dev::tests::exec_iNav2D_test_3(inav_target, inav_control);
 
        //"Close all polydrivers and check"
        {
            CHECK(ddfakeNavigation.close());
        }
    }
 
    Network::setLocalMode(false);
}