improved coverage

robotology · Nov 30, 2023 · ead1caf · ead1caf
1 parent 2e3977d
commit ead1caf
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Showing 5 changed files with 53 additions and 5 deletions.
diff --git a/src/devices/RemoteControlBoard/tests/RemoteControlBoard_test.cpp b/src/devices/RemoteControlBoard/tests/RemoteControlBoard_test.cpp
@@ -125,7 +125,7 @@ TEST_CASE("dev::RemoteControlBoardTest", "[yarp::dev]")
         yarp::dev::tests::exec_iAxisInfo_test_1(iinfo);
         yarp::dev::tests::exec_iEncodersTimed_test_1(ienc);
         yarp::dev::tests::exec_iControlMode_test_1(icmd, iinfo);
-        yarp::dev::tests::exec_iInteractionMode_test_1(iint);
+        yarp::dev::tests::exec_iInteractionMode_test_1(iint, iinfo);
         yarp::dev::tests::exec_iMotor_test_1(imot);
         yarp::dev::tests::exec_iMotorEncoders_test_1(imotenc);
         yarp::dev::tests::exec_iPidControl_test_1(ipid);

diff --git a/src/devices/controlBoardRemapper/tests/controlBoardRemapper_t2_test.cpp b/src/devices/controlBoardRemapper/tests/controlBoardRemapper_t2_test.cpp
@@ -108,7 +108,7 @@ TEST_CASE("dev::ControlBoardRemapperTest2", "[yarp::dev]")
         yarp::dev::tests::exec_iAxisInfo_test_1(iinfo);
         yarp::dev::tests::exec_iEncodersTimed_test_1(ienc);
         yarp::dev::tests::exec_iControlMode_test_1(icmd, iinfo);
-        yarp::dev::tests::exec_iInteractionMode_test_1(iint);
+        yarp::dev::tests::exec_iInteractionMode_test_1(iint,iinfo);
         yarp::dev::tests::exec_iMotor_test_1(imot);
         yarp::dev::tests::exec_iMotorEncoders_test_1(imotenc);
         yarp::dev::tests::exec_iPidControl_test_1(ipid);

diff --git a/src/devices/fakeMotionControl/tests/fakeMotionControl_test.cpp b/src/devices/fakeMotionControl/tests/fakeMotionControl_test.cpp
@@ -92,7 +92,7 @@ TEST_CASE("dev::fakeMotionControl", "[yarp::dev]")
         yarp::dev::tests::exec_iAxisInfo_test_1(iaxis);
         yarp::dev::tests::exec_iEncodersTimed_test_1(ienc);
         yarp::dev::tests::exec_iControlMode_test_1(icmd, iaxis);
-        yarp::dev::tests::exec_iInteractionMode_test_1(iint);
+        yarp::dev::tests::exec_iInteractionMode_test_1(iint, iaxis);
         yarp::dev::tests::exec_iMotor_test_1(imot);
         yarp::dev::tests::exec_iMotorEncoders_test_1(imotenc);
         yarp::dev::tests::exec_iPidControl_test_1(ipid);

diff --git a/src/libYARP_dev/src/yarp/dev/tests/ICurrentControlTest.h b/src/libYARP_dev/src/yarp/dev/tests/ICurrentControlTest.h
@@ -10,6 +10,10 @@
 #include <yarp/dev/IControlMode.h>
 #include <catch2/catch_amalgamated.hpp>
 
+#include <memory>
+#include <numeric>
+#include <vector>
+
 using namespace yarp::dev;
 using namespace yarp::os;
 
@@ -43,6 +47,22 @@ namespace yarp::dev::tests
 
         b = icurr->getCurrentRange(0, &min, &max);
         CHECK(b);
+
+        auto mins = std::vector< double >(axis);
+        auto maxs = std::vector< double >(axis);
+        auto currs = std::vector< double >(axis);
+
+        b = icurr->getCurrentRanges(mins.data(), maxs.data());
+        CHECK(b);
+
+        b = icurr->getCurrents(currs.data());
+        CHECK(b);
+
+        b = icurr->getRefCurrents(currs.data());
+        CHECK(b);
+
+        b = icurr->setRefCurrents(currs.data());
+        CHECK(b);
     }
 }
 

diff --git a/src/libYARP_dev/src/yarp/dev/tests/IInteractionModeTest.h b/src/libYARP_dev/src/yarp/dev/tests/IInteractionModeTest.h
@@ -6,6 +6,11 @@
 #ifndef IINTERACTIONMODETEST_H
 #define IINTERACTIONMODETEST_H
 
+#include <memory>
+#include <numeric>
+#include <vector>
+
+#include <yarp/dev/IAxisInfo.h>
 #include <yarp/dev/IInteractionMode.h>
 #include <catch2/catch_amalgamated.hpp>
 
@@ -14,11 +19,15 @@ using namespace yarp::os;
 
 namespace yarp::dev::tests
 {
-    inline void exec_iInteractionMode_test_1(IInteractionMode* iint)
+    inline void exec_iInteractionMode_test_1(IInteractionMode* iint, IAxisInfo* iinfo)
     {
         REQUIRE(iint != nullptr);
+        REQUIRE(iinfo != nullptr);
 
-        bool b=false;
+        int ax;
+        bool b = iinfo->getAxes(&ax);
+        CHECK(b);
+        REQUIRE(ax > 0);
 
         yarp::dev::InteractionModeEnum val;
         yarp::dev::InteractionModeEnum ret;
@@ -39,6 +48,25 @@ namespace yarp::dev::tests
 
         b = iint->getInteractionMode(0, &ret);
         CHECK(b);
+
+        auto modes = std::vector< yarp::dev::InteractionModeEnum>(ax);
+        b = iint->getInteractionModes(modes.data());
+        CHECK(b);
+
+        auto joints = std::vector<int>(ax);
+        std::iota(joints.begin(), joints.end(), 0);
+        b = iint->getInteractionModes(ax, joints.data(), modes.data());
+        CHECK(b);
+
+        for (size_t j = 0; j < ax; j++)
+        {
+            modes[j]= yarp::dev::InteractionModeEnum::VOCAB_IM_STIFF;
+        }
+        b = iint->setInteractionModes(modes.data());
+        CHECK(b);
+        b = iint->setInteractionModes(ax, joints.data(), modes.data());
+        CHECK(b);
+
     }
 }
 #endif