Fix ControlBoardTorqueControlTest

robotology · Apr 17, 2024 · 6c3b5f9 · 6c3b5f9
1 parent a901e0f
commit 6c3b5f9
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Showing 2 changed files with 13 additions and 12 deletions.
diff --git a/tests/controlboard/ControlBoardPositionDirectControlTest.cc b/tests/controlboard/ControlBoardPositionDirectControlTest.cc
@@ -68,10 +68,6 @@ class ControlBoardPositionDirectFixture : public ::testing::Test
                 EXPECT_NE(gz::sim::kNullEntity, modelEntity);
                 model = gz::sim::Model(modelEntity);
 
-                std::vector<yarp::dev::gzyarp::ControlBoardDriver*> cbDrivers
-                    = gzyarp::testing::TestHelpers::getDevicesOfType<
-                        yarp::dev::gzyarp::ControlBoardDriver>();
-                ASSERT_EQ(cbDrivers.size(), 1);
                 auto devicesKeys = DeviceRegistry::getHandler()->getDevicesKeys();
                 std::cerr << "Number of Devices: " << devicesKeys.size() << std::endl;
                 auto cbKey = devicesKeys.at(0);
@@ -162,13 +158,7 @@ TEST_F(ControlBoardPositionDirectFixture, CheckPositionTrackingUsingPendulumMode
         Finalize();
 
     int modeSet{};
-
-    int nJoints{};
-    iPositionDirectControl->getAxes(&nJoints);
-    std::cerr << "Number of joints: " << nJoints << std::endl;
-
     ASSERT_TRUE(iControlMode->getControlMode(0, &modeSet));
-    std::cerr << "Control mode set: " << modeSet << std::endl;
     ASSERT_TRUE(modeSet == VOCAB_CM_POSITION_DIRECT);
 
     // Setup simulation server, this will call the post-update callbacks.

diff --git a/tests/controlboard/ControlBoardTorqueControlTest.cc b/tests/controlboard/ControlBoardTorqueControlTest.cc
@@ -1,18 +1,27 @@
 #include <DeviceRegistry.hh>
 
+#include <gtest/gtest-param-test.h>
 #include <gtest/gtest.h>
 
 #include <cmath>
 #include <iostream>
+#include <memory>
 #include <string>
 
+#include <gz/common/Console.hh>
+#include <gz/math/Vector3.hh>
+#include <gz/sim/Entity.hh>
+#include <gz/sim/EntityComponentManager.hh>
+#include <gz/sim/EventManager.hh>
 #include <gz/sim/Joint.hh>
 #include <gz/sim/Link.hh>
 #include <gz/sim/Model.hh>
 #include <gz/sim/TestFixture.hh>
+#include <gz/sim/Types.hh>
 #include <gz/sim/Util.hh>
 #include <gz/sim/World.hh>
 #include <gz/sim/components/JointForceCmd.hh>
+#include <sdf/Element.hh>
 
 #include <yarp/dev/IControlMode.h>
 #include <yarp/dev/ITorqueControl.h>
@@ -55,7 +64,10 @@ class ControlBoardTorqueControlFixture : public testing::TestWithParam<std::stri
                 EXPECT_NE(gz::sim::kNullEntity, modelEntity);
                 model = gz::sim::Model(modelEntity);
 
-                driver = gzyarp::DeviceRegistry::getHandler()->getDevice(deviceScopedName);
+                auto deviceKeys = gzyarp::DeviceRegistry::getHandler()->getDevicesKeys();
+                ASSERT_EQ(deviceKeys.size(), 1);
+                driver = gzyarp::DeviceRegistry::getHandler()->getDevice(deviceKeys[0]);
+
                 ASSERT_TRUE(driver != nullptr);
                 iTorqueControl = nullptr;
                 ASSERT_TRUE(driver->view(iTorqueControl));
@@ -95,7 +107,6 @@ class ControlBoardTorqueControlFixture : public testing::TestWithParam<std::stri
 
     // Get SDF model name from test parameter
     gz::sim::TestFixture testFixture;
-    std::string deviceScopedName = "model/single_pendulum/controlboard_plugin_device";
     double motorTorque{0.5};
     double linkMass{1};
     double linkLength{1.0};