FtSensorTest Class Reference

Check if a FT sensor port is correctly publishing a vector with 6 values. More...

#include <FtSensorTest.h>

Inherits yarp::robottestingframework::TestCase.

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

Detailed Description

Check if a FT sensor port is correctly publishing a vector with 6 values.

No further check on the content of the vector is done.

Accepts the following parameters:

Parameter name	Type	Units	Default Value	Required	Description	Notes
name	string	-	"FtSensorTest"	No	The name of the test.	-
portname	string	-	-	Yes	The yarp port name of the FT sensor to test.	-

Definition at line 41 of file FtSensorTest.h.

Constructor & Destructor Documentation

FtSensorTest()

FtSensorTest::FtSensorTest

(

)

Definition at line 37 of file FtSensorTest.cpp.

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

~FtSensorTest()

FtSensorTest::~FtSensorTest ( )

virtual

Definition at line 40 of file FtSensorTest.cpp.

{ }

Member Function Documentation

run()

void FtSensorTest::run ( )

virtual

Definition at line 69 of file FtSensorTest.cpp.

                       {
    ROBOTTESTINGFRAMEWORK_TEST_REPORT("Reading FT sensors...");
    Vector *readSensor = port.read();
    ROBOTTESTINGFRAMEWORK_TEST_FAIL_IF_FALSE(readSensor, "could not read FT data from sensor");
 
    ROBOTTESTINGFRAMEWORK_TEST_FAIL_IF_FALSE(readSensor->size() == 6, "sensor has 6 values");
}

setup()

bool FtSensorTest::setup ( yarp::os::Property &  configuration )

virtual

Definition at line 42 of file FtSensorTest.cpp.

                                                      {
    // initialization goes here ...
    if(configuration.check("name"))
        setName(configuration.find("name").asString());
 
    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(configuration.check("portname"),
                        "Missing 'portname' parameter");
    portname = configuration.find("portname").asString();
 
    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(port.open("/iCubTest/FTsensor"),
                        "opening port, is YARP network working?");
 
    ROBOTTESTINGFRAMEWORK_TEST_REPORT(Asserter::format("connecting from %s to %s\n",
                                     port.getName().c_str(), portname.c_str()));
 
    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(Network::connect(portname, port.getName()),
                        Asserter::format("could not connect to remote port %s, FT sensor unavailable",
                                         portname.c_str()));
    return true;
}

tearDown()

void FtSensorTest::tearDown ( )

virtual

Definition at line 63 of file FtSensorTest.cpp.

                            {
    // finalization goes here ...
    Network::disconnect(portname, 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/ftsensor-tests/FtSensorTest.h
• /home/runner/work/icub-tests/icub-tests/gh-pages/src/ftsensor-tests/FtSensorTest.cpp