Update of /cvsroot/playerstage/code/player/client_libs/libplayerc/test
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv965/test
Modified Files:
Makefile.am test.c
Added Files:
test_imu.c
Log Message:
Added support for IMU.
--- NEW FILE: test_imu.c ---
/***************************************************************************
* Desc: Tests for the IMU device
* Author: Radu Bogdan Rusu
* Date: 08th of September 2006
**************************************************************************/
#include "test.h"
#include "playerc.h"
// Basic IMU test
int test_imu (playerc_client_t *client, int index)
{
int t, i, j;
void *rdevice;
playerc_imu_t *device;
printf ("device [imu] index [%d]\n", index);
device = playerc_imu_create (client, index);
TEST ("subscribing (read)");
if (playerc_imu_subscribe (device, PLAYER_OPEN_MODE) == 0)
PASS ();
else
FAIL ();
for (t = 0; t < 10; t++)
{
TEST1 ("reading data (attempt %d)", t);
do
rdevice = playerc_client_read (client);
while (rdevice == client);
if (rdevice == device)
{
PASS ();
printf ("roll : [%f]\n"
"pitch : [%f]\n"
"yaw : [%f]\n",
device->pose.proll, device->pose.ppitch, device->pose.pyaw);
}
else
{
FAIL ();
break;
}
}
TEST ("resetting the orientation (global reset)...");
if (playerc_imu_reset_orientation (device, 2) < 0)
FAIL ();
else
{
sleep (3);
PASS ();
}
for (t = 0; t < 10; t++)
{
TEST1 ("reading data (attempt %d)", t);
do
rdevice = playerc_client_read (client);
while (rdevice == client);
if (rdevice == device)
{
PASS ();
printf ("roll : [%f]\n"
"pitch : [%f]\n"
"yaw : [%f]\n",
device->pose.proll, device->pose.ppitch, device->pose.pyaw);
}
else
{
FAIL ();
break;
}
}
TEST("unsubscribing");
if (playerc_imu_unsubscribe (device) == 0)
PASS ();
else
FAIL ();
playerc_imu_destroy (device);
return 0;
}
Index: test.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/client_libs/libplayerc/test/test.c,v
retrieving revision 1.45
retrieving revision 1.46
diff -C2 -d -r1.45 -r1.46
*** test.c 11 Apr 2006 15:40:31 -0000 1.45
--- test.c 11 Sep 2006 19:57:37 -0000 1.46
***************
*** 140,144 ****
test_rfid(client, client->devinfos[i].addr.index);
break;
!
// simulation device
case PLAYER_SIMULATION_CODE:
--- 140,149 ----
test_rfid(client, client->devinfos[i].addr.index);
break;
!
! // imu device
! case PLAYER_IMU_CODE:
! test_imu (client, client->devinfos[i].addr.index);
! break;
!
// simulation device
case PLAYER_SIMULATION_CODE:
Index: Makefile.am
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc/test/Makefile.am,v
retrieving revision 1.41
retrieving revision 1.42
diff -C2 -d -r1.41 -r1.42
*** Makefile.am 11 Apr 2006 15:40:31 -0000 1.41
--- Makefile.am 11 Sep 2006 19:57:37 -0000 1.42
***************
*** 29,33 ****
test_sonar.c \
test_rfid.c \
! test_wsn.c
#test_camera.c \
--- 29,34 ----
test_sonar.c \
test_rfid.c \
! test_wsn.c \
! test_imu.c
#test_camera.c \
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