/usr/src/rpm/BUILD/libirobot-create-0.1/tests/led-command-test.cc File Reference

#include "common.hh"

Include dependency graph for led-command-test.cc:

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

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Function Documentation

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

{
  using namespace iRobot;

  // Test Mode.
  CHECK_FAILURE
    (CommandNotAvailable,
     robot.sendLedCommand (Create::LED_PLAY,
                           Create::LED_COLOR_RED,
                           Create::LED_INTENSITY_OFF));

  // Switch to full mode and test a command.
  robot.sendFullCommand ();
  robot.sendLedCommand (Create::LED_PLAY,
                        Create::LED_COLOR_RED,
                        Create::LED_INTENSITY_OFF);

  // Switch to safe mode for the rest of the test.
  robot.sendSafeCommand ();

  // Send valid commands (some bounds).
  robot.sendLedCommand (Create::LED_NONE,
                        Create::LED_COLOR_RED,
                        Create::LED_INTENSITY_OFF);
  robot.sendLedCommand (Create::LED_PLAY,
                        Create::LED_COLOR_GREEN,
                        Create::LED_INTENSITY_OFF);
  robot.sendLedCommand (Create::LED_ADVANCE,
                        Create::LED_COLOR_GREEN,
                        Create::LED_INTENSITY_FULL);
  robot.sendLedCommand (Create::LED_ALL,
                        Create::LED_COLOR_RED,
                        Create::LED_INTENSITY_FULL);

  // Test invalid command (out of bound).
  Create::Led l = static_cast<Create::Led> (342);

  CHECK_FAILURE
    (InvalidArgument,
     robot.sendLedCommand (l,
                           Create::LED_COLOR_GREEN,
                           Create::LED_INTENSITY_OFF));

  return TEST_SUCCEED;
}

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