Merge pull request #206 from roboticslab-uc3m/fix-testCuiAbsolute

Fixed and updated: testCuiAbsolute app merged!

tests/testCuiAbsolute/testCuiAbsolute.cpp

@@ -1,25 +1,20 @@
-#include "gtest/gtest.h"
+#include "gtest/gtest.h"
 
 #include <cstdlib>
 #include <ios>
 #include <string>
 #include <sstream>
 #include <map>
 
-#include <yarp/os/Property.h>
-#include <yarp/os/Time.h>
+#include <yarp/os/all.h>
+#include <yarp/dev/all.h>
 
-#include <yarp/dev/PolyDriver.h>
-#include <yarp/dev/ControlBoardInterfaces.h>
-#include <yarp/dev/IControlLimits2.h>
-#include <yarp/dev/CanBusInterface.h>
-
-#include <ColorDebug.h>
+#include "ColorDebug.h"
 
 #include "ICanBusSharer.h"
 #include "ICuiAbsolute.h"
 
-#define CAN_ID 103 // ID of Cui Absolute encoder that you want to check...
+#define CAN_ID 126 // ID of Cui Absolute encoder that you want to check...
 
 namespace roboticslab
 {
@@ -37,9 +32,9 @@ class CuiAbsoluteTest : public testing::Test // -- inherit the Test class (gtest
     {
         // -- code here will execute just before the test ensues
 
-        yarp::os::Property canDeviceConf("(device CanBusHico) (canDevice /dev/can0) (canBitrate 1000000)");
+        yarp::os::Property canDeviceConf("(device CanBusPeak) (canDevice /dev/pcan3) (canBitrate 1000000)");
         bool ok = true;
-        ok &= canBusDevice.open(canDeviceConf);   // -- we introduce the configuration properties defined in property object (p) and them, we stard the device (HicoCAN)
+        ok &= canBusDevice.open(canDeviceConf);   // -- we introduce the configuration properties defined in property object (p) and them, we stard the device (CanBusPeak)
         ok &= canBusDevice.view(iCanBus);
         ok &= canBusDevice.view(iCanBufferFactory);
 
@@ -57,9 +52,11 @@ class CuiAbsoluteTest : public testing::Test // -- inherit the Test class (gtest
         std::stringstream strconf;
         strconf << "(device CuiAbsolute) (canId " << CAN_ID << ") (min 0) (max 0) (tr 1) (refAcceleration 0.0) (refSpeed 0.0)";
         CD_DEBUG("%s\n",strconf.str().c_str());
-        yarp::os::Property CuiAbsoluteConf (strconf.str().c_str());
 
-        ok &= canNodeDevice.open( CuiAbsoluteConf );   // -- we introduce the configuration properties defined ........
+        yarp::os::Property cuiAbsoluteConf (strconf.str().c_str());
+        yarp::os::Value v(&iCanBufferFactory, sizeof(iCanBufferFactory));
+        cuiAbsoluteConf.put("canBufferFactory", v);
+        ok &= canNodeDevice.open( cuiAbsoluteConf );   // -- we introduce the configuration properties defined ........
         if ( ! canNodeDevice.isValid() )
         {
             CD_ERROR("Bad device of CuiAbsolute :(\n");