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00001 /*************************************************************************** 00002 tag: Peter Soetens Mon Jun 26 13:26:02 CEST 2006 generictask_test.hpp 00003 00004 generictask_test.hpp - description 00005 ------------------- 00006 begin : Mon June 26 2006 00007 copyright : (C) 2006 Peter Soetens 00008 email : peter.soetens@fmtc.be 00009 00010 *************************************************************************** 00011 * * 00012 * This program is free software; you can redistribute it and/or modify * 00013 * it under the terms of the GNU General Public License as published by * 00014 * the Free Software Foundation; either version 2 of the License, or * 00015 * (at your option) any later version. * 00016 * * 00017 ***************************************************************************/ 00018 00019 00020 #ifndef GENERIC_TASK_H 00021 #define GENERIC_TASK_H 00022 00023 00024 #include <TaskContext.hpp> 00025 #include <string> 00026 00027 using namespace RTT; 00028 using namespace RTT::detail; 00029 00030 class Generic_TaskTest 00031 { 00032 public: 00033 TaskContext* tc; 00034 ActivityInterface* tsim; 00035 Service* createOperationCallerFactory(); 00036 00037 // ref/const-ref tests: 00038 double ret; 00039 double& m0r() { return ret; } 00040 const double& m0cr() { return ret; } 00041 00042 // test const std::string& argument for command_ds 00043 bool comstr(const std::string& cs) { return !cs.empty(); } 00044 00045 double m1r(double& a) { a = 2*a; return a; } 00046 double m1cr(const double& a) { return a; } 00047 00048 // plain argument tests: 00049 double m0() { return -d0(); } 00050 double m1(int i) { return -d1(i); } 00051 double m2(int i, double d) { return -d2(i,d); } 00052 double m3(int i, double d, bool c) { return -d3(i,d,c); } 00053 double m4(int i, double d, bool c, std::string s) { return -d4(i,d,c,s); } 00054 00055 double d0() const { return 1.0; } 00056 double d1(int i) const { return 2.0; } 00057 double d2(int i, double d) const { return 3.0; } 00058 double d3(int i, double d, bool c) const { return 4.0; } 00059 double d4(int i, double d, bool c, std::string s) const { return 5.0; } 00060 00061 bool assertBool( bool ); 00062 public: 00063 Generic_TaskTest(){ setUp(); }; 00064 ~Generic_TaskTest(){ tearDown(); }; 00065 00066 void setUp(); 00067 void tearDown(); 00068 00069 void testOperationCallersC(); 00070 void testRemoteOperationCaller(); 00071 void testAddOperationCaller(); 00072 void testCROperationCaller(); 00073 void testOperationCaller(); 00074 void testOperationCallerFromDS(); 00075 void testOperationCallerFactory(); 00076 void testDSOperationCaller(); 00077 }; 00078 00079 #endif