Improved Yarp coverage

robotology · Dec 6, 2023 · c0b93f9 · c0b93f9
1 parent 4ae0f9b
commit c0b93f9
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Showing 6 changed files with 73 additions and 0 deletions.
diff --git a/src/devices/RemoteControlBoard/tests/RemoteControlBoard_test.cpp b/src/devices/RemoteControlBoard/tests/RemoteControlBoard_test.cpp
@@ -16,6 +16,7 @@
 #include <yarp/dev/IPWMControl.h>
 #include <yarp/dev/ICurrentControl.h>
 #include <yarp/dev/IRemoteCalibrator.h>
+#include <yarp/dev/IControlLimits.h>
 #include <yarp/os/Network.h>
 #include <yarp/dev/PolyDriver.h>
 #include <yarp/dev/WrapperSingle.h>
@@ -33,6 +34,7 @@
 #include <yarp/dev/tests/IMotorEncodersTest.h>
 #include <yarp/dev/tests/IRemoteCalibratorTest.h>
 #include <yarp/dev/tests/IJointFaultTest.h>
+#include <yarp/dev/tests/IControlLimitsTest.h>
 
 #include <catch2/catch_amalgamated.hpp>
 #include <harness.h>
@@ -67,6 +69,7 @@ TEST_CASE("dev::RemoteControlBoardTest", "[yarp::dev]")
         IPWMControl* ipwm = nullptr;
         ICurrentControl* icurr = nullptr;
         IJointFault* ifault = nullptr;
+        IControlLimits* ilims = nullptr;
         //IRemoteCalibrator* iremotecalib = nullptr;
 
         ////////"Checking opening fakeMotionControl and controlBoard_nws_yarp polydrivers"
@@ -120,6 +123,7 @@ TEST_CASE("dev::RemoteControlBoardTest", "[yarp::dev]")
         ddnwc.view(ipwm);    REQUIRE(ipwm);
         ddnwc.view(icurr);   REQUIRE(icurr);
         ddnwc.view(ifault);  REQUIRE(ifault);
+        ddnwc.view(ilims);   REQUIRE(ilims);
         //ddnwc.view(icalib);  REQUIRE(iremotecalib);
 
         yarp::dev::tests::exec_iPositionControl_test_1(ipos,icmd);
@@ -137,6 +141,7 @@ TEST_CASE("dev::RemoteControlBoardTest", "[yarp::dev]")
         yarp::dev::tests::exec_iCurrentControl_test_1(icurr,icmd);
         //yarp::dev::tests::exec_iRemoteCalibrator_test_1(icalib);
         yarp::dev::tests::exec_iJointFault_test_1(ifault);
+        yarp::dev::tests::exec_iControlLimits_test1(ilims, iinfo);
 
         //"Close all polydrivers and check"
         {

diff --git a/src/devices/controlBoardRemapper/tests/controlBoardRemapper_t2_test.cpp b/src/devices/controlBoardRemapper/tests/controlBoardRemapper_t2_test.cpp
@@ -16,6 +16,7 @@
 #include <yarp/dev/IPWMControl.h>
 #include <yarp/dev/ICurrentControl.h>
 #include <yarp/dev/IRemoteCalibrator.h>
+#include <yarp/dev/IControlLimits.h>
 #include <yarp/os/Network.h>
 #include <yarp/dev/PolyDriver.h>
 #include <yarp/dev/WrapperMultiple.h>
@@ -33,6 +34,7 @@
 #include <yarp/dev/tests/IMotorEncodersTest.h>
 #include <yarp/dev/tests/IRemoteCalibratorTest.h>
 #include <yarp/dev/tests/IJointFaultTest.h>
+#include <yarp/dev/tests/IControlLimitsTest.h>
 
 #include <catch2/catch_amalgamated.hpp>
 #include <harness.h>
@@ -65,6 +67,7 @@ TEST_CASE("dev::ControlBoardRemapperTest2", "[yarp::dev]")
         IPWMControl* ipwm = nullptr;
         ICurrentControl* icurr = nullptr;
         IJointFault* ifault = nullptr;
+        IControlLimits* ilims = nullptr;
         //IRemoteCalibrator* iremotecalib = nullptr;
 
         ////////"Checking opening map2DServer and map2DClient polydrivers"
@@ -103,6 +106,7 @@ TEST_CASE("dev::ControlBoardRemapperTest2", "[yarp::dev]")
         ddremapper.view(ipwm);    REQUIRE(ipwm);
         ddremapper.view(icurr);   REQUIRE(icurr);
         ddremapper.view(ifault);  REQUIRE(ifault);
+        ddremapper.view(ilims);   REQUIRE(ilims);
         //ddremapper.view(iremotecalib);  REQUIRE(iremotecalib);
 
         yarp::dev::tests::exec_iPositionControl_test_1(ipos, icmd);
@@ -120,6 +124,7 @@ TEST_CASE("dev::ControlBoardRemapperTest2", "[yarp::dev]")
         yarp::dev::tests::exec_iCurrentControl_test_1(icurr, icmd);
         //yarp::dev::tests::exec_iRemoteCalibrator_test_1(iremotecalib);
         yarp::dev::tests::exec_iJointFault_test_1(ifault);
+        yarp::dev::tests::exec_iControlLimits_test1(ilims, iinfo);
 
         //"Close all polydrivers and check"
         {

diff --git a/src/devices/fakeMotionControl/tests/fakeMotionControl_test.cpp b/src/devices/fakeMotionControl/tests/fakeMotionControl_test.cpp
@@ -16,6 +16,7 @@
 #include <yarp/dev/ICurrentControl.h>
 #include <yarp/dev/IRemoteCalibrator.h>
 #include <yarp/dev/IJointFault.h>
+#include <yarp/dev/IControlLimits.h>
 #include <yarp/os/Network.h>
 #include <yarp/dev/PolyDriver.h>
 #include <yarp/dev/WrapperSingle.h>
@@ -34,6 +35,7 @@
 #include <yarp/dev/tests/IMotorEncodersTest.h>
 #include <yarp/dev/tests/IRemoteCalibratorTest.h>
 #include <yarp/dev/tests/IJointFaultTest.h>
+#include <yarp/dev/tests/IControlLimitsTest.h>
 
 #include <catch2/catch_amalgamated.hpp>
 #include <harness.h>
@@ -64,6 +66,7 @@ TEST_CASE("dev::fakeMotionControl", "[yarp::dev]")
         IPWMControl* ipwm = nullptr;
         ICurrentControl* icurr = nullptr;
         IJointFault* ifault = nullptr;
+        IControlLimits* ilims = nullptr;
         //IRemoteCalibrator* icalib = nullptr;
 
         ////////"Checking opening polydrivers"
@@ -88,6 +91,7 @@ TEST_CASE("dev::fakeMotionControl", "[yarp::dev]")
         ddmc.view(ipwm);    REQUIRE(ipwm);
         ddmc.view(icurr);   REQUIRE(icurr);
         ddmc.view(ifault);  REQUIRE(ifault);
+        ddmc.view(ilims);   REQUIRE(ilims);
         //ddmc.view(iremotecalib);  REQUIRE(iremotecalib);
 
         yarp::dev::tests::exec_iPositionControl_test_1(ipos, icmd);
@@ -105,6 +109,7 @@ TEST_CASE("dev::fakeMotionControl", "[yarp::dev]")
         yarp::dev::tests::exec_iCurrentControl_test_1(icurr, icmd);
         //yarp::dev::tests::exec_iRemoteCalibrator_test_1(iremotecalib);
         yarp::dev::tests::exec_iJointFault_test_1(ifault);
+        yarp::dev::tests::exec_iControlLimits_test1(ilims, iinfo);
 
         //"Close all polydrivers and check"
         {

diff --git a/src/libYARP_dev/src/yarp/dev/tests/CMakeLists.txt b/src/libYARP_dev/src/yarp/dev/tests/CMakeLists.txt
@@ -25,6 +25,7 @@ set(YARP_dev_test_HDRS
     IMotorEncodersTest.h
     IRemoteCalibratorTest.h
     IJointFaultTest.h
+    IControlLimitsTest.h
 )
 
 set(YARP_dev_test_SRCS
@@ -48,6 +49,7 @@ set(YARP_dev_test_SRCS
     IMotorEncodersTest.cpp
     IRemoteCalibratorTest.cpp
     IJointFaultTest.cpp
+    IControlLimitsTest.cpp
 )
 
 if(TARGET YARP::YARP_math)

diff --git a/src/libYARP_dev/src/yarp/dev/tests/IControlLimitsTest.cpp b/src/libYARP_dev/src/yarp/dev/tests/IControlLimitsTest.cpp
@@ -0,0 +1,6 @@
+/*
+ * SPDX-FileCopyrightText: 2023-2023 Istituto Italiano di Tecnologia (IIT)
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include "IControlLimitsTest.h"
diff --git a/src/libYARP_dev/src/yarp/dev/tests/IControlLimitsTest.h b/src/libYARP_dev/src/yarp/dev/tests/IControlLimitsTest.h
@@ -0,0 +1,50 @@
+/*
+ * SPDX-FileCopyrightText: 2023-2023 Istituto Italiano di Tecnologia (IIT)
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#ifndef ICONTROLLIMITSTEST_H
+#define ICONTROLLIMITSTEST_H
+
+#include <memory>
+#include <numeric>
+#include <vector>
+
+#include <yarp/dev/IAxisInfo.h>
+#include <yarp/dev/IControlLimits.h>
+#include <catch2/catch_amalgamated.hpp>
+
+using namespace yarp::dev;
+using namespace yarp::os;
+
+namespace yarp::dev::tests
+{
+    inline void exec_iControlLimits_test1(IControlLimits* ilims, IAxisInfo* iinfo)
+    {
+        REQUIRE(ilims != nullptr);
+        REQUIRE(iinfo != nullptr);
+
+        bool b;
+        int ax;
+
+        b = iinfo->getAxes(&ax);
+        CHECK(b);
+        REQUIRE(ax > 0);
+
+        double min=0;
+        double max=0;
+        b = ilims->getLimits (0, &min, &max);
+        CHECK(b);
+
+        b = ilims->getVelLimits(0, &min, &max);
+        CHECK(b);
+
+        b = ilims->setLimits(0, min, max);
+        CHECK(b);
+
+        b = ilims->setVelLimits(0, min, max);
+        CHECK(b);
+    }
+}
+
+#endif