added test

robotology · Aug 22, 2023 · 6f6df5f · 6f6df5f
1 parent dbe762b
commit 6f6df5f
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Showing 5 changed files with 95 additions and 23 deletions.
diff --git a/src/devices/battery_nws_ros2/Battery_nws_ros2.cpp b/src/devices/battery_nws_ros2/Battery_nws_ros2.cpp
@@ -83,21 +83,6 @@ bool Battery_nws_ros2::open(yarp::os::Searchable &config)
         return false;
     }
 
-    if (config.check("subdevice")) {
-        yarp::os::Property p;
-        p.fromString(config.toString(), false);
-        p.put("device", config.find("subdevice").asString());
-
-        if (!m_driver.open(p) || !m_driver.isValid()) {
-            yCError(BATTERY_NWS_ROS2) << "failed to open subdevice.. check params";
-            return false;
-        }
-
-        if (!attach(&m_driver)) {
-            yCError(BATTERY_NWS_ROS2) << "failed to open subdevice.. check params";
-            return false;
-        }
-    }
     rclcpp::NodeOptions node_options;
     node_options.allow_undeclared_parameters(true);
     node_options.automatically_declare_parameters_from_overrides(true);
@@ -120,12 +105,12 @@ void Battery_nws_ros2::run()
     if (m_battery_interface==nullptr)
     {
         yCError(BATTERY_NWS_ROS2) << "the interface is not valid";
-	}
-	else if (!m_ros2Publisher)
-	{
+    }
+    else if (!m_ros2Publisher)
+    {
         yCError(BATTERY_NWS_ROS2) << "the publisher is not ready";
-	}
-	else
+    }
+    else
     {
         double voltage=0;
         double current=0;
@@ -155,7 +140,7 @@ void Battery_nws_ros2::run()
         battMsg.present=true;
         battMsg.location="";
         battMsg.serial_number="";
-        
+
         battMsg.header.frame_id = "" ;
         battMsg.header.stamp.sec = int(m_timeStamp.getTime());
         battMsg.header.stamp.nanosec = int(1000000000UL * (m_timeStamp.getTime() - int(m_timeStamp.getTime())));

diff --git a/src/devices/battery_nws_ros2/Battery_nws_ros2.h b/src/devices/battery_nws_ros2/Battery_nws_ros2.h
@@ -30,7 +30,6 @@
  * | period              |      -                  | double  | s              |   0.02        | No                             | refresh period of the broadcasted values in s           | default 0.02s |
  * | node_name           |      -                  | string  | -              |   -           | Yes                            | name of the ros2 node                                   |      |
  * | topic_name          |      -                  | string  | -              |   -           | Yes                            | name of the topic where the device must publish the data| must begin with an initial '/'     |
- * | subdevice           |      -                  | string  | -              |   -           | alternative to 'attach' action | name of the subdevice to use as a data source           | when used, parameters for the subdevice must be provided as well |
  *
  */
 

diff --git a/src/devices/battery_nws_ros2/CMakeLists.txt b/src/devices/battery_nws_ros2/CMakeLists.txt
@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
+# SPDX-FileCopyrightText: 2023 Istituto Italiano di Tecnologia (IIT)
 # SPDX-License-Identifier: BSD-3-Clause
 
 yarp_prepare_plugin(battery_nws_ros2
@@ -49,4 +49,8 @@ if(NOT SKIP_battery_nws_ros2)
   set(YARP_${YARP_PLUGIN_MASTER}_PRIVATE_DEPS ${YARP_${YARP_PLUGIN_MASTER}_PRIVATE_DEPS} PARENT_SCOPE)
 
   set_property(TARGET yarp_battery_nws_ros2 PROPERTY FOLDER "Plugins/Device/NWS")
+
+  if(YARP_COMPILE_TESTS)
+    add_subdirectory(tests)
+  endif()
 endif()
diff --git a/src/devices/battery_nws_ros2/tests/CMakeLists.txt b/src/devices/battery_nws_ros2/tests/CMakeLists.txt
@@ -0,0 +1,4 @@
+# SPDX-FileCopyrightText: 2023 Istituto Italiano di Tecnologia (IIT)
+# SPDX-License-Identifier: BSD-3-Clause
+
+create_device_test (battery_nws_ros2)
diff --git a/src/devices/battery_nws_ros2/tests/battery_nws_ros2_test.cpp b/src/devices/battery_nws_ros2/tests/battery_nws_ros2_test.cpp
@@ -0,0 +1,80 @@
+/*
+ * SPDX-FileCopyrightText: 2023 Istituto Italiano di Tecnologia (IIT)
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include <yarp/os/Network.h>
+#include <yarp/os/LogStream.h>
+#include <yarp/dev/PolyDriver.h>
+#include <yarp/dev/WrapperSingle.h>
+
+#include <catch2/catch_amalgamated.hpp>
+#include <harness.h>
+
+using namespace yarp::dev;
+using namespace yarp::os;
+
+TEST_CASE("dev::battery_nws_ros2_test", "[yarp::dev]")
+{
+    YARP_REQUIRE_PLUGIN("battery_nws_ros2", "device");
+    YARP_REQUIRE_PLUGIN("fakeBattery", "device");
+
+    Network::setLocalMode(true);
+
+    SECTION("Checking the nws alone")
+    {
+        PolyDriver ddnws;
+
+        ////////"Checking opening nws"
+        {
+            Property pcfg;
+            pcfg.put("device", "battery_nws_ros2");
+            pcfg.put("node_name", "battery_node");
+            pcfg.put("topic_name","/robot_battery");
+            REQUIRE(ddnws.open(pcfg));
+        }
+
+        //"Close all polydrivers and check"
+        {
+            CHECK(ddnws.close());
+        }
+    }
+
+    SECTION("Checking the nws attached to device")
+    {
+        PolyDriver ddnws;
+        PolyDriver ddfake;
+        yarp::dev::WrapperSingle* ww_nws = nullptr;
+
+        ////////"Checking opening nws"
+        {
+            Property pcfg;
+            pcfg.put("device", "battery_nws_ros2");
+            pcfg.put("node_name", "battery_node");
+            pcfg.put("topic_name","/robot_battery");
+            REQUIRE(ddnws.open(pcfg));
+        }
+
+        ////////"Checking opening device"
+        {
+            Property pcfg_fake;
+            pcfg_fake.put("device", "fakeBattery");
+            REQUIRE(ddfake.open(pcfg_fake));
+        }
+
+        //attach the nws to the fake device
+        {
+            ddnws.view(ww_nws);
+            bool result_att = ww_nws->attach(&ddfake);
+            REQUIRE(result_att);
+        }
+
+        //"Close all polydrivers and check"
+        {
+            CHECK(ddnws.close());
+            CHECK(ddfake.close());
+        }
+    }
+
+    Network::setLocalMode(false);
+}