Fix after review

Author: martinaxgloria

src/imu/CMakeLists.txt

@@ -1,22 +1,20 @@
-cmake_minimum_required(VERSION 3.5)
-project(imu)
+if(NOT DEFINED CMAKE_MINIMUM_REQUIRED_VERSION)
+  cmake_minimum_required(VERSION 3.5)
+endif()
 
 add_definitions(-D_USE_MATH_DEFINES)
 
-include_directories(${CMAKE_SOURCE_DIR}
-                    ${RobotTestingFramework_INCLUDE_DIRS})
-
-robottestingframework_add_plugin(${PROJECT_NAME} HEADERS ${PROJECT_NAME}.h
-                                                 SOURCES ${PROJECT_NAME}.cpp)
+robottestingframework_add_plugin(imu HEADERS imu.h
+                                     SOURCES imu.cpp)
 
 # add required libraries
-target_link_libraries(${PROJECT_NAME} RobotTestingFramework::RTF
+target_link_libraries(imu RobotTestingFramework::RTF
                                       RobotTestingFramework::RTF_dll
                                       YARP::YARP_robottestingframework
                                       iDynTree::idyntree-high-level 
                                       iDynTree::idyntree-estimation)
 # set the installation options
-install(TARGETS ${PROJECT_NAME}
-        EXPORT ${PROJECT_NAME}
+install(TARGETS imu
+        EXPORT imu
         COMPONENT runtime
         LIBRARY DESTINATION lib)

src/imu/imu.cpp

@@ -7,6 +7,7 @@
 
 #include <yarp/os/Property.h>
 #include <yarp/os/Stamp.h>
+#include <yarp/os/ResourceFinder.h>
 
 #include "imu.h"
 
@@ -27,19 +28,21 @@ bool Imu::setup(yarp::os::Property& property) {
 
     robotName = property.find("robot").asString(); // robot name
     portName = property.find("port").asString(); // name of the port from which the data are streamed
-    modelPath = property.find("model").asString(); // urdf model path
     frameName = property.find("frame").asString(); // frame on which the sensor is attached
     sensorName = property.find("sensor").asString(); // sensor name within urdf
+    modelName = property.find("model").asString(); // urdf model path
+    yarp::os::ResourceFinder &rf = yarp::os::ResourceFinder::getResourceFinderSingleton();
+    std::string modelAbsolutePath = rf.findFileByName(modelName);
 
     ROBOTTESTINGFRAMEWORK_TEST_REPORT("Running IMU test on "+robotName+"...");
 
     yarp::os::Property MASclientOptions;
     MASclientOptions.put("device", "multipleanalogsensorsclient");
     MASclientOptions.put("remote", portName);
     MASclientOptions.put("local", "/imuTest/"+portName);
-    
-    MASclientDriver = new yarp::dev::PolyDriver(MASclientOptions);
-    
+
+    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(MASclientDriver.open(MASclientOptions), "Unable to open the MAS client driver");
+        
     yarp::os::Property controlBoardOptions;
     controlBoardOptions.put("device", "remotecontrolboardremapper");
     yarp::os::Bottle axesNames;
@@ -70,15 +73,15 @@ bool Imu::setup(yarp::os::Property& property) {
     controlBoardOptions.put("remoteControlBoards", remoteControlBoards.get(0));
     controlBoardOptions.put("localPortPrefix", "/test");
 
-    controlBoardDriver = new yarp::dev::PolyDriver(controlBoardOptions);
-    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(MASclientDriver->isValid(), "Device driver cannot be opened");
-    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(MASclientDriver->view(iorientation), "Unable to open orientation interface");
-    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(controlBoardDriver->isValid(), "Device driver cannot be opened");
-    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(controlBoardDriver->view(ipos), "Unable to open position control interface");
-    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(controlBoardDriver->view(ienc), "Unable to open encoder interface");
-    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(controlBoardDriver->view(iaxes), "Unable to open axes interface");
-    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(controlBoardDriver->view(ilim), "Unable to open limits interface");
+    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(controlBoardDriver.open(controlBoardOptions), "Unable to open the controlBoard driver");
 
+    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(MASclientDriver.isValid(), "Device driver cannot be opened");
+    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(MASclientDriver.view(iorientation), "Unable to open orientation interface");
+    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(controlBoardDriver.isValid(), "Device driver cannot be opened");
+    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(controlBoardDriver.view(ipos), "Unable to open position control interface");
+    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(controlBoardDriver.view(ienc), "Unable to open encoder interface");
+    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(controlBoardDriver.view(iaxes), "Unable to open axes interface");
+    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(controlBoardDriver.view(ilim), "Unable to open limits interface");
 
     outputPort.open("/test-imu/out");
     ROBOTTESTINGFRAMEWORK_TEST_REPORT("Opening port "+outputPort.getName()+"...");
@@ -93,7 +96,7 @@ bool Imu::setup(yarp::os::Property& property) {
         axis.push_back(axisName);
     }
 
-    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(model.loadReducedModelFromFile(modelPath.c_str(), axis), Asserter::format("Cannot load model %s", modelPath.c_str()));
+    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(model.loadReducedModelFromFile(modelAbsolutePath.c_str(), axis), Asserter::format("Cannot load model from %s", modelAbsolutePath.c_str()));
     kinDynComp.loadRobotModel(model.model());
 
     iDynTree::Vector3 baseLinkOrientationRad;
@@ -136,17 +139,8 @@ void Imu::tearDown() {
     outputPort.interrupt();
     outputPort.close();
 
-    if(MASclientDriver)
-    {
-        delete MASclientDriver;
-        MASclientDriver = 0;
-    }
-
-    if(controlBoardDriver)
-    {
-        delete controlBoardDriver;
-        controlBoardDriver = 0;
-    }
+    controlBoardDriver.close();
+    MASclientDriver.close();
 }
 
 void Imu::run() {

src/imu/imu.h

@@ -1,5 +1,5 @@
-#ifndef _IMU_H_
-#define _IMU_H_
+#ifndef IMU_H
+#define IMU_H
 
 #include <yarp/dev/PolyDriver.h>
 #include <yarp/dev/MultipleAnalogSensorsInterfaces.h>
@@ -24,12 +24,12 @@ class Imu : public yarp::robottestingframework::TestCase {
     private:
         std::string robotName;
         std::string portName;
-        std::string modelPath;
+        std::string modelName;
         std::string frameName;
         std::string sensorName;
 
-        yarp::dev::PolyDriver *MASclientDriver;
-        yarp::dev::PolyDriver *controlBoardDriver;
+        yarp::dev::PolyDriver MASclientDriver;
+        yarp::dev::PolyDriver controlBoardDriver;
         yarp::dev::IOrientationSensors* iorientation;
         yarp::dev::IPositionControl* ipos;
         yarp::dev::IEncoders* ienc;
@@ -59,4 +59,4 @@ class Imu : public yarp::robottestingframework::TestCase {
         bool moveJoint(int ax, double pos);
     };
 
-#endif //_IMU_H_
+#endif //IMU_H

suites/contexts/icub/test_imu.ini

@@ -1,5 +1,5 @@
 robot     ${robotname}
-model     /path/to/your/robot/model.urdf
+model     model.urdf
 port      /${robotname}/head/inertials
 sensor    head_imu_0
 frame     head_imu_0