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

#include "common.hh"

Include dependency graph for sensors-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;
  robot.sendSensorsCommand (Create::SENSOR_GROUP_0);
  robot.sendSensorsCommand (Create::SENSOR_REQUESTED_LEFT_VELOCITY);

  // Check sensor minimum - 1.
  Create::SensorPacket minS =
    static_cast<Create::SensorPacket> (Create::SENSOR_GROUP_0 - 1);
  CHECK_FAILURE
    (InvalidArgument,
     robot.sendSensorsCommand (minS));

  // Check sensor maximum + 1.
  Create::SensorPacket maxS =
    static_cast<Create::SensorPacket>
    (Create::SENSOR_REQUESTED_LEFT_VELOCITY + 1);
  CHECK_FAILURE
    (InvalidArgument,
     robot.sendSensorsCommand (maxS));

  return TEST_SUCCEED;
}

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