SensorsDuplicateReadings.h

/*
 * iCub Robot Unit Tests (Robot Testing Framework)
 *
 * Copyright (C) 2015-2019 Istituto Italiano di Tecnologia (IIT)
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 */
 
#ifndef _SENSORSDUPLICATEREADINGS_H_
#define _SENSORSDUPLICATEREADINGS_H_
 
#include <yarp/robottestingframework/TestCase.h>
#include <yarp/os/BufferedPort.h>
#include <yarp/sig/Vector.h>
#include <vector>
 
class DuplicateReadingsPortInfo {
public:
    std::string name;
    int toleratedDuplicates;
};
 
 
class DuplicateDetector : public yarp::os::BufferedPort<yarp::sig::Vector> {
public:
 
    void reset() {
        count = 0;
        tolerance = 1e-12;
    }
 
    unsigned long getCount() { return count; }
    unsigned long getMaxNrOfDuplicates() { return maxNrOfDuplicates; }
    double getMaxJitter() { return maxJitter; }
    unsigned long getTotalNrOfDuplicates() { return totalNrOfDuplicates; }
 
    virtual void onRead(yarp::sig::Vector& vec);
 
private:
    unsigned long count;
    double tolerance;
    unsigned long currentNrOfDuplicates;
    unsigned long totalNrOfDuplicates;
    unsigned long maxNrOfDuplicates;
    double        lastNewValueTime;
    double        currentJitter;
    double        maxJitter;
    yarp::sig::Vector lastReading;
};
 
 
class SensorsDuplicateReadings : public yarp::robottestingframework::TestCase {
public:
    SensorsDuplicateReadings();
    virtual ~SensorsDuplicateReadings();
 
    virtual bool setup(yarp::os::Property& property);
 
    virtual void tearDown();
 
    virtual void run();
 
private:
    DuplicateDetector port;
    std::vector<DuplicateReadingsPortInfo> ports;
    double testTime;
};
 
#endif //_PORTSFREQUENCY_H