SensorsDuplicateReadings Class Reference

Check if a yarp port is correctly publishing unique values at each update . More...

#include <SensorsDuplicateReadings.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 yarp port is correctly publishing unique values at each update .

For some sensors, such as strain gauge based force sensors, errors on the measurement ensure that two different readings of the sensors are always different. If on a port that is publishing a sensor reading you get two times exactly the same value, this could mean that the same sensor reading was sent multiple times. This could happen for several reasons:

• The wrapper is running faster than the sensor frequency (depending on the configuration this could make sense or not)
• The sensor readings are not properly read, for example because packets are lost or dropped (this usually indicate some problem in your system).

Accepts the following parameters:

Parameter name	Type	Units	Default Value	Required	Description	Notes
name	string	-	"SensorsDuplicateReadings"	No	The name of the test.	-
time	double	s	-	Yes	Duration of the test for each port.	-
PORTS (group )	Bottle	-	-	Yes	List of couples of port/toleratedDuplicates with this format: (portname1, toleratedDuplicates1) (portname1, toleratedDuplicates1)

Definition at line 88 of file SensorsDuplicateReadings.h.

Constructor & Destructor Documentation

SensorsDuplicateReadings()

SensorsDuplicateReadings::SensorsDuplicateReadings

(

)

Definition at line 36 of file SensorsDuplicateReadings.cpp.

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

~SensorsDuplicateReadings()

SensorsDuplicateReadings::~SensorsDuplicateReadings ( )

virtual

Definition at line 39 of file SensorsDuplicateReadings.cpp.

{ }

Member Function Documentation

run()

void SensorsDuplicateReadings::run ( )

virtual

Definition at line 74 of file SensorsDuplicateReadings.cpp.

                                   {
    for(unsigned int i=0; i<ports.size(); i++) {
        port.reset();
        ROBOTTESTINGFRAMEWORK_TEST_REPORT(Asserter::format("Checking port %s ...", ports[i].name.c_str()));
        bool connected = Network::connect(ports[i].name.c_str(), port.getName());
        ROBOTTESTINGFRAMEWORK_TEST_FAIL_IF(connected,
                       Asserter::format("could not connect to remote port %s.", ports[i].name.c_str()));
        if(connected) {
            port.useCallback();
            Time::delay(testTime);
            port.disableCallback();
 
            ROBOTTESTINGFRAMEWORK_TEST_REPORT(Asserter::format("Computed a total of %lu duplicates out of %lu samples.",
                            port.getTotalNrOfDuplicates(),port.getCount()));
            ROBOTTESTINGFRAMEWORK_TEST_REPORT(Asserter::format("Maximum number of consecutive duplicates: %lu Maximum jitter: %lf ",
                                              port.getMaxNrOfDuplicates(), port.getMaxJitter()));
 
            ROBOTTESTINGFRAMEWORK_TEST_FAIL_IF(port.getTotalNrOfDuplicates() > ports[i].toleratedDuplicates,
                           Asserter::format("Number of duplicates (%lu) is higher than the tolerated (%d)",
                                            port.getTotalNrOfDuplicates(),
                                            ports[i].toleratedDuplicates));
 
            Network::disconnect(ports[i].name.c_str(), port.getName());
        }
    }
}

setup()

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

virtual

Definition at line 41 of file SensorsDuplicateReadings.cpp.

                                                             {
 
    //updating the test name
    if(property.check("name"))
        setName(property.find("name").asString());
 
    // updating parameters
   testTime = (property.check("time")) ? property.find("time").asFloat64() : 2;
 
    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF(property.check("PORTS"),
                        "A list of the ports must be given");
 
    yarp::os::Bottle portsSet = property.findGroup("PORTS").tail();
    for(unsigned int i=0; i<portsSet.size(); i++) {
        yarp::os::Bottle* btport = portsSet.get(i).asList();
        ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF(btport && btport->size()>=3, "The ports must be given as lists of <portname> <toleratedDuplicates>");
        DuplicateReadingsPortInfo info;
        info.name = btport->get(0).asString();
        info.toleratedDuplicates = btport->get(1).asInt32();
        ports.push_back(info);
    }
 
    // opening port
    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF(port.open("..."),
                        "opening port, is YARP network available?");
    return true;
}

tearDown()

void SensorsDuplicateReadings::tearDown ( )

virtual

Definition at line 69 of file SensorsDuplicateReadings.cpp.

                                        {
    // finalization goes her ...
    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/sensors-duplicate-readings/SensorsDuplicateReadings.h
• /home/runner/work/icub-tests/icub-tests/gh-pages/src/sensors-duplicate-readings/SensorsDuplicateReadings.cpp