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  • cberge/dynamic-graph
  • ostasse/dynamic-graph
  • gsaurel/dynamic-graph
  • stack-of-tasks/dynamic-graph
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tests/signal-time-dependent.cpp
View file @ 2e7a70d5
// Copyright 2010 Thomas Moulard. // Copyright 2010 Thomas Moulard.
// //
#include <dynamic-graph/signal-time-dependent.h>
#include <dynamic-graph/signal.h>
#include <boost/foreach.hpp> #include <boost/foreach.hpp>
#include <iostream>
#include <dynamic-graph/signal.h>
#include <dynamic-graph/signal-time-dependent.h>
#define BOOST_TEST_MODULE signal_time_dependent #define BOOST_TEST_MODULE signal_time_dependent
#include <boost/test/unit_test.hpp> #if BOOST_VERSION >= 105900
#include <boost/test/tools/output_test_stream.hpp>
#else
#include <boost/test/output_test_stream.hpp> #include <boost/test/output_test_stream.hpp>
#endif
#include <boost/test/unit_test.hpp>
using boost::test_tools::output_test_stream; using boost::test_tools::output_test_stream;
typedef dynamicgraph::SignalTimeDependent<double, int> sigDouble_t; typedef dynamicgraph::SignalTimeDependent<double, int> sigDouble_t;
typedef dynamicgraph::SignalTimeDependent<std::string, int> sigString_t; typedef dynamicgraph::SignalTimeDependent<std::string, int> sigString_t;
template<class T> template <class T>
class DummyClass class DummyClass {
{ public:
public:
std::string proname; std::string proname;
std::list<sigDouble_t*> inputsig; std::list<sigDouble_t *> inputsig;
std::list<sigString_t*> inputsigV; std::list<sigString_t *> inputsigV;
DummyClass (const std::string& n) explicit DummyClass(const std::string &n)
: proname (n), : proname(n), res(), call(), timedata() {}
res (),
call (),
timedata ()
{}
T& fun (T& res, int t) T &fun(T &res, int t) {
{
++call; ++call;
timedata=t; timedata = t;
BOOST_FOREACH (sigDouble_t* ptr, inputsig) BOOST_FOREACH (sigDouble_t *ptr, inputsig) ptr->access(timedata);
ptr->access(timedata);
BOOST_FOREACH (sigString_t* ptr, BOOST_FOREACH (sigString_t *ptr, inputsigV) ptr->access(timedata);
inputsigV)
ptr->access(timedata);
res = (*this) (); res = (*this)();
return res; return res;
} }
void add (sigDouble_t& sig) void add(sigDouble_t &sig) { inputsig.push_back(&sig); }
{ void add(sigString_t &sig) { inputsigV.push_back(&sig); }
inputsig.push_back (&sig);
}
void add (sigString_t& sig)
{
inputsigV.push_back (&sig);
}
T operator() (); T operator()();
T res; T res;
int call; int call;
int timedata; int timedata;
}; };
template<> template <>
double double DummyClass<double>::operator()() {
DummyClass<double>::operator() () res = call * timedata;
{
res=call * timedata;
return res; return res;
} }
template<> template <>
std::string std::string DummyClass<std::string>::operator()() {
DummyClass<std::string>::operator() ()
{
std::ostringstream oss; std::ostringstream oss;
oss << call * timedata; oss << call * timedata;
return oss.str (); return oss.str();
} }
template< class T > template <class T>
T DummyClass<T>::operator() () T DummyClass<T>::operator()() {
{
return this->res; return this->res;
} }
BOOST_AUTO_TEST_CASE (signaltimedependent) BOOST_AUTO_TEST_CASE(signaltimedependent) {
{ DummyClass<double> pro1("pro1"), pro3("pro3"), pro5("pro5");
DummyClass<double> pro1 ("pro1"), pro3 ("pro3"), pro5 ("pro5"); DummyClass<std::string> pro2("pro2"), pro4("pro4"), pro6("pro6");
DummyClass<std::string> pro2 ("pro2"), pro4 ("pro4"), pro6 ("pro6");
sigDouble_t sig5 ("Sig5"); sigDouble_t sig5("Sig5");
sigString_t sig6 ("Sig6"); sigString_t sig6("Sig6");
sigString_t sig4(sig5, "Sig4"); sigString_t sig4(sig5, "Sig4");
sigString_t sig2(sig4 << sig4 << sig4 << sig6, "Sig2"); sigString_t sig2(sig4 << sig4 << sig4 << sig6, "Sig2");
sigDouble_t sig3(sig2 << sig5 << sig6, "Sig3"); sigDouble_t sig3(sig2 << sig5 << sig6, "Sig3");
sigDouble_t sig1 sigDouble_t sig1(boost::bind(&DummyClass<double>::fun, &pro1, _1, _2),
(boost::bind (&DummyClass<double>::fun, &pro1, _1, _2), sig2 << sig3, "Sig1");
sig2 << sig3, "Sig1"); sigDouble_t sig7("Sig7");
sig2.setFunction (boost::bind (&DummyClass<std::string>::fun,&pro2, _1, _2)); sig2.setFunction(boost::bind(&DummyClass<std::string>::fun, &pro2, _1, _2));
sig3.setFunction (boost::bind (&DummyClass<double>::fun,&pro3, _1, _2)); sig3.setFunction(boost::bind(&DummyClass<double>::fun, &pro3, _1, _2));
sig4.setFunction (boost::bind (&DummyClass<std::string>::fun,&pro4, _1, _2)); sig4.setFunction(boost::bind(&DummyClass<std::string>::fun, &pro4, _1, _2));
sig5.setFunction (boost::bind (&DummyClass<double>::fun,&pro5, _1, _2)); sig5.setFunction(boost::bind(&DummyClass<double>::fun, &pro5, _1, _2));
sig6.setFunction (boost::bind (&DummyClass<std::string>::fun,&pro6, _1, _2)); sig6.setFunction(boost::bind(&DummyClass<std::string>::fun, &pro6, _1, _2));
pro1.add(sig2); pro1.add(sig2);
pro1.add(sig3); pro1.add(sig3);
...@@ -118,127 +100,141 @@ BOOST_AUTO_TEST_CASE (signaltimedependent) ...@@ -118,127 +100,141 @@ BOOST_AUTO_TEST_CASE (signaltimedependent)
pro3.add(sig5); pro3.add(sig5);
pro3.add(sig6); pro3.add(sig6);
sig5.setDependencyType (dynamicgraph::TimeDependency<int>::ALWAYS_READY); sig5.setDependencyType(dynamicgraph::TimeDependency<int>::ALWAYS_READY);
sig6.setDependencyType (dynamicgraph::TimeDependency<int>::BOOL_DEPENDENT); sig6.setDependencyType(dynamicgraph::TimeDependency<int>::BOOL_DEPENDENT);
sig5.setPeriodTime(3);
assert(sig5.getPeriodTime() == 3);
sig6.setReady(); sig6.setReady();
{ {
output_test_stream output; output_test_stream output;
sig1.displayDependencies (output); sig1.displayDependencies(output);
BOOST_CHECK (output.is_equal BOOST_CHECK(
("-- Sig:Sig1 (Type Fun) (t=0 (/1) )\n" output.is_equal("-- Sig:Sig1 (Type Fun) (t=0 (/1) )\n"
" |-- Sig:Sig3 (Type Fun) (t=0 (/1) )\n" " |-- Sig:Sig3 (Type Fun) (t=0 (/1) )\n"
" | |-- Sig:Sig6 (Type Fun) (ready=TRUE)\n" " | |-- Sig:Sig6 (Type Fun) (ready=TRUE)\n"
" | |-- Sig:Sig5 (Type Fun) (A)\n" " | |-- Sig:Sig5 (Type Fun) (A)\n"
" | `-- Sig:Sig2 (Type Fun) (t=0 (/1) )\n" " | `-- Sig:Sig2 (Type Fun) (t=0 (/1) )\n"
" | |-- Sig:Sig6 (Type Fun) (ready=TRUE)\n" " | |-- Sig:Sig6 (Type Fun) (ready=TRUE)\n"
" | |-- Sig:Sig4 (Type Fun) (t=0 (/1) )\n" " | |-- Sig:Sig4 (Type Fun) (t=0 (/1) )\n"
" | | `-- Sig:Sig5 (Type Fun) (A)\n" " | | `-- Sig:Sig5 (Type Fun) (A)\n"
" | |-- Sig:Sig4 (Type Fun) (t=0 (/1) )\n" " | |-- Sig:Sig4 (Type Fun) (t=0 (/1) )\n"
" | | `-- Sig:Sig5 (Type Fun) (A)\n" " | | `-- Sig:Sig5 (Type Fun) (A)\n"
" | `-- Sig:Sig4 (Type Fun) (t=0 (/1) )\n" " | `-- Sig:Sig4 (Type Fun) (t=0 (/1) )\n"
" | `-- Sig:Sig5 (Type Fun) (A)\n" " | `-- Sig:Sig5 (Type Fun) (A)\n"
" `-- Sig:Sig2 (Type Fun) (t=0 (/1) )\n" " `-- Sig:Sig2 (Type Fun) (t=0 (/1) )\n"
" |-- Sig:Sig6 (Type Fun) (ready=TRUE)\n" " |-- Sig:Sig6 (Type Fun) (ready=TRUE)\n"
" |-- Sig:Sig4 (Type Fun) (t=0 (/1) )\n" " |-- Sig:Sig4 (Type Fun) (t=0 (/1) )\n"
" | `-- Sig:Sig5 (Type Fun) (A)\n" " | `-- Sig:Sig5 (Type Fun) (A)\n"
" |-- Sig:Sig4 (Type Fun) (t=0 (/1) )\n" " |-- Sig:Sig4 (Type Fun) (t=0 (/1) )\n"
" | `-- Sig:Sig5 (Type Fun) (A)\n" " | `-- Sig:Sig5 (Type Fun) (A)\n"
" `-- Sig:Sig4 (Type Fun) (t=0 (/1) )\n" " `-- Sig:Sig4 (Type Fun) (t=0 (/1) )\n"
" `-- Sig:Sig5 (Type Fun) (A)" " `-- Sig:Sig5 (Type Fun) (A)"));
));
} }
BOOST_CHECK (sig1.needUpdate (2)); BOOST_CHECK(sig1.needUpdate(2));
sig1.access (2); sig1.access(2);
{ {
output_test_stream output; output_test_stream output;
sig1.displayDependencies (output); sig1.displayDependencies(output);
BOOST_CHECK (output.is_equal BOOST_CHECK(
( output.is_equal("-- Sig:Sig1 (Type Fun) (t=2 (/1) )\n"
"-- Sig:Sig1 (Type Fun) (t=2 (/1) )\n" " |-- Sig:Sig3 (Type Fun) (t=2 (/1) )\n"
" |-- Sig:Sig3 (Type Fun) (t=2 (/1) )\n" " | |-- Sig:Sig6 (Type Fun) (ready=FALSE)\n"
" | |-- Sig:Sig6 (Type Fun) (ready=FALSE)\n" " | |-- Sig:Sig5 (Type Fun) (A)\n"
" | |-- Sig:Sig5 (Type Fun) (A)\n" " | `-- Sig:Sig2 (Type Fun) (t=2 (/1) )\n"
" | `-- Sig:Sig2 (Type Fun) (t=2 (/1) )\n" " | |-- Sig:Sig6 (Type Fun) (ready=FALSE)\n"
" | |-- Sig:Sig6 (Type Fun) (ready=FALSE)\n" " | |-- Sig:Sig4 (Type Fun) (t=2 (/1) )\n"
" | |-- Sig:Sig4 (Type Fun) (t=2 (/1) )\n" " | | `-- Sig:Sig5 (Type Fun) (A)\n"
" | | `-- Sig:Sig5 (Type Fun) (A)\n" " | |-- Sig:Sig4 (Type Fun) (t=2 (/1) )\n"
" | |-- Sig:Sig4 (Type Fun) (t=2 (/1) )\n" " | | `-- Sig:Sig5 (Type Fun) (A)\n"
" | | `-- Sig:Sig5 (Type Fun) (A)\n" " | `-- Sig:Sig4 (Type Fun) (t=2 (/1) )\n"
" | `-- Sig:Sig4 (Type Fun) (t=2 (/1) )\n" " | `-- Sig:Sig5 (Type Fun) (A)\n"
" | `-- Sig:Sig5 (Type Fun) (A)\n" " `-- Sig:Sig2 (Type Fun) (t=2 (/1) )\n"
" `-- Sig:Sig2 (Type Fun) (t=2 (/1) )\n" " |-- Sig:Sig6 (Type Fun) (ready=FALSE)\n"
" |-- Sig:Sig6 (Type Fun) (ready=FALSE)\n" " |-- Sig:Sig4 (Type Fun) (t=2 (/1) )\n"
" |-- Sig:Sig4 (Type Fun) (t=2 (/1) )\n" " | `-- Sig:Sig5 (Type Fun) (A)\n"
" | `-- Sig:Sig5 (Type Fun) (A)\n" " |-- Sig:Sig4 (Type Fun) (t=2 (/1) )\n"
" |-- Sig:Sig4 (Type Fun) (t=2 (/1) )\n" " | `-- Sig:Sig5 (Type Fun) (A)\n"
" | `-- Sig:Sig5 (Type Fun) (A)\n" " `-- Sig:Sig4 (Type Fun) (t=2 (/1) )\n"
" `-- Sig:Sig4 (Type Fun) (t=2 (/1) )\n" " `-- Sig:Sig5 (Type Fun) (A)"));
" `-- Sig:Sig5 (Type Fun) (A)"
));
} }
sig2.access (4); sig2.access(4);
{ {
output_test_stream output; output_test_stream output;
sig1.displayDependencies (output); sig1.displayDependencies(output);
BOOST_CHECK (output.is_equal BOOST_CHECK(
( output.is_equal("-- Sig:Sig1 (Type Fun) (t=2 (/1) )\n"
"-- Sig:Sig1 (Type Fun) (t=2 (/1) )\n" " |-- Sig:Sig3 (Type Fun) (t=2 (/1) )\n"
" |-- Sig:Sig3 (Type Fun) (t=2 (/1) )\n" " | |-- Sig:Sig6 (Type Fun) (ready=FALSE)\n"
" | |-- Sig:Sig6 (Type Fun) (ready=FALSE)\n" " | |-- Sig:Sig5 (Type Fun) (A)\n"
" | |-- Sig:Sig5 (Type Fun) (A)\n" " | `-- Sig:Sig2 (Type Fun) (t=4 (/1) )\n"
" | `-- Sig:Sig2 (Type Fun) (t=4 (/1) )\n" " | |-- Sig:Sig6 (Type Fun) (ready=FALSE)\n"
" | |-- Sig:Sig6 (Type Fun) (ready=FALSE)\n" " | |-- Sig:Sig4 (Type Fun) (t=4 (/1) )\n"
" | |-- Sig:Sig4 (Type Fun) (t=4 (/1) )\n" " | | `-- Sig:Sig5 (Type Fun) (A)\n"
" | | `-- Sig:Sig5 (Type Fun) (A)\n" " | |-- Sig:Sig4 (Type Fun) (t=4 (/1) )\n"
" | |-- Sig:Sig4 (Type Fun) (t=4 (/1) )\n" " | | `-- Sig:Sig5 (Type Fun) (A)\n"
" | | `-- Sig:Sig5 (Type Fun) (A)\n" " | `-- Sig:Sig4 (Type Fun) (t=4 (/1) )\n"
" | `-- Sig:Sig4 (Type Fun) (t=4 (/1) )\n" " | `-- Sig:Sig5 (Type Fun) (A)\n"
" | `-- Sig:Sig5 (Type Fun) (A)\n" " `-- Sig:Sig2 (Type Fun) (t=4 (/1) )\n"
" `-- Sig:Sig2 (Type Fun) (t=4 (/1) )\n" " |-- Sig:Sig6 (Type Fun) (ready=FALSE)\n"
" |-- Sig:Sig6 (Type Fun) (ready=FALSE)\n" " |-- Sig:Sig4 (Type Fun) (t=4 (/1) )\n"
" |-- Sig:Sig4 (Type Fun) (t=4 (/1) )\n" " | `-- Sig:Sig5 (Type Fun) (A)\n"
" | `-- Sig:Sig5 (Type Fun) (A)\n" " |-- Sig:Sig4 (Type Fun) (t=4 (/1) )\n"
" |-- Sig:Sig4 (Type Fun) (t=4 (/1) )\n" " | `-- Sig:Sig5 (Type Fun) (A)\n"
" | `-- Sig:Sig5 (Type Fun) (A)\n" " `-- Sig:Sig4 (Type Fun) (t=4 (/1) )\n"
" `-- Sig:Sig4 (Type Fun) (t=4 (/1) )\n" " `-- Sig:Sig5 (Type Fun) (A)"));
" `-- Sig:Sig5 (Type Fun) (A)"
));
} }
sig1.access (4); sig1.access(4);
{ {
output_test_stream output; output_test_stream output;
sig1.displayDependencies (output); sig1.displayDependencies(output);
BOOST_CHECK (output.is_equal BOOST_CHECK(
( output.is_equal("-- Sig:Sig1 (Type Fun) (t=4 (/1) )\n"
"-- Sig:Sig1 (Type Fun) (t=4 (/1) )\n" " |-- Sig:Sig3 (Type Fun) (t=4 (/1) )\n"
" |-- Sig:Sig3 (Type Fun) (t=4 (/1) )\n" " | |-- Sig:Sig6 (Type Fun) (ready=FALSE)\n"
" | |-- Sig:Sig6 (Type Fun) (ready=FALSE)\n" " | |-- Sig:Sig5 (Type Fun) (A)\n"
" | |-- Sig:Sig5 (Type Fun) (A)\n" " | `-- Sig:Sig2 (Type Fun) (t=4 (/1) )\n"
" | `-- Sig:Sig2 (Type Fun) (t=4 (/1) )\n" " | |-- Sig:Sig6 (Type Fun) (ready=FALSE)\n"
" | |-- Sig:Sig6 (Type Fun) (ready=FALSE)\n" " | |-- Sig:Sig4 (Type Fun) (t=4 (/1) )\n"
" | |-- Sig:Sig4 (Type Fun) (t=4 (/1) )\n" " | | `-- Sig:Sig5 (Type Fun) (A)\n"
" | | `-- Sig:Sig5 (Type Fun) (A)\n" " | |-- Sig:Sig4 (Type Fun) (t=4 (/1) )\n"
" | |-- Sig:Sig4 (Type Fun) (t=4 (/1) )\n" " | | `-- Sig:Sig5 (Type Fun) (A)\n"
" | | `-- Sig:Sig5 (Type Fun) (A)\n" " | `-- Sig:Sig4 (Type Fun) (t=4 (/1) )\n"
" | `-- Sig:Sig4 (Type Fun) (t=4 (/1) )\n" " | `-- Sig:Sig5 (Type Fun) (A)\n"
" | `-- Sig:Sig5 (Type Fun) (A)\n" " `-- Sig:Sig2 (Type Fun) (t=4 (/1) )\n"
" `-- Sig:Sig2 (Type Fun) (t=4 (/1) )\n" " |-- Sig:Sig6 (Type Fun) (ready=FALSE)\n"
" |-- Sig:Sig6 (Type Fun) (ready=FALSE)\n" " |-- Sig:Sig4 (Type Fun) (t=4 (/1) )\n"
" |-- Sig:Sig4 (Type Fun) (t=4 (/1) )\n" " | `-- Sig:Sig5 (Type Fun) (A)\n"
" | `-- Sig:Sig5 (Type Fun) (A)\n" " |-- Sig:Sig4 (Type Fun) (t=4 (/1) )\n"
" |-- Sig:Sig4 (Type Fun) (t=4 (/1) )\n" " | `-- Sig:Sig5 (Type Fun) (A)\n"
" | `-- Sig:Sig5 (Type Fun) (A)\n" " `-- Sig:Sig4 (Type Fun) (t=4 (/1) )\n"
" `-- Sig:Sig4 (Type Fun) (t=4 (/1) )\n" " `-- Sig:Sig5 (Type Fun) (A)"));
" `-- Sig:Sig5 (Type Fun) (A)"
));
} }
sig1.needUpdate (6); sig1.needUpdate(6);
sig1.needUpdate (6); sig1.needUpdate(6);
output_test_stream output;
sig1.writeGraph(output);
BOOST_CHECK(output.is_equal(""));
sig1.removeDependency(sig3);
BOOST_CHECK(true);
const double &avalue = sig1(6);
output << avalue;
BOOST_CHECK(true);
/// Verify check compatibility
try {
sig1.checkCompatibility();
}
// catch(double e)
catch (...) {
std::cout << "Message: test \n";
}
BOOST_CHECK(true);
} }
tests/test-mt.cpp 0 → 100644
View file @ 2e7a70d5
/* Copyright 2019, LAAS-CNRS
*
* Olivier Stasse
*
*/
#include <unistd.h>
#include <dynamic-graph/process-list.hh>
#include <fstream>
#include <iostream>
#include <sstream>
#define BOOST_TEST_MODULE debug - trace
#if BOOST_VERSION >= 105900
#include <boost/test/tools/output_test_stream.hpp>
#else
#include <boost/test/output_test_stream.hpp>
#endif
#include <boost/test/unit_test.hpp>
using boost::test_tools::output_test_stream;
BOOST_AUTO_TEST_CASE(testMt) {
dynamicgraph::CPU::System aSystem;
// create and open a character archive for output
std::ofstream ofs("cpu_state.dat");
boost::archive::text_oarchive oa(ofs);
oa << aSystem;
for (unsigned int i = 0; i < 10; i++) {
usleep(100000);
aSystem.readProcStat();
}
}
tests/value.cpp
View file @ 2e7a70d5
// Copyright 2011 Florent Lamiraux, Thomas Moulard. // Copyright 2011 Florent Lamiraux, Thomas Moulard.
// //
#include <iostream>
#include "dynamic-graph/value.h" #include "dynamic-graph/value.h"
#include <dynamic-graph/exception-factory.h>
#include <iostream>
#define BOOST_TEST_MODULE value #define BOOST_TEST_MODULE value
#include <boost/test/unit_test.hpp> #include <boost/version.hpp>
#if BOOST_VERSION >= 105900
#include <boost/test/tools/output_test_stream.hpp>
#else
#include <boost/test/output_test_stream.hpp> #include <boost/test/output_test_stream.hpp>
#endif
#include <boost/test/unit_test.hpp>
using boost::test_tools::output_test_stream; using boost::test_tools::output_test_stream;
BOOST_AUTO_TEST_CASE (value_string) namespace dg = dynamicgraph;
{
using dynamicgraph::command::Value; BOOST_AUTO_TEST_CASE(value_none) {
using dg::command::Value;
Value value1;
Value value(value1);
// Similar to NaN != NaN
BOOST_CHECK(!(value1 == value));
{
output_test_stream output;
output << value1;
BOOST_CHECK(output.is_equal("Type=unknown, value="));
}
}
BOOST_AUTO_TEST_CASE(value_bool) {
using dg::command::Value;
bool abool1(false);
Value value1(abool1);
Value value = value1;
BOOST_CHECK(value1 == value);
{
output_test_stream output;
output << value1;
BOOST_CHECK(output.is_equal("Type=bool, value=0"));
}
{
output_test_stream output;
output << value;
BOOST_CHECK(output.is_equal("Type=bool, value=0"));
}
}
BOOST_AUTO_TEST_CASE(value_exceptions) {
using dg::command::Value;
Value value1;
dg::command::EitherType anet(value1);
output_test_stream output, output2;
// Check if the exception is working when calling intValue
// while we are having a none.
bool res = false;
try {
int aInt(anet);
aInt++; // silence unused variable warnings to have a stable release in the
// ros buildfarm
} catch (const dg::ExceptionAbstract &aea) {
output << aea.getExceptionName();
output2 << aea.what();
res = (aea.getCode() == dg::ExceptionAbstract::TOOLS);
}
BOOST_CHECK(res);
BOOST_CHECK(output.is_equal("Abstract"));
BOOST_CHECK(output2.is_equal("value is not an int"));
// Check if the exception is working when calling boolValue
// while we are having a none.
res = false;
try {
bool abool(anet);
abool = !abool; // silence unused variable warnings to have a stable
// release in the ros buildfarm
} catch (const dg::ExceptionAbstract &aea) {
res = (aea.getCode() == dg::ExceptionAbstract::TOOLS);
}
BOOST_CHECK(res);
// Check if the exception is working when calling unsignedintValue
// while we are having a none.
res = false;
try {
unsigned int aint(anet);
aint++; // silence unused variable warnings to have a stable release in the
// ros buildfarm
} catch (const dg::ExceptionAbstract &aea) {
res = (aea.getCode() == dg::ExceptionAbstract::TOOLS);
}
BOOST_CHECK(res);
// Check if the exception is working when calling doubleValue
// while we are having a none.
res = false;
try {
double adouble(anet);
adouble++; // silence unused variable warnings to have a stable release in
// the ros buildfarm
} catch (const dg::ExceptionAbstract &aea) {
res = (aea.getCode() == dg::ExceptionAbstract::TOOLS);
}
BOOST_CHECK(res);
// Check if the exception is working when calling floatValue
// while we are having a none.
res = false;
try {
float afloat(anet);
afloat++; // silence unused variable warnings to have a stable release in
// the ros buildfarm
} catch (const dg::ExceptionAbstract &aea) {
res = (aea.getCode() == dg::ExceptionAbstract::TOOLS);
}
BOOST_CHECK(res);
// Check if the exception is working when calling stringValue
// while we are having a none.
res = false;
try {
std::string astring(anet);
} catch (const dg::ExceptionAbstract &aea) {
res = (aea.getCode() == dg::ExceptionAbstract::TOOLS);
}
BOOST_CHECK(res);
// Check if the exception is working when calling vectorValue
// while we are having a none.
res = false;
try {
dg::Vector avector;
avector = anet;
} catch (const dg::ExceptionAbstract &aea) {
res = (aea.getCode() == dg::ExceptionAbstract::TOOLS);
}
BOOST_CHECK(res);
// Check if the exception is working when calling matrixXdValue
// while we are having a none.
res = false;
try {
Eigen::MatrixXd amatrixXd;
amatrixXd = anet;
} catch (const dg::ExceptionAbstract &aea) {
res = (aea.getCode() == dg::ExceptionAbstract::TOOLS);
}
BOOST_CHECK(res);
// Check if the exception is working when calling matrix4dValue
// while we are having a none.
res = false;
try {
Eigen::Matrix4d amatrix4d;
amatrix4d = anet;
} catch (const dg::ExceptionAbstract &aea) {
res = (aea.getCode() == dg::ExceptionAbstract::TOOLS);
}
BOOST_CHECK(res);
}
BOOST_AUTO_TEST_CASE(value_unsigned_int) {
using dg::command::Value;
unsigned int aint1(5);
Value value1(aint1);
Value value = value1;
BOOST_CHECK(value1 == value);
{
output_test_stream output;
output << value1;
BOOST_CHECK(output.is_equal("Type=unsigned int, value=5"));
}
{
output_test_stream output;
output << value;
BOOST_CHECK(output.is_equal("Type=unsigned int, value=5"));
}
}
BOOST_AUTO_TEST_CASE(value_int) {
using dg::command::Value;
int aint1(5);
Value value1(aint1);
Value value = value1;
BOOST_CHECK(value1 == value);
{
output_test_stream output;
output << value1;
BOOST_CHECK(output.is_equal("Type=int, value=5"));
}
{
output_test_stream output;
output << value;
BOOST_CHECK(output.is_equal("Type=int, value=5"));
}
}
BOOST_AUTO_TEST_CASE(value_float) {
using dg::command::Value;
float afloat1(0.5);
Value value1(afloat1);
Value value = value1;
BOOST_CHECK(value1 == value);
{
output_test_stream output;
output << value1;
BOOST_CHECK(output.is_equal("Type=float, value=0.5"));
}
{
output_test_stream output;
output << value;
BOOST_CHECK(output.is_equal("Type=float, value=0.5"));
}
}
BOOST_AUTO_TEST_CASE(value_double) {
using dg::command::Value;
double adouble1(0.5);
Value value1(adouble1);
Value value = value1;
BOOST_CHECK(value1 == value);
{
output_test_stream output;
output << value1;
BOOST_CHECK(output.is_equal("Type=double, value=0.5"));
}
{
output_test_stream output;
output << value;
BOOST_CHECK(output.is_equal("Type=double, value=0.5"));
}
}
BOOST_AUTO_TEST_CASE(value_vector) {
using dg::command::Value;
dg::Vector avector1;
avector1.resize(2);
avector1[0] = 0.5;
avector1[1] = 1.5;
Value value1(avector1);
Value value = value1;
BOOST_CHECK(value1 == value);
{
output_test_stream output;
output << value1;
BOOST_CHECK(output.is_equal("Type=vector, value=0.5\n1.5"));
}
{
output_test_stream output;
output << value;
BOOST_CHECK(output.is_equal("Type=vector, value=0.5\n1.5"));
}
}
BOOST_AUTO_TEST_CASE(value_string) {
using dg::command::Value;
std::string str1("value #1"); std::string str1("value #1");
Value value1(str1); Value value1(str1);
Value value = value1; Value value = value1;
BOOST_CHECK(value1 == value);
{ {
output_test_stream output; output_test_stream output;
output << value1; output << value1;
BOOST_CHECK (output.is_equal ("Type=string, value=value #1")); BOOST_CHECK(output.is_equal("Type=string, value=value #1"));
} }
{ {
output_test_stream output; output_test_stream output;
output << value; output << value;
BOOST_CHECK (output.is_equal ("Type=string, value=value #1")); BOOST_CHECK(output.is_equal("Type=string, value=value #1"));
} }
std::string str2("value #2"); std::string str2("value #2");
...@@ -38,12 +316,116 @@ BOOST_AUTO_TEST_CASE (value_string) ...@@ -38,12 +316,116 @@ BOOST_AUTO_TEST_CASE (value_string)
{ {
output_test_stream output; output_test_stream output;
output << value2; output << value2;
BOOST_CHECK (output.is_equal ("Type=string, value=value #2")); BOOST_CHECK(output.is_equal("Type=string, value=value #2"));
} }
{ {
output_test_stream output; output_test_stream output;
output << value; output << value;
BOOST_CHECK (output.is_equal ("Type=string, value=value #2")); BOOST_CHECK(output.is_equal("Type=string, value=value #2"));
}
}
BOOST_AUTO_TEST_CASE(value_matrixXd) {
using dg::command::Value;
Eigen::MatrixXd avector1;
avector1.resize(2, 2);
avector1(0, 0) = 0.5;
avector1(0, 1) = 1.5;
avector1(1, 0) = 2.5;
avector1(1, 1) = 3.5;
Value value1(avector1);
Value value = value1;
BOOST_CHECK(value1 == value);
{
output_test_stream output;
output << value1;
BOOST_CHECK(output.is_equal("Type=matrixXd, value=0.5 1.5\n2.5 3.5"));
}
{
output_test_stream output;
output << value;
BOOST_CHECK(output.is_equal("Type=matrixXd, value=0.5 1.5\n2.5 3.5"));
}
}
BOOST_AUTO_TEST_CASE(value_matrix4d) {
using dg::command::Value;
Eigen::Matrix4d avector1;
avector1.setZero();
avector1(0, 0) = 0.5;
avector1(0, 1) = 1.5;
avector1(1, 0) = 2.5;
avector1(1, 1) = 3.5;
Value value1(avector1);
Value value = value1;
BOOST_CHECK(value1 == value);
{
output_test_stream output;
output << value1;
BOOST_CHECK(
output.is_equal("Type=matrix4d, value=0.5 1.5 0 0\n"
"2.5 3.5 0 0\n 0 0 0 0\n"
" 0 0 0 0"));
}
{
output_test_stream output;
output << value;
BOOST_CHECK(
output.is_equal("Type=matrix4d, value=0.5 1.5 0 0\n"
"2.5 3.5 0 0\n 0 0 0 0\n"
" 0 0 0 0"));
}
}
BOOST_AUTO_TEST_CASE(value_values) {
using namespace dynamicgraph::command;
std::string s1("value #1");
double d1 = 0.3;
Value vs1(s1);
Value vd1(d1);
Values values;
values.push_back(vs1);
values.push_back(vd1);
Value vvalues(values);
BOOST_CHECK_EQUAL(vvalues.type(), Value::VALUES);
{ // Const ref
const Values &vs = vvalues.constValuesValue();
BOOST_CHECK_EQUAL(vs.size(), values.size());
BOOST_CHECK(vs == values);
}
{
// Cast does not work.
// dg::command::EitherType eitherType (vvalues);
// Values vs = static_cast<Values>(eitherType);
// BOOST_CHECK_EQUAL(vs.size(), values.size());
// BOOST_CHECK(vs == values);
} { // Constructor
Value vvs(vvalues);
BOOST_CHECK(vvs == vvalues);
}
{
output_test_stream output;
output << vvalues;
BOOST_CHECK(
output.is_equal("Type=values, value=[ "
"Value(Type=string, value=value #1), "
"Value(Type=double, value=0.3), "
"]"));
} }
} }