CameraTest Class Reference

Check if a camera is publishing images at desired framerate. More...

#include <CameraTest.h>

Inherits yarp::robottestingframework::TestCase.

Public Member Functions
virtual bool	setup (yarp::os::Property &property)
virtual void	tearDown ()
virtual void	run ()

Detailed Description

Check if a camera is publishing images at desired framerate.

Accepts the following parameters:

Parameter name	Type	Units	Default Value	Required	Description	Notes
name	string	-	"CameraTest"	No	The name of the test.	-
portname	string	-	-	Yes	The yarp port name of the camera to test.	-
measure_time	int	s	1	No	The duration of the test.
expected_frequency	int	Hz	30	No	The expected framerate of the camera.
tolerance	int	Number of frames	5	No	The tolerance on the total number of frames read during the period (expected_frequency*measure_time) to consider the test sucessful.

Definition at line 44 of file CameraTest.h.

Constructor & Destructor Documentation

CameraTest()

CameraTest::CameraTest

(

)

Definition at line 44 of file CameraTest.cpp.

                       : yarp::robottestingframework::TestCase("CameraTest") {
}

~CameraTest()

CameraTest::~CameraTest ( )

virtual

Definition at line 47 of file CameraTest.cpp.

{ }

Member Function Documentation

run()

void CameraTest::run ( )

virtual

Definition at line 82 of file CameraTest.cpp.

                     {
    ROBOTTESTINGFRAMEWORK_TEST_REPORT("Reading images...");
    double timeStart=yarp::os::Time::now();
    double timeNow=timeStart;
 
    int frames=0;
    while(timeNow<timeStart+measure_time) {
        Image *image=port.read(false);
        if(image!=0)
            frames++;
        yarp::os::Time::delay(0.01);
        timeNow=yarp::os::Time::now();
    }
 
    int expectedFrames = measure_time*expected_frequency;
    ROBOTTESTINGFRAMEWORK_TEST_REPORT(Asserter::format("Received %d frames, expecting %d",
                                       frames,
                                       expectedFrames));
    ROBOTTESTINGFRAMEWORK_TEST_FAIL_IF_FALSE(abs(frames-expectedFrames)<tolerance,
                     "checking number of received frames");
}

setup()

bool CameraTest::setup ( yarp::os::Property &  property )

virtual

Definition at line 49 of file CameraTest.cpp.

                                               {
 
    if(property.check("name"))
        setName(property.find("name").asString());
 
    // updating parameters
    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(property.check("portname"),
                        "The portname must be given as the test paramter!");
    cameraPortName = property.find("portname").asString();
    measure_time = property.check("measure_time") ? property.find("measure_time").asInt32() : TIMES;
    expected_frequency = property.check("expected_frequency") ? property.find("expected_frequency").asInt32() : FREQUENCY;
    tolerance = property.check("tolerance") ? property.find("tolerance").asInt32() : TOLERANCE;
 
    // opening port
    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(port.open("/CameraTest/image:i"),
                        "opening port, is YARP network available?");
 
    ROBOTTESTINGFRAMEWORK_TEST_REPORT(Asserter::format("Listening to camera for %d seconds",
                                       measure_time));
 
    // connecting
    ROBOTTESTINGFRAMEWORK_TEST_REPORT(Asserter::format("connecting from %s to %s",
                                       port.getName().c_str(), cameraPortName.c_str()));
    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(Network::connect(cameraPortName, port.getName()),
                     "could not connect to remote port, camera unavailable");
    return true;
}

tearDown()

void CameraTest::tearDown ( )

virtual

Definition at line 77 of file CameraTest.cpp.

                          {
    Network::disconnect(cameraPortName, port.getName());
    port.close();
}

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The documentation for this class was generated from the following files:

• /home/runner/work/icub-tests/icub-tests/gh-pages/src/camera/CameraTest.h
• /home/runner/work/icub-tests/icub-tests/gh-pages/src/camera/CameraTest.cpp