/usr/src/rpm/BUILD/libirobot-create-0.1/tests/cliff-sensor-test.cc File Reference

#include "common.hh"

Include dependency graph for cliff-sensor-test.cc:

Functions
int	run_test (iRobot::Create robot, std::stringstream &stream)

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Function Documentation

int run_test	(	iRobot::Create	robot,
		std::stringstream &	stream
	)

{
  using namespace iRobot;

  // Cliff left.
  std::cerr << "Cliff left" << std::endl;
  CHECK_SENSOR_UCHAR (Create::SENSOR_CLIFF_LEFT, 0,
                      !!robot.cliffLeft ());
  CHECK_SENSOR_UCHAR (Create::SENSOR_CLIFF_LEFT, 1,
                      !robot.cliffLeft ());
  CHECK_SENSOR_UCHAR (Create::SENSOR_CLIFF_LEFT, 15,
                      !robot.cliffLeft ());

  // Cliff front left.
  std::cerr << "Cliff front left" << std::endl;
  CHECK_SENSOR_UCHAR (Create::SENSOR_CLIFF_FRONT_LEFT, 0,
                      !!robot.cliffFrontLeft ());
  CHECK_SENSOR_UCHAR (Create::SENSOR_CLIFF_FRONT_LEFT, 1,
                      !robot.cliffFrontLeft ());
  CHECK_SENSOR_UCHAR (Create::SENSOR_CLIFF_FRONT_LEFT, 15,
                      !robot.cliffFrontLeft ());

  // Cliff front right.
  std::cerr << "Cliff front right" << std::endl;
  CHECK_SENSOR_UCHAR (Create::SENSOR_CLIFF_FRONT_RIGHT, 0,
                      !!robot.cliffFrontRight ());
  CHECK_SENSOR_UCHAR (Create::SENSOR_CLIFF_FRONT_RIGHT, 1,
                      !robot.cliffFrontRight ());
  CHECK_SENSOR_UCHAR (Create::SENSOR_CLIFF_FRONT_RIGHT, 15,
                      !robot.cliffFrontRight ());

  // Cliff right
  std::cerr << "Cliff right" << std::endl;
  CHECK_SENSOR_UCHAR (Create::SENSOR_CLIFF_RIGHT, 0,
                      !!robot.cliffRight ());
  CHECK_SENSOR_UCHAR (Create::SENSOR_CLIFF_RIGHT, 1,
                      !robot.cliffRight ());
  CHECK_SENSOR_UCHAR (Create::SENSOR_CLIFF_RIGHT, 15,
                      !robot.cliffRight ());

  return TEST_SUCCEED;
}

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