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

#include "common.hh"

Include dependency graph for wait-event-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;

  // Send valid commands.
  robot.sendWaitEventCommand (Create::EVENT_WHEEL_DROP);
  robot.sendWaitEventCommand (Create::EVENT_OI_MODE_PASSIVE);

  robot.sendWaitEventCommand (Create::EVENT_WHEEL_DROP,
                              Create::EVENT_NOT_OCCURRING);
  robot.sendWaitEventCommand (Create::EVENT_OI_MODE_PASSIVE,
                              Create::EVENT_NOT_OCCURRING);

  // Check event minimum - 1.
  Create::Event minE =
    static_cast<Create::Event> (Create::EVENT_WHEEL_DROP - 1);
  CHECK_FAILURE
    (InvalidArgument,
     robot.sendWaitEventCommand (minE));

  // Check event maximum + 1.
  Create::Event maxE =
    static_cast<Create::Event> (Create::EVENT_OI_MODE_PASSIVE + 1);
  CHECK_FAILURE
    (InvalidArgument,
     robot.sendWaitEventCommand (maxE));

  // Check event occurring minimum - 1.
  Create::EventState minO =
    static_cast<Create::EventState> (Create::EVENT_OCCURRING - 1);

  CHECK_FAILURE
    (InvalidArgument,
     robot.sendWaitEventCommand (Create::EVENT_WHEEL_DROP, minO));

  // Check event occurring maximum + 1.
  Create::EventState maxO =
    static_cast<Create::EventState> (Create::EVENT_NOT_OCCURRING + 1);

  CHECK_FAILURE
    (InvalidArgument,
     robot.sendWaitEventCommand (Create::EVENT_WHEEL_DROP, maxO));

  return TEST_SUCCEED;
}

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