From 9dd7ed0924e355876c0f30ab63a4f67d37eb45eb Mon Sep 17 00:00:00 2001
From: Francois Bleibel <fbleibel@gmail.com>
Date: Mon, 14 Jun 2010 17:12:03 +0900
Subject: [PATCH] Added two unit tests.
- signals dependency testing
- factory testing (needs some SOT shared libraries to work though)
---
unitTesting/CMakeLists.txt | 3 +-
unitTesting/test_depend.cpp | 159 +++++++++++++++++++++++++++++++++++
unitTesting/test_factory.cpp | 12 ++-
3 files changed, 171 insertions(+), 3 deletions(-)
create mode 100644 unitTesting/test_depend.cpp
diff --git a/unitTesting/CMakeLists.txt b/unitTesting/CMakeLists.txt
index be31ec95..58ec67bf 100644
--- a/unitTesting/CMakeLists.txt
+++ b/unitTesting/CMakeLists.txt
@@ -6,7 +6,8 @@
SET(tests
test_shell
test_pool
- test_depend)
+ test_depend
+ test_factory)
FOREACH(test_name ${tests})
SET(EXECUTABLE_NAME ${test_name})
diff --git a/unitTesting/test_depend.cpp b/unitTesting/test_depend.cpp
new file mode 100644
index 00000000..f8b10f59
--- /dev/null
+++ b/unitTesting/test_depend.cpp
@@ -0,0 +1,159 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet VISTA / IRISA, 2003
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: test_categorie.cc
+ * Project: Traces
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id: test_boost.cpp,v 1.1.1.1 2006-07-03 05:17:37 nmansard Exp $
+ *
+ * Description
+ * ============
+ *
+ * Test la classe CategorieTrace.
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+/* -------------------------------------------------------------------------- */
+/* --- INCLUDES ------------------------------------------------------------- */
+/* -------------------------------------------------------------------------- */
+// #include <sot/sotSignal.h>
+#include <dynamic-graph/signal.h>
+#include <dynamic-graph/signal-time-dependant.h>
+//#include <sot/TimeDependancy.h>
+#include <dynamic-graph/debug.h>
+#include <iostream>
+#include <string>
+
+using namespace std;
+
+
+
+
+template< class Res=double >
+class DummyClass
+{
+
+public:
+ std::string proname;
+ list< SignalTimeDependant<double,int>* > inputsig;
+ list< SignalTimeDependant<string,int>* > inputsigV;
+
+public:
+ DummyClass( const std::string& n ) : proname(n),res(),appel(0),timedata(0) {}
+
+ Res& fun( Res& res,int t)
+ {
+ appel++; timedata=t;
+
+ cout << "Inside " << proname << " -> " << this
+ << endl;
+ for( list< SignalTimeDependant<double,int>* >::iterator it=inputsig.begin();
+ it!=inputsig.end();++it )
+ {
+ cout << *(*it) << endl;
+ (*it)->access(timedata);
+ }
+ for( list< SignalTimeDependant<string,int>* >::iterator it=inputsigV.begin();
+ it!=inputsigV.end();++it )
+ { cout << *(*it) << endl; (*it)->access(timedata);}
+
+ return res=(*this)();
+ }
+
+ void add( SignalTimeDependant<double,int>& sig )
+ { inputsig.push_back(&sig); }
+ void add( SignalTimeDependant<string,int>& sig )
+ { inputsigV.push_back(&sig); }
+
+ Res operator() ( void );
+
+ Res res;
+ int appel;
+ int timedata;
+
+};
+
+template< class Res >
+Res DummyClass<Res>::operator() (void)
+{ return this->res; }
+
+template<>
+double DummyClass<double>::operator() (void)
+{
+ res=appel*timedata; return res;
+}
+template<>
+string DummyClass<string>::operator() (void)
+{
+ ostringstream oss;
+ oss << appel*timedata;
+ return oss.str();
+}
+
+
+int main( void )
+{
+ DummyClass<double> pro1("pro1"),pro3("pro3"),pro5("pro5");
+ DummyClass<string> pro2("pro2"),pro4("pro4"),pro6("pro6");
+
+ SignalTimeDependant<double,int> sig5("Sig5");
+ SignalTimeDependant<string,int> sig6("Sig6");
+
+ SignalTimeDependant<string,int> sig4(sig5,"Sig4");
+ SignalTimeDependant<string,int> sig2(sig4<<sig4<<sig4<<sig6,"Sig2");
+ SignalTimeDependant<double,int> sig3(sig2<<sig5<<sig6,"Sig3");
+ SignalTimeDependant<double,int> sig1( boost::bind(&DummyClass<double>::fun,&pro1,_1,_2),
+ sig2<<sig3,"Sig1");
+
+// cout << "--- Test Array ------ "<<endl;
+// sotSignalArray<int> tarr(12);
+// tarr<<sig3<<sig2;//+sig2+sig3;
+// dispArray(sig4<<sig2<<sig3);
+// dispArray(tarr);
+
+ sig2.setFunction( boost::bind(&DummyClass<string>::fun,&pro2,_1,_2) );
+ sig3.setFunction( boost::bind(&DummyClass<double>::fun,&pro3,_1,_2) );
+ sig4.setFunction( boost::bind(&DummyClass<string>::fun,&pro4,_1,_2) );
+ sig5.setFunction( boost::bind(&DummyClass<double>::fun,&pro5,_1,_2) );
+ sig6.setFunction( boost::bind(&DummyClass<string>::fun,&pro6,_1,_2) );
+
+ pro1.add(sig2);
+ pro1.add(sig3);
+ pro2.add(sig4);
+ pro2.add(sig4);
+ pro2.add(sig4);
+ pro3.add(sig2);
+ pro4.add(sig5);
+ pro2.add(sig6);
+ pro3.add(sig5);
+ pro3.add(sig6);
+
+ sig5.setDependancyType(TimeDependancy<int>::ALWAYS_READY);
+ sig6.setDependancyType(TimeDependancy<int>::BOOL_DEPENDANT);
+
+ sig6.setReady();
+
+ sig1.displayDependancies(cout)<<endl;
+
+ cout << "Needs update?"<< endl << sig1.needUpdate(2) << endl;
+ dgDEBUG(1) << "Access sig1(2) "<<endl;
+ sig1.access(2);
+ sig1.displayDependancies(cout)<<endl;
+ dgDEBUG(1) << "Access sig2(4) "<<endl;
+ sig2.access(4);
+ sig1.displayDependancies(cout)<<endl;
+ dgDEBUG(1) << "Access sig1(4) "<<endl;
+ sig1.access(4);
+ sig1.displayDependancies(cout)<<endl;
+
+ sig1.needUpdate(6);
+ sig1.needUpdate(6);
+
+ return 0;
+
+}
diff --git a/unitTesting/test_factory.cpp b/unitTesting/test_factory.cpp
index 70f53bfc..c471edf9 100644
--- a/unitTesting/test_factory.cpp
+++ b/unitTesting/test_factory.cpp
@@ -25,6 +25,7 @@
#include <string>
#include <iostream>
#include <cstdlib>
+#include <sstream>
#include <dynamic-graph/factory.h>
#include <dynamic-graph/entity.h>
@@ -96,7 +97,8 @@ if( NULL==dlib )
#endif
if( NULL==dlib )
{
- cerr << " Error dl"<<endl;
+ cout << "This test can only be run after the package StackOfTasks has been installed\n"
+ "Could not find sotGainAdaptive shared library" << endl;
#ifndef WIN32
cerr << dlerror() <<endl;
#else
@@ -120,7 +122,13 @@ if( NULL==dlib )
exit(0);
}
- Entity* gain = factory.newEntity("GainAdaptative","Gain");
+ Entity* gain = 0;
+ if ( !factory.existEntity("GainAdaptative") ) {
+ cout << "Could not find entity class 'GainAdaptative'" << endl;
+ exit(0);
+ }
+ else
+ gain = factory.newEntity("GainAdaptative","Gain");
gain->display(cout); cout << endl;
--
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