robotology · Nicogene · May 9, 2024 · May 9, 2024
diff --git a/src/actionApplyForce.cpp b/src/actionApplyForce.cpp
@@ -44,7 +44,7 @@ execution ActionApplyForce::execute(const TestRepetitions& testrepetition)
    if(!ok)
     {
         addProblem(testrepetition,Severity::critical,"Unable to open ports applyforce",true);
-        return execution::stopexecution;
+        return BlockTestCore::execution::stopexecution;
     }
 
     yarp::os::Network::connect(localExtWrenchPort,remoteExtWrenchPort);
@@ -55,7 +55,7 @@ execution ActionApplyForce::execute(const TestRepetitions& testrepetition)
     if(tokenized.size()!=8)
     {
         addProblem(testrepetition,Severity::error,"Error in parameter number for applyForce",true);
-        return execution::stopexecution;
+        return BlockTestCore::execution::stopexecution;
     }
 
     yarp::os::Bottle cmd;
@@ -78,6 +78,6 @@ execution ActionApplyForce::execute(const TestRepetitions& testrepetition)
 
     extWrenchPort.interrupt();
     extWrenchPort.close();    
-    return execution::continueexecution;
+    return BlockTestCore::execution::continueexecution;
 }
 }
diff --git a/src/actionCanRead.cpp b/src/actionCanRead.cpp
@@ -52,7 +52,7 @@ execution ActionCanRead::execute(const TestRepetitions& testrepetition)
     {
         logStream << "Unable to find " << polyDriverTag_ <<" in the depot";
         addProblem(testrepetition, Severity::error, logStream.str(),true);
-        return execution::continueexecution;
+        return BlockTestCore::execution::continueexecution;
     }
     auto pdrPtr = pdr->second;
 
@@ -118,6 +118,6 @@ execution ActionCanRead::execute(const TestRepetitions& testrepetition)
 
     }
 
-    return execution::continueexecution;
+    return BlockTestCore::execution::continueexecution;
 }
 }
diff --git a/src/actionCanWrite.cpp b/src/actionCanWrite.cpp
@@ -49,7 +49,7 @@ execution ActionCanWrite::execute(const TestRepetitions& testrepetition)
     {
         logStream << "Unable to find " << polyDriverTag_ <<" in the depot";
         addProblem(testrepetition, Severity::error, logStream.str(),true);
-        return execution::continueexecution;
+        return BlockTestCore::execution::continueexecution;
     }
     auto pdrPtr = pdr->second;
 
@@ -108,6 +108,6 @@ execution ActionCanWrite::execute(const TestRepetitions& testrepetition)
 
     }
 
-    return execution::continueexecution;
+    return BlockTestCore::execution::continueexecution;
 }
 }
diff --git a/src/actionCheckComDistance.cpp b/src/actionCheckComDistance.cpp
@@ -55,7 +55,7 @@ execution ActionCheckComDistance::execute(const TestRepetitions&)
     if(error)
         addProblem(testrepetition,Severity::error);
 */
-    return execution::stopexecution;
+    return BlockTestCore::execution::stopexecution;
 }
 
 }
diff --git a/src/actionCheckJointPosition.cpp b/src/actionCheckJointPosition.cpp
@@ -46,14 +46,14 @@ execution ActionCheckJointPosition::execute(const TestRepetitions& testrepetitio
     if(!YarpActionDepotStart::polyDriverDepot_[wrapperPrefix_]->view(iencoders))
     {
         addProblem(testrepetition,Severity::error,"Unable to open encoder control mode interface 2",true);        
-        return execution::stopexecution;
+        return BlockTestCore::execution::stopexecution;
     }
 
     int nj{0};
     if(!iencoders->getAxes(&nj))
     {
         addProblem(testrepetition,Severity::error,"Unable to open encoder control mode interface 3",true);
-        return execution::stopexecution;;    
+        return BlockTestCore::execution::stopexecution;;    
     }       
 
     std::map<std::string, int> jointNames;
@@ -64,7 +64,7 @@ execution ActionCheckJointPosition::execute(const TestRepetitions& testrepetitio
     {
         TXLOG(Severity::error)<<"Joint not found:"<<jointname_<<std::endl;   
         addProblem(testrepetition,Severity::error,"Joint not found:",false);
-        return execution::stopexecution;;
+        return BlockTestCore::execution::stopexecution;;
     }
 
     std::this_thread::sleep_for(std::chrono::milliseconds(100)); 
@@ -85,7 +85,7 @@ execution ActionCheckJointPosition::execute(const TestRepetitions& testrepetitio
     {
         TXLOG(Severity::debug)<<"Joint position check value ok:"<<ref<<" expected:" <<expectedValue_<<" tolerance:"<<tolerance_ <<" name:"<<jointname_<<std::endl;   
     }
-    return execution::continueexecution;;
+    return BlockTestCore::execution::continueexecution;;
 }
 
 }
diff --git a/src/actionCheckPosition.cpp b/src/actionCheckPosition.cpp
@@ -61,34 +61,34 @@ execution ActionCheckPosition::execute(const TestRepetitions& testrepetition)
         addProblem(testrepetition,Severity::critical,"FBE readings should have 6 elements",false);
         fbePort.interrupt();
         fbePort.close();  
-        return execution::stopexecution;;
+        return BlockTestCore::execution::stopexecution;;
     }   
 
     TXLOG(Severity::debug)<<"FBE x:"<<coordList->get(0).asFloat64()<<" y:"<<coordList->get(1).asFloat64()<<" z:"<<coordList->get(2).asFloat64()<<std::endl;
 
-    execution error=execution::stopexecution;;
+    execution error=BlockTestCore::execution::stopexecution;;
     if(xminposition_&& std::abs(xminposition_)>std::abs(coordList->get(0).asFloat64()))
     {
         TXLOG(Severity::error)<<"FBE x not enough:"<<coordList->get(0).asFloat64()<<" desidered at least:"<<xminposition_<<std::endl;
-        error=execution::continueexecution;;
+        error=BlockTestCore::execution::continueexecution;;
     }
     if(yminposition_ &&  std::abs(yminposition_)>std::abs(coordList->get(1).asFloat64()))
     {
         TXLOG(Severity::error)<<"FBE y not enough:"<<coordList->get(1).asFloat64()<<" desidered at least:"<<yminposition_<<std::endl;
-        error=execution::continueexecution;;        
+        error=BlockTestCore::execution::continueexecution;;        
     }
     if(zminposition_ &&  std::abs(zminposition_)>std::abs(coordList->get(2).asFloat64()))
     {
         TXLOG(Severity::error)<<"FBE z not enough:"<<coordList->get(2).asFloat64()<<" desidered at least:"<<zminposition_<<std::endl;
-        error=execution::continueexecution;;        
+        error=BlockTestCore::execution::continueexecution;;        
     }
 
-    if(error==execution::stopexecution)
+    if(error==BlockTestCore::execution::stopexecution)
         addProblem(testrepetition,Severity::error,"FBE not enough",true);
 
     fbePort.interrupt();
     fbePort.close();  
-    return execution::continueexecution;;
+    return BlockTestCore::execution::continueexecution;;
 }
 
 }
diff --git a/src/actionCheckRobot.cpp b/src/actionCheckRobot.cpp
@@ -48,7 +48,7 @@ execution ActionCheckRobot::execute(const TestRepetitions& testrepetition)
     {
         addProblem(testrepetition,Severity::critical,"getAxes failed",true);
     }        
-    return execution::continueexecution;;
+    return BlockTestCore::execution::continueexecution;;
 }
 
 }
diff --git a/src/actionCheckVertical.cpp b/src/actionCheckVertical.cpp
@@ -43,13 +43,13 @@ execution ActionCheckVertical::execute(const TestRepetitions& testrepetition)
     if(!ok)
     {
         addProblem(testrepetition,Severity::critical,"Unable to open ports checkvertical",true);
-        return execution::stopexecution;;
+        return BlockTestCore::execution::stopexecution;;
     }
     ok=yarp::os::Network::connect(remoteImuPort.c_str(), localImuPort.c_str());
     if(!ok)
     {
         addProblem(testrepetition,Severity::critical,"Unable to connect to imu port",true);
-        return execution::stopexecution;;
+        return BlockTestCore::execution::stopexecution;;
     }
 
     // To check the robot is vertical, we do a simple test: we check if the z component of the
@@ -58,36 +58,36 @@ execution ActionCheckVertical::execute(const TestRepetitions& testrepetition)
     if(!imuReadings)
     {
         addProblem(testrepetition,Severity::critical,"Impossible to read accelerometer measurements",true);
-        return execution::stopexecution;;
+        return BlockTestCore::execution::stopexecution;;
     }
     if(imuReadings->size()<12)
     {
         TXLOG(Severity::critical)<<"IMU readings should have at least 12 elements current:"<<imuReadings->size()<<std::endl;
         addProblem(testrepetition,Severity::critical,"IMU readings should have at least 12 elements",false);
-        return execution::stopexecution;;        
+        return BlockTestCore::execution::stopexecution;;        
     }
 
     double gravityOnX = std::fabs((*imuReadings)[3]);
     double gravityOnY = std::fabs((*imuReadings)[4]);
     double gravityOnZ = std::fabs((*imuReadings)[5]);
 
-    execution error{execution::stopexecution};
+    execution error{BlockTestCore::execution::stopexecution};
     if(!(gravityOnX < gravityOnZ))
     {
         TXLOG(Severity::error)<<"Absolute gravity on x:"<<gravityOnX<< " is greater then on z:"<<gravityOnZ<<std::endl;
-        error=execution::continueexecution;;
+        error=BlockTestCore::execution::continueexecution;;
     }
     if(!(gravityOnY < gravityOnZ))
     {
         TXLOG(Severity::error)<<"Absolute gravity on y:"<<gravityOnY<< " is greater then on z:"<<gravityOnZ<<std::endl;
-        error=execution::continueexecution;
+        error=BlockTestCore::execution::continueexecution;
     }
 
-    if(error==execution::stopexecution)
+    if(error==BlockTestCore::execution::stopexecution)
         addProblem(testrepetition,Severity::error,"Absolute gravity",true);
 
     imuPort.interrupt();
     imuPort.close();
-    return execution::continueexecution;;
+    return BlockTestCore::execution::continueexecution;;
 }
 }
diff --git a/src/actionPolydriverClose.cpp b/src/actionPolydriverClose.cpp
@@ -39,13 +39,13 @@ execution ActionPolydriverClose::execute(const TestRepetitions&)
         TXLOG(Severity::info)<<"Close PolyDrive tag:"<<tag_<<std::endl;
         TestRepetitions rep{0,0};
         addProblem(rep, Severity::critical, "Polydriver failed to close tag:"+tag_,true);
-        return execution::continueexecution;
+        return BlockTestCore::execution::continueexecution;
     }
 
     it->second->close();
     YarpActionDepotStart::polyDriverDepot_.erase(it);
     TXLOG(Severity::info)<<"Close PolyDrive tag:"<<tag_<<std::endl;
-    return execution::continueexecution;
+    return BlockTestCore::execution::continueexecution;
 }
 
 

diff --git a/src/actionPolydriverOpener.cpp b/src/actionPolydriverOpener.cpp
@@ -46,7 +46,7 @@ execution ActionPolydriverOpener::execute(const TestRepetitions&)
         TestRepetitions rep{0,0};
         addProblem(rep, Severity::critical, "Polydriver failed to open tag:"+tag_,true);
     }
-    return execution::continueexecution;
+    return BlockTestCore::execution::continueexecution;
 }
 
 

diff --git a/src/actionPortClose.cpp b/src/actionPortClose.cpp
@@ -46,7 +46,7 @@ execution ActionPortClose::execute(const TestRepetitions& testrepetition)
     {
         logStream << "Unable to find " << portname_<<" in the port depot";
         addProblem(testrepetition, Severity::error, logStream.str(),true);
-        return execution::continueexecution;
+        return BlockTestCore::execution::continueexecution;
     }
     auto port_ptr = portIt->second;
 
@@ -64,5 +64,5 @@ execution ActionPortClose::execute(const TestRepetitions& testrepetition)
         addProblem(testrepetition, Severity::error, logStream.str(),true);
     }
 
-	return execution::continueexecution;
+	return BlockTestCore::execution::continueexecution;
 }
diff --git a/src/actionPortConnect.cpp b/src/actionPortConnect.cpp
@@ -39,15 +39,15 @@ execution ActionPortConnect::execute(const TestRepetitions& testrepetition)
 		stringstream logStream;
 		logStream << "Port not exists " << src_;
 		addProblem(testrepetition, Severity::error, logStream.str(),true);
-		return execution::continueexecution;
+		return BlockTestCore::execution::continueexecution;
 	}	
 	ok=Network::exists(dst_);
 	if(!ok)
 	{
 		stringstream logStream;
 		logStream << "Port not exists " << dst_;
 		addProblem(testrepetition, Severity::error, logStream.str(),true);
-		return execution::continueexecution;
+		return BlockTestCore::execution::continueexecution;
 	}
 
 	ok=Network::isValidPortName(src_);
@@ -57,7 +57,7 @@ execution ActionPortConnect::execute(const TestRepetitions& testrepetition)
 		stringstream logStream;
 		logStream << "Port not valid " << src_ << " -> " << dst_ << " with "<<crr_<<" carrier";
 		addProblem(testrepetition, Severity::error, logStream.str(),true);
-		return execution::continueexecution;
+		return BlockTestCore::execution::continueexecution;
 	}
 
 	ok &= Network::connect(src_, dst_, crr_);
@@ -67,5 +67,5 @@ execution ActionPortConnect::execute(const TestRepetitions& testrepetition)
 		logStream << "Unable to connect " << src_ << " -> " << dst_ << " with "<<crr_<<" carrier";
 		addProblem(testrepetition, Severity::error, logStream.str(),true);
 	}
-	return execution::continueexecution;
+	return BlockTestCore::execution::continueexecution;
 }
diff --git a/src/actionPortDisconnect.cpp b/src/actionPortDisconnect.cpp
@@ -40,5 +40,5 @@ execution ActionPortDisconnect::execute(const TestRepetitions& testrepetition)
 		logStream << "Unable to disconnect " << src_ << " -> " << dst_ ;
 		addProblem(testrepetition, Severity::critical, logStream.str(),true);
 	}
-	return execution::continueexecution;
+	return BlockTestCore::execution::continueexecution;
 }
diff --git a/src/actionPortOpen.cpp b/src/actionPortOpen.cpp
@@ -43,5 +43,5 @@ execution ActionPortOpen::execute(const TestRepetitions& testrepetition)
         addProblem(testrepetition, Severity::error, logStream.str(),true);
     }
 
-    return execution::continueexecution;
+    return BlockTestCore::execution::continueexecution;
 }
diff --git a/src/actionPortRead.cpp b/src/actionPortRead.cpp
@@ -38,7 +38,7 @@ execution ActionPortRead::execute(const TestRepetitions& testrepetition)
         stringstream logStream;
         logStream << "Unable to find " << portname_;
         addProblem(testrepetition, Severity::error, logStream.str(),true);
-        return execution::continueexecution;   
+        return BlockTestCore::execution::continueexecution;   
     }
 
     auto port=it;
@@ -49,16 +49,16 @@ execution ActionPortRead::execute(const TestRepetitions& testrepetition)
         stringstream logStream;
         logStream << "Unable to read " << portname_;
         addProblem(testrepetition, Severity::error, logStream.str(),true);
-        return execution::continueexecution;          
+        return BlockTestCore::execution::continueexecution;          
     }
 
     if(input.toString()!=value_)
     {
         stringstream logStream;
         logStream << "Read unexpected value " << portname_;
         addProblem(testrepetition, Severity::error, logStream.str(),true);
-        return execution::continueexecution;                  
+        return BlockTestCore::execution::continueexecution;                  
     }
 
-    return execution::continueexecution;
+    return BlockTestCore::execution::continueexecution;
 }
diff --git a/src/actionPortWrite.cpp b/src/actionPortWrite.cpp
@@ -38,7 +38,7 @@ execution ActionPortWrite::execute(const TestRepetitions& testrepetition)
         stringstream logStream;
         logStream << "Unable to find " << portname_;
         addProblem(testrepetition, Severity::error, logStream.str(),true);
-        return execution::continueexecution;   
+        return BlockTestCore::execution::continueexecution;   
     }
 
     auto port=it;
@@ -49,8 +49,8 @@ execution ActionPortWrite::execute(const TestRepetitions& testrepetition)
         stringstream logStream;
         logStream << "Unable to write " << portname_;
         addProblem(testrepetition, Severity::error, logStream.str(),true);
-        return execution::continueexecution;          
+        return BlockTestCore::execution::continueexecution;          
     }
 
-    return execution::continueexecution;
+    return BlockTestCore::execution::continueexecution;
 }
diff --git a/src/actionReset.cpp b/src/actionReset.cpp
@@ -56,7 +56,7 @@ execution ActionReset::execute(const TestRepetitions& testrepetition)
     yarp::os::SystemClock systemClock;
     systemClock.delay(1.0);
     clockClientPort.close();
-    return execution::continueexecution;;
+    return BlockTestCore::execution::continueexecution;;
 }
 
 }
diff --git a/src/actionResetPose.cpp b/src/actionResetPose.cpp
@@ -56,7 +56,7 @@ execution ActionResetPose::execute(const TestRepetitions& testrepetition)
     yarp::os::SystemClock systemClock;
     systemClock.delay(1.0);
     clockClientPort.close();
-    return execution::continueexecution;;
+    return BlockTestCore::execution::continueexecution;;
 }
 
 }