SkinWrapperTest Class Reference

This test verifies the functionalities of skinWrapper after the removal of analogServer from icub-main. More...

#include <SkinWrapperTest.h>

Inherits yarp::robottestingframework::TestCase.

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

Detailed Description

This test verifies the functionalities of skinWrapper after the removal of analogServer from icub-main.

Definition at line 34 of file SkinWrapperTest.h.

Constructor & Destructor Documentation

SkinWrapperTest()

SkinWrapperTest::SkinWrapperTest

(

)

Definition at line 37 of file SkinWrapperTest.cpp.

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

~SkinWrapperTest()

SkinWrapperTest::~SkinWrapperTest ( )

virtual

Definition at line 44 of file SkinWrapperTest.cpp.

{
}

Member Function Documentation

run()

void SkinWrapperTest::run ( )

virtual

Definition at line 106 of file SkinWrapperTest.cpp.

{
    bool result;
    result  = Network::exists("/fakeiCub/skin/rpc:i");
    result &= Network::exists("/fakeiCub/skin");
    result &= Network::exists("/fakeiCub3/skin/left_hand");
    result &= Network::exists("/fakeiCub3/skin/left_hand/rpc:i");
    result &= Network::exists("/fakeiCub3/skin/left_forearm");
    result &= Network::exists("/fakeiCub3/skin/left_forearm/rpc:i");
    result &= Network::exists("/fakeiCub3/skin/left_arm");
    result &= Network::exists("/fakeiCub3/skin/left_arm/rpc:i");
    ROBOTTESTINGFRAMEWORK_TEST_REPORT("Checking if all ports has been opened successfully");
    ROBOTTESTINGFRAMEWORK_TEST_CHECK(result,"ports opened succefully");
    ROBOTTESTINGFRAMEWORK_TEST_REPORT("Checking the validity of devices");
    ROBOTTESTINGFRAMEWORK_TEST_CHECK(dd1.isValid() && !dd2.isValid() && dd3.isValid() && !dd4.isValid(),"dd1 and dd3 valid, dd2 and dd4 not valid as expected");
 
 
}

setup()

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

virtual

Definition at line 50 of file SkinWrapperTest.cpp.

{
    //test #1
    Property p;
    p.put("device","skinWrapper");
    p.put("robotName","fakeiCub");
    p.put("name","/testSkinWrapper");
    p.put("period",20);
    p.put("total_taxels",10);
    p.put("subdevice","fakeAnalogSensor");
    ROBOTTESTINGFRAMEWORK_TEST_REPORT("Opening the skinWrapper with one port");
    ROBOTTESTINGFRAMEWORK_TEST_CHECK(dd1.open(p),"Unable to open the device!");
    //test #2
    BufferedPort<Bottle> port,portrpc;
    portrpc.open("/fakeiCub2/skin/rpc:i");
    port.open("/fakeiCub2/skin");
    p.unput("robotName");
    p.put("robotName","fakeiCub2");
    ROBOTTESTINGFRAMEWORK_TEST_REPORT("Opening the skinWrapper with one port (address conflict case)");
    ROBOTTESTINGFRAMEWORK_TEST_CHECK(!dd2.open(p),"Unable to open the device as expected");
    portrpc.close();
    port.close();
    //test #3
    Property p2;
    p2.put("device","skinWrapper");
    p2.put("robotName","fakeiCub3");
    p2.put("name","/testSkinWrapperMultip");
    p2.put("period",20);
    p2.put("total_taxels",3);
    p2.put("subdevice","fakeAnalogSensor");
    p2.fromString("(ports (left_hand left_forearm left_arm)) (left_hand 0 0 0 0) (left_forearm 0 0 0 0) (left_arm 0 0 0 0)", false);
    ROBOTTESTINGFRAMEWORK_TEST_REPORT("Opening the skinWrapper with multiple ports");
    ROBOTTESTINGFRAMEWORK_TEST_CHECK(dd3.open(p2),"Unable to open the device!");
    //test #4
    port.open("/fakeiCub4/skin/left_hand");
    portrpc.open("/fakeiCub4/skin/left_forearm/rpc:i");
    p2.unput("robotName");
    p2.put("robotName","fakeiCub4");
    ROBOTTESTINGFRAMEWORK_TEST_REPORT("Opening the skinWrapper with multiple ports (address conflict case)");
    ROBOTTESTINGFRAMEWORK_TEST_CHECK(!dd4.open(p2),"Unable to open the device as expected");
 
    port.close();
    portrpc.close();
    return true;
}

tearDown()

void SkinWrapperTest::tearDown ( )

virtual

Definition at line 98 of file SkinWrapperTest.cpp.

{
    ROBOTTESTINGFRAMEWORK_TEST_REPORT("Closing the skinWrapper");
    ROBOTTESTINGFRAMEWORK_ASSERT_FAIL_IF_FALSE(dd1.close() && dd2.close() && dd3.close() && dd4.close(),"Unable to close the device!");
}

---

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

• /home/runner/work/icub-tests/icub-tests/gh-pages/src/skinWrapperTest/SkinWrapperTest.h
• /home/runner/work/icub-tests/icub-tests/gh-pages/src/skinWrapperTest/SkinWrapperTest.cpp