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Orocos Real-Time Toolkit

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rtt: define some other useful types in the default toolkit
Janosch Machowinski (author)
Wed Nov 26 07:50:12 -0800 2008
Sylvain Joyeux (committer)
Fri Dec 19 07:31:38 -0800 2008
commit  d2b3831c2ffab7a923dd310f56ba3e302e5ea0af
tree    abca5b45ebc61b08578d2e6a28943e58ad71bdd8
parent  3824f6dccff6a8b804743589a8a4980d4e9af34f
orocos-rtt / tests / dev_test.cpp
100644 86 lines (62 sloc) 2.43 kb
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/***************************************************************************
  tag: Peter Soetens  Mon Jan 10 15:59:51 CET 2005  dev_test.cpp
 
                        dev_test.cpp -  description
                           -------------------
    begin                : Mon January 10 2005
    copyright            : (C) 2005 Peter Soetens
    email                : peter.soetens@mech.kuleuven.ac.be
 
 ***************************************************************************
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 ***************************************************************************/
 
 
 
#include "dev_test.hpp"
#include "FakeAnalogDevice.hpp"
#include "FakeDigitalDevice.hpp"
#include "dev/AnalogInput.hpp"
#include "dev/AnalogOutput.hpp"
#include "dev/DigitalInput.hpp"
#include "dev/DigitalOutput.hpp"
 
#include <unistd.h>
#include <iostream>
 
using namespace std;
 
// Registers the fixture into the 'registry'
CPPUNIT_TEST_SUITE_REGISTRATION( DevTest );
 
using namespace RTT;
 
void
DevTest::setUp()
{
}
 
 
void
DevTest::tearDown()
{
}
 
void DevTest::testClasses()
{
    DigitalInput din(true, false); // init, invert
    DigitalOutput dout(false); // init.
    AnalogInput ain(0,0);
    AnalogOutput aout(0,0);
 
 
    CPPUNIT_ASSERT( din.isOn() );
 
    CPPUNIT_ASSERT( dout.isOn() == false);
    dout.setBit(true);
    CPPUNIT_ASSERT( dout.isOn() == true);
    dout.setBit(false);
    CPPUNIT_ASSERT( dout.isOn() == false);
}
 
void DevTest::testNaming()
{
 
    FakeAnalogDevice fad;
    FakeDigitalDevice fdd;
 
    AnalogInInterface* aii = AnalogInInterface::nameserver.getObject("FakeAnalogDevice");
    AnalogOutInterface* aoi = AnalogOutInterface::nameserver.getObject("FakeAnalogDevice");
 
    DigitalInInterface* dii = DigitalInInterface::nameserver.getObject("FakeDigitalDevice");
    DigitalOutInterface* doi = DigitalOutInterface::nameserver.getObject("FakeDigitalDevice");
 
    CPPUNIT_ASSERT( aii );
    CPPUNIT_ASSERT( aoi );
    CPPUNIT_ASSERT( dii );
    CPPUNIT_ASSERT( doi );
 
}