RGBDSensor_nws_yarp_test.cpp

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#include <yarp/os/Network.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/WrapperSingle.h>
#include <yarp/dev/IRGBDSensor.h>
#include <yarp/dev/tests/IRGBDSensorTest.h>
 
#include <catch2/catch_amalgamated.hpp>
#include <harness.h>
 
using namespace yarp::dev;
using namespace yarp::sig;
using namespace yarp::os;
 
TEST_CASE("dev::rgbdSensor_nws_yarpTest", "[yarp::dev]")
{
    YARP_REQUIRE_PLUGIN("fakeDepthCamera", "device");
    YARP_REQUIRE_PLUGIN("rgbdSensor_nws_yarp", "device");
 
    Network::setLocalMode(true);
 
    SECTION("Checking rgbdSensor_nws_yarp device")
    {
        PolyDriver nws_driver;
 
        {
            Property nws_cfg;
            nws_cfg.put("device", "rgbdSensor_nws_yarp");
            nws_cfg.put("name", "/rgbd_nws");
            REQUIRE(nws_driver.open(nws_cfg));
        }
 
        //Close all polydrivers and check
        CHECK(nws_driver.close());
    }
 
    SECTION("Test the rgbdSensor_nws_yarp device with fakeDepthCamera device attached")
    {
        PolyDriver dd_fake;
        PolyDriver dd_nws;
        Property p_fake;
        Property p_nws;
 
        //open
        p_nws.put("device", "rgbdSensor_nws_yarp");
        p_nws.put("name", "/rgbd_nws");
        p_fake.put("device", "fakeDepthCamera");
        REQUIRE(dd_fake.open(p_fake));
        REQUIRE(dd_nws.open(p_nws));
 
        yarp::os::SystemClock::delaySystem(0.5);
 
        //attach
        {
            yarp::dev::WrapperSingle* ww_nws; dd_nws.view(ww_nws);
            REQUIRE(ww_nws);
            bool result_att = ww_nws->attach(&dd_fake);
            REQUIRE(result_att);
        }
 
        //Wait some time
        yarp::os::SystemClock::delaySystem(1.0);
 
        //Close all polydrivers and check
        {
            CHECK(dd_nws.close());
            CHECK(dd_fake.close());
        }
    }
 
    Network::setLocalMode(false);
}