Improved Yarp coverage

robotology · Dec 6, 2023 · 4ae0f9b · 4ae0f9b
1 parent 77d0e61
commit 4ae0f9b
Show file tree

Hide file tree

Showing 8 changed files with 87 additions and 10 deletions.
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -2035,6 +2035,7 @@ jobs:
             -Dsonar.junit.reportPaths=build/JUnitTestResults.xml \
             -Dsonar.exclusions="src/yarp*/**/* src/carriers/**/* src/devices/**/* src/idls/**/* src/libyarp*/**/* src/robottestingframework-plugins/**/* tests/**/*" \
             -Dsonar.coverage.exclusions="\
+                 src/libYARP_dev/src/yarp/dev/tests/*,\
                  src/devices/*/tests/*,\
                  src/carriers/*/tests/*,\
                  src/portmonitors/*/tests/*,\

diff --git a/.github/workflows/sonarcloud.yml b/.github/workflows/sonarcloud.yml
@@ -416,6 +416,7 @@ jobs:
             -Dsonar.junit.reportPaths=build/JUnitTestResults.xml \
             -Dsonar.exclusions="src/yarp*/**/* src/carriers/**/* src/devices/**/* src/idls/**/* src/libyarp*/**/* src/robottestingframework-plugins/**/* tests/**/*" \
             -Dsonar.coverage.exclusions="\
+                 src/libYARP_dev/src/yarp/dev/tests/*,\
                  src/devices/*/tests/*,\
                  src/carriers/*/tests/*,\
                  src/portmonitors/*/tests/*,\

diff --git a/src/devices/RemoteControlBoard/tests/RemoteControlBoard_test.cpp b/src/devices/RemoteControlBoard/tests/RemoteControlBoard_test.cpp
@@ -131,7 +131,8 @@ TEST_CASE("dev::RemoteControlBoardTest", "[yarp::dev]")
         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);
+        yarp::dev::tests::exec_iPidControl_test_1(ipid, iinfo);
+        yarp::dev::tests::exec_iPidControl_test_2(ipid);
         yarp::dev::tests::exec_iPwmControl_test_1(ipwm,icmd);
         yarp::dev::tests::exec_iCurrentControl_test_1(icurr,icmd);
         //yarp::dev::tests::exec_iRemoteCalibrator_test_1(icalib);

diff --git a/src/devices/controlBoardRemapper/tests/controlBoardRemapper_t2_test.cpp b/src/devices/controlBoardRemapper/tests/controlBoardRemapper_t2_test.cpp
@@ -114,7 +114,8 @@ TEST_CASE("dev::ControlBoardRemapperTest2", "[yarp::dev]")
         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);
+        yarp::dev::tests::exec_iPidControl_test_1(ipid, iinfo);
+        yarp::dev::tests::exec_iPidControl_test_2(ipid);
         yarp::dev::tests::exec_iPwmControl_test_1(ipwm, icmd);
         yarp::dev::tests::exec_iCurrentControl_test_1(icurr, icmd);
         //yarp::dev::tests::exec_iRemoteCalibrator_test_1(iremotecalib);

diff --git a/src/devices/fakeMicrophone/tests/fakeMicrophone_test.cpp b/src/devices/fakeMicrophone/tests/fakeMicrophone_test.cpp
@@ -39,6 +39,8 @@ TEST_CASE("dev::fakeMicrophone", "[yarp::dev]")
 
         CHECK(igrb->stopRecording());
 
+        CHECK(igrb->resetRecordingAudioBuffer());
+
         //"Close all polydrivers and check"
         {
             CHECK(dd.close());

diff --git a/src/devices/fakeMotionControl/tests/fakeMotionControl_test.cpp b/src/devices/fakeMotionControl/tests/fakeMotionControl_test.cpp
@@ -54,7 +54,7 @@ TEST_CASE("dev::fakeMotionControl", "[yarp::dev]")
         IPositionControl* ipos=nullptr;
         IVelocityControl* ivel = nullptr;
         ITorqueControl* itrq=nullptr;
-        IAxisInfo* iaxis = nullptr;
+        IAxisInfo* iinfo = nullptr;
         IEncodersTimed* ienc = nullptr;
         IControlMode* icmd = nullptr;
         IInteractionMode* iint = nullptr;
@@ -78,7 +78,7 @@ TEST_CASE("dev::fakeMotionControl", "[yarp::dev]")
         ddmc.view(ipos);    REQUIRE(ipos);
         ddmc.view(ivel);    REQUIRE(ivel);
         ddmc.view(itrq);    REQUIRE(itrq);
-        ddmc.view(iaxis);   REQUIRE(iaxis);
+        ddmc.view(iinfo);   REQUIRE(iinfo);
         ddmc.view(ienc);    REQUIRE(ienc);
         ddmc.view(icmd);    REQUIRE(icmd);
         ddmc.view(iint);    REQUIRE(iint);
@@ -93,13 +93,14 @@ TEST_CASE("dev::fakeMotionControl", "[yarp::dev]")
         yarp::dev::tests::exec_iPositionControl_test_1(ipos, icmd);
         yarp::dev::tests::exec_iVelocityControl_test_1(ivel, icmd);
         yarp::dev::tests::exec_iTorqueControl_test_1(itrq, icmd);
-        yarp::dev::tests::exec_iAxisInfo_test_1(iaxis);
+        yarp::dev::tests::exec_iAxisInfo_test_1(iinfo);
         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, iaxis);
+        yarp::dev::tests::exec_iControlMode_test_1(icmd, iinfo);
+        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);
+        yarp::dev::tests::exec_iPidControl_test_1(ipid, iinfo);
+        yarp::dev::tests::exec_iPidControl_test_2(ipid);
         yarp::dev::tests::exec_iPwmControl_test_1(ipwm, icmd);
         yarp::dev::tests::exec_iCurrentControl_test_1(icurr, icmd);
         //yarp::dev::tests::exec_iRemoteCalibrator_test_1(iremotecalib);

diff --git a/src/devices/fakeSpeaker/tests/fakeSpeaker_test.cpp b/src/devices/fakeSpeaker/tests/fakeSpeaker_test.cpp
@@ -36,6 +36,8 @@ TEST_CASE("dev::fakeSpeaker", "[yarp::dev]")
         CHECK(iplay->startPlayback());
         CHECK(iplay->stopPlayback());
 
+        CHECK(iplay->resetPlaybackAudioBuffer());
+
         //"Close all polydrivers and check"
         {
             CHECK(dd.close());

diff --git a/src/libYARP_dev/src/yarp/dev/tests/IPidControlTest.h b/src/libYARP_dev/src/yarp/dev/tests/IPidControlTest.h
@@ -8,37 +8,86 @@
 
 #include <yarp/dev/IPidControl.h>
 #include <yarp/dev/IControlMode.h>
+#include <yarp/dev/IAxisInfo.h>
 #include <catch2/catch_amalgamated.hpp>
 
 using namespace yarp::dev;
 using namespace yarp::os;
 
 namespace yarp::dev::tests
 {
-    inline void exec_iPidControl_test_1(IPidControl* ipid)
+    inline void exec_iPidControl_test_1(IPidControl* ipid, IAxisInfo* iaxis)
     {
         REQUIRE(ipid != nullptr);
+        REQUIRE(iaxis != nullptr);
 
+        int ax;
         bool b = false;
+
+        b = iaxis->getAxes(&ax);
+        CHECK(b);
+        REQUIRE(ax > 0);
+
         yarp::dev::PidControlTypeEnum pp = yarp::dev::PidControlTypeEnum::VOCAB_PIDTYPE_POSITION;
         b = ipid->disablePid(pp,0);
         CHECK(b);
 
         b = ipid->enablePid(pp,0);
         CHECK(b);
 
+        bool enabled;
+        b = ipid->isPidEnabled(pp, 0, &enabled);
+        CHECK(b);
+
         yarp::dev::Pid retpid;
         b=ipid->getPid(pp,0, &retpid);
         CHECK(b);
 
+        auto retpids = std::vector<yarp::dev::Pid>(ax);
+        b= ipid->getPids(pp, retpids.data());
+        CHECK(b);
+
         yarp::dev::Pid setpid;
-        yarp::dev::Pid setpid2(retpid);
         b = ipid->setPid(pp, 0, setpid);
         CHECK(b);
 
+        auto setpids = std::vector<yarp::dev::Pid>(ax);
+        b = ipid->setPids(pp, setpids.data());
+        CHECK(b);
+
         b = ipid->resetPid(pp,0);
         CHECK(b);
 
+        b = ipid->setPidOffset(pp,0,0);
+        CHECK(b);
+
+        double getpidref=0;
+        b = ipid->getPidReference(pp, 0, &getpidref);
+        CHECK(b);
+
+        auto getpidrefs = std::vector<double>(ax);
+        b = ipid->getPidReferences(pp, getpidrefs.data());
+        CHECK(b);
+
+        double setpidref=0;
+        b = ipid->setPidReference(pp, 0, setpidref);
+        CHECK(b);
+
+        auto setpidrefs = std::vector<double>(ax);
+        b = ipid->setPidReferences(pp, setpidrefs.data());
+        CHECK(b);
+
+        double errlim=0;
+        b = ipid->getPidErrorLimit(pp, 0, &errlim);
+        CHECK(b);
+
+        auto errlims = std::vector<double>(ax);
+        b = ipid->getPidErrorLimits(pp, errlims.data());
+        CHECK(b);
+    }
+
+    inline void exec_iPidControl_test_2(IPidControl* ipid)
+    {
         yarp::dev::Pid testpid;
         testpid.setKp(1); CHECK(testpid.kp ==1);
         testpid.setKd(2); CHECK(testpid.kd == 2);
@@ -58,6 +107,25 @@ namespace yarp::dev::tests
         yarp::dev::Pid emptypid;
         testpid2.clear();
         CHECK(testpid2 == emptypid);
+
+        yarp::dev::Pid testpid3 (1,2,3,4,5,6);
+        CHECK(testpid3.kp == 1);
+        CHECK(testpid3.kd == 2);
+        CHECK(testpid3.ki == 3);
+        CHECK(testpid3.max_int == 4);
+        CHECK(testpid3.scale == 5);
+        CHECK(testpid3.max_output == 6);
+
+        yarp::dev::Pid testpid4 (1,2,3,4,5,6,7,8,9);
+        CHECK(testpid4.kp == 1);
+        CHECK(testpid4.kd == 2);
+        CHECK(testpid4.ki == 3);
+        CHECK(testpid4.max_int == 4);
+        CHECK(testpid4.scale == 5);
+        CHECK(testpid4.max_output == 6);
+        CHECK(testpid4.stiction_up_val == 7);
+        CHECK(testpid4.stiction_down_val == 8);
+        CHECK(testpid4.kff == 9);
     }
 
 }