test.h

机器人仿真平台,和stage配合运行

/***************************************************************************
 * Desc: Test program for the Player C client
 * Author: Andrew Howard
 * Date: 23 May 2002
 # CVS: $Id: test.h,v 1.7.8.4 2003/05/23 21:23:43 inspectorg Exp $
 **************************************************************************/

#ifndef TEST_H
#define TEST_H

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "playerc.h"

// Message macros
#define TEST(msg) (1 ? printf(msg " ... "), fflush(stdout) : 0)
#define TEST1(msg, a) (1 ? printf(msg " ... ", a), fflush(stdout) : 0)
#define PASS() (1 ? printf("pass\n"), fflush(stdout) : 0)
#define FAIL() (1 ? printf("\033[41mfail\033[0m\n%s\n", playerc_error_str()), fflush(stdout) : 0)

// Basic test for BPS device.i
extern int test_bps(playerc_client_t *client, int index);

// Basic broadcast test
extern int test_broadcast(playerc_client_t *client, int index);

// Basic test for GPS device.i
extern int test_gps(playerc_client_t *client, int index);

// Basic laser test
extern int test_laser(playerc_client_t *client, int index);

// Basic localization test
extern int test_localize(playerc_client_t *client, int index);

// Basic test for position device.
extern int test_position(playerc_client_t *client, int index);

// Basic test for ptz device.
extern int test_ptz(playerc_client_t *client, int index);

// Basic test for sonar device.
extern int test_sonar(playerc_client_t *client, int index);

// Basic test for truth device.
extern int test_truth(playerc_client_t *client, int index);

// Basic vision test.
extern int test_vision(playerc_client_t *client, int index);

// Basic blobfinder test
extern int test_blobfinder(playerc_client_t *client, int index);

// Basic comms device test
extern int test_comms(playerc_client_t *client, int index);

// Basic test for the laser beacon device.
extern int test_fiducial(playerc_client_t *client, int index);

// Basic test for power device.
extern int test_power(playerc_client_t *client, int index);

// Basic test for wifi device.
extern int test_wifi(playerc_client_t *client, int index);

#endif // TEST_H