rangefinder2D_nws_yarp_test.cpp

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/*
 * SPDX-FileCopyrightText: 2023-2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#include <yarp/dev/IRangefinder2D.h>
#include <yarp/os/Network.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/WrapperSingle.h>
#include <yarp/dev/tests/IRangefinder2DTest.h>
 
#include <catch2/catch_amalgamated.hpp>
#include <harness.h>
 
using namespace yarp::dev;
using namespace yarp::sig;
using namespace yarp::os;
 
TEST_CASE("dev::Rangefinder2D_nws_yarpTest", "[yarp::dev]")
{
    YARP_REQUIRE_PLUGIN("fakeLaser", "device");
    YARP_REQUIRE_PLUGIN("rangefinder2D_nws_yarp", "device");
 
    Network::setLocalMode(true);
 
    SECTION("Checking Rangefinder2D_nws_yarp device alone")
    {
        PolyDriver nws_driver;
        IRangefinder2D* irng = nullptr;
 
        {
            Property nws_cfg;
            nws_cfg.put("device", "rangefinder2D_nws_yarp");
            nws_cfg.put("period", "0.010");
            nws_cfg.put("name", "/laser");
            REQUIRE(nws_driver.open(nws_cfg));
        }
 
        //Close all polydrivers and check
        CHECK(nws_driver.close());
    }
 
    SECTION("Checking Rangefinder2D_nws_yarp device attached to fakeLidar")
    {
        PolyDriver ddnws;
        PolyDriver ddfake;
 
        {
            Property pnws_cfg;
            pnws_cfg.put("device", "rangefinder2D_nws_yarp");
            pnws_cfg.put("period", 0.010);
            pnws_cfg.put("name", "/laser");
            REQUIRE(ddnws.open(pnws_cfg));
 
            Property pdev_cfg;
            pdev_cfg.put("device", "fakeLaser");
            pdev_cfg.put("test", "use_constant");
            Property& cm_cfg = pdev_cfg.addGroup("CONSTANT_MODE");
            cm_cfg.put("const_distance", 0.5);
            REQUIRE(ddfake.open(pdev_cfg));
 
            {yarp::dev::WrapperSingle* ww_nws=nullptr; ddnws.view(ww_nws);
            REQUIRE(ww_nws);
            bool result_att = ww_nws->attach(&ddfake);
            REQUIRE(result_att); }
        }
 
        yarp::os::Time::delay(0.1);
 
        //"Close all polydrivers and check"
        {
            CHECK(ddnws.close());
            CHECK(ddfake.close());
        }
    }
 
    Network::setLocalMode(false);
}