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Improved vector handling in paramParserGenerator, tests and devices
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@randaz81
randaz81 committed Feb 26, 2024
1 parent 96a245c commit 252d593
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Showing 70 changed files with 1,432 additions and 419 deletions.
27 changes: 9 additions & 18 deletions src/devices/controlBoardRemapper/tests/controlBoardRemapper_t1_test.cpp
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Expand Up @@ -22,40 +22,31 @@ const char *fmcA_file_content = "device fakeMotionControl\n"
"[GENERAL]\n"
"Joints 2\n"
"\n"
"AxisName \"axisA1\" \"axisA2\" \n";
"AxisName (\"axisA1\" \"axisA2\") \n";

const char *fmcB_file_content = "device fakeMotionControl\n"
"[GENERAL]\n"
"Joints 3\n"
"\n"
"AxisName \"axisB1\" \"axisB2\" \"axisB3\"\n";
"AxisName (\"axisB1\" \"axisB2\" \"axisB3\") \n";

const char *fmcC_file_content = "device fakeMotionControl\n"
"[GENERAL]\n"
"Joints 4\n"
"\n"
"AxisName \"axisC1\" \"axisC2\" \"axisC3\" \"axisC4\" \n";
"AxisName (\"axisC1\" \"axisC2\" \"axisC3\" \"axisC4\") \n";

const char *wrapperA_file_content = "device controlBoard_nws_yarp\n"
"name /testRemapperRobot/a\n"
"period 0.01\n"
"networks (net_a)\n"
"joints 2\n"
"net_a 0 1 0 1\n";
"period 0.01\n";

const char *wrapperB_file_content = "device controlBoard_nws_yarp\n"
"name /testRemapperRobot/b\n"
"period 0.01\n"
"networks (net_b)\n"
"joints 3\n"
"net_b 0 2 0 2\n";
"period 0.01\n";

const char *wrapperC_file_content = "device controlBoard_nws_yarp\n"
"name /testRemapperRobot/c\n"
"period 0.01\n"
"networks (net_c)\n"
"joints 4\n"
"net_c 0 3 0 3\n";
"period 0.01\n";


static void checkRemapper(yarp::dev::PolyDriver & ddRemapper, int rand, size_t nrOfRemappedAxes)
Expand Down Expand Up @@ -220,7 +211,7 @@ TEST_CASE("dev::ControlBoardRemapperTest", "[yarp::dev]")
PolyDriverList pdList;
pdList.push(fmcbs[i],wrapperNetworks[i].c_str());

CHECK(iwrap->attachAll(pdList)); // controlBoard_nws_yarp attached successfully to the device
REQUIRE(iwrap->attachAll(pdList)); // controlBoard_nws_yarp attached successfully to the device
}

// Create a list containing all the fake controlboards
Expand Down Expand Up @@ -252,7 +243,7 @@ TEST_CASE("dev::ControlBoardRemapperTest", "[yarp::dev]")
REQUIRE(ddRemapperWN.view(imultwrapWN)); // interface for multiple wrapper with wrong names correctly opened
REQUIRE(imultwrapWN);

CHECK_FALSE(imultwrapWN->attachAll(fmcList)); // attachAll for controlboardremapper with wrong names successful
REQUIRE_FALSE(imultwrapWN->attachAll(fmcList)); // attachAll for controlboardremapper with wrong names successful

// Make sure that a controlboard in which attachAll is not successfull
// closes correctly
Expand All @@ -278,7 +269,7 @@ TEST_CASE("dev::ControlBoardRemapperTest", "[yarp::dev]")
REQUIRE(ddRemapper.view(imultwrap)); // interface for multiple wrapper correctly opened
REQUIRE(imultwrap);

CHECK(imultwrap->attachAll(fmcList)); // attachAll for controlboardremapper successful
REQUIRE(imultwrap->attachAll(fmcList)); // attachAll for controlboardremapper successful


// Test the controlboardremapper
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2 changes: 1 addition & 1 deletion src/devices/fake/fakeAnalogSensor/FakeAnalogSensor_ParamsParser.cpp
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Expand Up @@ -8,7 +8,7 @@
// This is an automatically generated file. Please do not edit it.
// It will be re-generated if the cmake flag ALLOW_DEVICE_PARAM_PARSER_GERNERATION is ON.

// Generated on: Mon Feb 19 16:27:58 2024
// Generated on: Mon Feb 26 23:24:44 2024


#include "FakeAnalogSensor_ParamsParser.h"
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2 changes: 1 addition & 1 deletion src/devices/fake/fakeAnalogSensor/FakeAnalogSensor_ParamsParser.h
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Expand Up @@ -8,7 +8,7 @@
// This is an automatically generated file. Please do not edit it.
// It will be re-generated if the cmake flag ALLOW_DEVICE_PARAM_PARSER_GERNERATION is ON.

// Generated on: Mon Feb 19 16:27:58 2024
// Generated on: Mon Feb 26 23:24:44 2024


#ifndef FAKEANALOGSENSOR_PARAMSPARSER_H
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2 changes: 1 addition & 1 deletion src/devices/fake/fakeBattery/FakeBattery_ParamsParser.cpp
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Expand Up @@ -8,7 +8,7 @@
// This is an automatically generated file. Please do not edit it.
// It will be re-generated if the cmake flag ALLOW_DEVICE_PARAM_PARSER_GERNERATION is ON.

// Generated on: Mon Feb 19 16:27:58 2024
// Generated on: Mon Feb 26 23:24:44 2024


#include "FakeBattery_ParamsParser.h"
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2 changes: 1 addition & 1 deletion src/devices/fake/fakeBattery/FakeBattery_ParamsParser.h
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Expand Up @@ -8,7 +8,7 @@
// This is an automatically generated file. Please do not edit it.
// It will be re-generated if the cmake flag ALLOW_DEVICE_PARAM_PARSER_GERNERATION is ON.

// Generated on: Mon Feb 19 16:27:58 2024
// Generated on: Mon Feb 26 23:24:44 2024


#ifndef FAKEBATTERY_PARAMSPARSER_H
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2 changes: 1 addition & 1 deletion src/devices/fake/fakeChatBotDevice/FakeChatBotDevice_ParamsParser.cpp
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Expand Up @@ -8,7 +8,7 @@
// This is an automatically generated file. Please do not edit it.
// It will be re-generated if the cmake flag ALLOW_DEVICE_PARAM_PARSER_GERNERATION is ON.

// Generated on: Mon Feb 19 16:27:58 2024
// Generated on: Mon Feb 26 23:24:43 2024


#include "FakeChatBotDevice_ParamsParser.h"
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2 changes: 1 addition & 1 deletion src/devices/fake/fakeChatBotDevice/FakeChatBotDevice_ParamsParser.h
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Expand Up @@ -8,7 +8,7 @@
// This is an automatically generated file. Please do not edit it.
// It will be re-generated if the cmake flag ALLOW_DEVICE_PARAM_PARSER_GERNERATION is ON.

// Generated on: Mon Feb 19 16:27:58 2024
// Generated on: Mon Feb 26 23:24:43 2024


#ifndef FAKECHATBOTDEVICE_PARAMSPARSER_H
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2 changes: 1 addition & 1 deletion src/devices/fake/fakeDepthCamera/FakeDepthCameraDriver_ParamsParser.cpp
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Expand Up @@ -8,7 +8,7 @@
// This is an automatically generated file. Please do not edit it.
// It will be re-generated if the cmake flag ALLOW_DEVICE_PARAM_PARSER_GERNERATION is ON.

// Generated on: Mon Feb 19 16:27:58 2024
// Generated on: Mon Feb 26 23:24:43 2024


#include "FakeDepthCameraDriver_ParamsParser.h"
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2 changes: 1 addition & 1 deletion src/devices/fake/fakeDepthCamera/FakeDepthCameraDriver_ParamsParser.h
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Expand Up @@ -8,7 +8,7 @@
// This is an automatically generated file. Please do not edit it.
// It will be re-generated if the cmake flag ALLOW_DEVICE_PARAM_PARSER_GERNERATION is ON.

// Generated on: Mon Feb 19 16:27:58 2024
// Generated on: Mon Feb 26 23:24:43 2024


#ifndef FAKEDEPTHCAMERADRIVER_PARAMSPARSER_H
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4 changes: 2 additions & 2 deletions src/devices/fake/fakeFrameGrabber/FakeFrameGrabber_ParamsParser.cpp
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Expand Up @@ -8,7 +8,7 @@
// This is an automatically generated file. Please do not edit it.
// It will be re-generated if the cmake flag ALLOW_DEVICE_PARAM_PARSER_GERNERATION is ON.

// Generated on: Mon Feb 19 16:28:00 2024
// Generated on: Mon Feb 26 23:24:46 2024


#include "FakeFrameGrabber_ParamsParser.h"
Expand Down Expand Up @@ -576,7 +576,7 @@ std::string FakeFrameGrabber_ParamsParser::getDocumentationOfDeviceParams()
doc = doc + std::string("'rectificationMatrix': Matrix that describes the lens' distortion\n");
doc = doc + std::string("\n");
doc = doc + std::string("Here are some examples of invocation command with yarpdev, with all params:\n");
doc = doc + " yarpdev --device fakeFrameGrabber --width 320 --height 240 --horizontalFov 1.0 --verticalFov 2.0 --fakeFrameGrabber_rpc_port /fakeFrameGrabber/rpc --mirror false --syncro false --topIsLow true --physFocalLength 3.0 --focalLengthX 4.0 --focalLengthY 5.0 --principalPointX 6.0 --principalPointY 7.0 --distortionModel FishEye --k1 8.0 --k2 9.0 --k3 10.0 --t1 11.0 --t2 12.0 --freq 0 --period 0 --mode [line] --src <optional_value> --add_timestamp false --add_noise false --bayer false --mono false --snr 0.5 --rectificationMatrix \" 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 \"\n";
doc = doc + " yarpdev --device fakeFrameGrabber --width 320 --height 240 --horizontalFov 1.0 --verticalFov 2.0 --fakeFrameGrabber_rpc_port /fakeFrameGrabber/rpc --mirror false --syncro false --topIsLow true --physFocalLength 3.0 --focalLengthX 4.0 --focalLengthY 5.0 --principalPointX 6.0 --principalPointY 7.0 --distortionModel FishEye --k1 8.0 --k2 9.0 --k3 10.0 --t1 11.0 --t2 12.0 --freq 0 --period 0 --mode [line] --src <optional_value> --add_timestamp false --add_noise false --bayer false --mono false --snr 0.5 --rectificationMatrix \" (1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0) \"\n";
doc = doc + std::string("Using only mandatory params:\n");
doc = doc + " yarpdev --device fakeFrameGrabber\n";
doc = doc + std::string("=============================================\n\n"); return doc;
Expand Down
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