Better handle the testing of all the sensors

robotology · Mar 1, 2024 · 48a9a1e · 48a9a1e
1 parent 199d574
commit 48a9a1e
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Showing 2 changed files with 11 additions and 5 deletions.
diff --git a/src/imu/imu.cpp b/src/imu/imu.cpp
@@ -98,9 +98,14 @@ bool Imu::setup(yarp::os::Property& property)
     if(inputSensorsList->size() == 0 || inputSensorsList->get(0).asString() == "all")
     {
         ROBOTTESTINGFRAMEWORK_TEST_REPORT("Testing all the IMUs available...");
-        sensorsNamesList.addString("l_arm_ft");
-        sensorsNamesList.addString("r_arm_ft");
-        sensorsNamesList.addString("head_imu_0");
+
+        yarp::dev::IOrientationSensors* ior;
+        ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(MASclientDriver.view(ior), "Unable to open the orientation interface");
+        for(int sensorIndex = 0; sensorIndex < ior->getNrOfOrientationSensors(); sensorIndex++)
+        {
+            ior->getOrientationSensorName(sensorIndex, sensorName);
+            sensorsNamesList.addString(sensorName);
+        }    
     }
 
     else

diff --git a/suites/contexts/icub/test_imu.ini b/suites/contexts/icub/test_imu.ini
@@ -3,5 +3,6 @@ model                   model.urdf
 port                    /${robotname}/alljoints/inertials
 remoteControlBoards     ("torso", "head", "left_arm", "right_arm")
 axesNames               ("torso_pitch", "torso_roll", "torso_yaw", "neck_pitch", "neck_roll", "neck_yaw", "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw")
-sensorsList             ("all")
-maxError               0.1
+; sensorsList             ("head_imu_0", "l_arm_ft", "r_arm_ft")
+sensorsList ("all")
+maxError                0.1