navigation2D_nws_test.cpp

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#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::Navigation2DNwsTest", "[yarp::dev]")
{
    YARP_REQUIRE_PLUGIN("navigation2D_nws_yarp", "device");
 
    Network::setLocalMode(true);
 
    SECTION("Checking navigation2D_nws_yarp device")
    {
        PolyDriver ddnavserver;
 
        {
            Property pnavserver_cfg;
            pnavserver_cfg.put("device", "navigation2D_nws_yarp");
            REQUIRE(ddnavserver.open(pnavserver_cfg));
        }
 
        //"Close all polydrivers and check"
        {
            CHECK(ddnavserver.close());
        }
    }
 
    Network::setLocalMode(false);
}