unitTesting/CMakeLists.txt

-# 
-#  Copyright 
-# 
-
-### tests
-SET(tests
-	test_shell
-	test_pool
-	test_depend
-	test_factory)
-
-FOREACH(test_name ${tests})
-	SET(EXECUTABLE_NAME ${test_name})
-
-	ADD_DEFINITIONS(-DDEBUG=2)
-
-	ADD_EXECUTABLE(${EXECUTABLE_NAME}
-	  ${test_name}.cpp)
-	
-	INCLUDE_DIRECTORIES(
-		${CMAKE_CURRENT_SOURCE_DIR}/../include 
-	)
-
-	LINK_DIRECTORIES(${${PROJECT_NAME}_BINARY_DIR}/lib)
-
-	TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME}
-	  ${PROJECT_NAME}
-	  dl)
-	  
-	INSTALL(TARGETS ${test_name}
-		DESTINATION ${CMAKE_INSTALL_PREFIX}/bin/${PROJECT_NAME})
-ENDFOREACH(test_name)
\ No newline at end of file

unitTesting/test_depend.cpp

-/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
- * 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;
-
-}

unitTesting/test_factory.cpp

-/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
- * Copyright Projet JRL-JAPAN, Tsukuba, 2007
- *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
- *
- * File:      test_factory.cc
- * Project:   SOT
- * Author:    Nicolas Mansard
- *
- * Version control
- * ===============
- *
- *  $Id$
- *
- * Description
- * ============
- *
- *
- * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
-
-/* -------------------------------------------------------------------------- */
-/* --- INCLUDES ------------------------------------------------------------- */
-/* -------------------------------------------------------------------------- */
-
-
-#include <string>
-#include <iostream>
-#include <cstdlib>
-#include <sstream>
-
-#include <dynamic-graph/factory.h>
-#include <dynamic-graph/entity.h>
-#include <dynamic-graph/debug.h>
-
-
-using namespace std;
-using namespace dynamicgraph;
-
-#ifdef WIN32
-#include <Windows.h>
-#else 
-#include <dlfcn.h> 
-#endif
-
-#ifdef WIN32
-	typedef HMODULE sotPluginKey;
-#else
-	typedef void* sotPluginKey;
-#endif
-
-int main()
-{
-  
-  dgDEBUG(0) << "# In {"<<endl;
-//   Entity test("");
-//   sotExceptionFeature t2(sotExceptionFeature::BAD_INIT);
-//   sotExceptionSignal t4(sotExceptionSignal::COPY_NOT_INITIALIZED);
-//   sotFlags t3;
-//   TestFeature t5;
-
-#ifndef WIN32
-  sotPluginKey dlib = dlopen("lib/plugin/sotFeatureVisualPoint.so", RTLD_NOW);
-#else
-  sotPluginKey dlib = LoadLibrary ( "lib/plugin/sotFeatureVisualPoint.lib"); 
-#endif
-if( NULL==dlib ) 
-    {
-      cerr << " Error dl"<<endl;
-#ifndef WIN32
-      cerr << dlerror() <<endl;
-#else
-    // Retrieve the system error message for the last-error code
-    LPTSTR pszMessage;
-    DWORD dwLastError = GetLastError(); 
-    FormatMessage(
-        FORMAT_MESSAGE_ALLOCATE_BUFFER | 
-        FORMAT_MESSAGE_FROM_SYSTEM |
-        FORMAT_MESSAGE_IGNORE_INSERTS,
-        NULL,
-        dwLastError,
-        MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT),
-        (LPTSTR)&pszMessage,
-        0, NULL );
-
-
-	  cerr << pszMessage <<endl;
-	  LocalFree(pszMessage);
-#endif
-
-      exit(0);
-    }
-
-
-#ifndef WIN32
-	dlib = dlopen("lib/plugin/sotGainAdaptative.so", RTLD_NOW);
-#else
-	dlib = LoadLibrary ("lib/plugin/sotGainAdaptative.lib"); 
-#endif
-  if( NULL==dlib ) 
-    {
-	  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
-    // Retrieve the system error message for the last-error code
-    LPTSTR pszMessage;
-    DWORD dwLastError = GetLastError(); 
-    FormatMessage(
-        FORMAT_MESSAGE_ALLOCATE_BUFFER | 
-        FORMAT_MESSAGE_FROM_SYSTEM |
-        FORMAT_MESSAGE_IGNORE_INSERTS,
-        NULL,
-        dwLastError,
-        MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT),
-        (LPTSTR)&pszMessage,
-        0, NULL );
-
-
-	  cerr << pszMessage <<endl;
-	  LocalFree(pszMessage);
-#endif
-      exit(0);
-    }
-
-  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;
-  cout <<gain->getClassName(); cout << endl;
-
-
-  dgDEBUG(0) << "# Out }"<<endl;
-}
-

unitTesting/test_pool.cpp

-/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
- * Copyright Projet JRL-JAPAN, Tsukuba, 2007
- *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
- *
- * File:      test_entity.cc
- * Project:   dynamicGraph
- * Author:    François Bleibel
- *
- * Version control
- * ===============
- *
- *  $Id$
- *
- * Description
- * ============
- *
- *
- * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
-
-/* -------------------------------------------------------------------------- */
-/* --- INCLUDES ------------------------------------------------------------- */
-/* -------------------------------------------------------------------------- */
-
-
-#include <string>
-#include <iostream>
-#include <cstdlib>
-
-#include <dynamic-graph/factory.h>
-#include <dynamic-graph/entity.h>
-#include <dynamic-graph/debug.h>
-#include <dynamic-graph/pool.h>
-
-#include <memory>
-
-using namespace std;
-using namespace dynamicgraph;
-
-class MyEntity
-: public Entity
-{
-
- public:
-	MyEntity(const std::string& name);
-
-
- public: /* --- ENTITY INHERITANCE --- */
-  static const std::string CLASS_NAME;
-  virtual void display( std::ostream& os ) const;
-  virtual const std::string& getClassName( void ) const { return CLASS_NAME; }
-
-
- protected:
-};
-
-DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(MyEntity,"MyEntity");
-
-MyEntity::MyEntity(const std::string& name)
-	: Entity(name){
-
-}
-
-void MyEntity::display(std::ostream& os ) const {
-	os << "Hello! My name is " << getName() << " !" << endl;
-}
-
-main() {
-	MyEntity myEntity("MyEntity");
-
-	cout << "-- Pool.list" << endl;
-	pool.commandLine("pool", "list", *auto_ptr<istringstream>(new istringstream("")), cout);
-	Entity& e = pool.getEntity("MyEntity");
-	cout << "-- Display" << endl;
-	e.display(cout);
-}

unitTesting/test_shell.cpp

-/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
- * Copyright Projet JRL-JAPAN, Tsukuba, 2007
- *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
- *
- * File:      test_shell.cc
- * Project:   SOT
- * Author:    Nicolas Mansard
- *
- * Version control
- * ===============
- *
- *  $Id$
- *
- * Description
- * ============
- *
- *
- * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
-
-/* -------------------------------------------------------------------------- */
-/* --- INCLUDES ------------------------------------------------------------- */
-/* -------------------------------------------------------------------------- */
-
-#include <dynamic-graph/entity.h>
-#include <dynamic-graph/plugin-loader.h>
-#include <dynamic-graph/interpreter.h>
-#include <dynamic-graph/debug.h>
-
-#include <sstream>
-using namespace std;
-using namespace dynamicgraph;
-
-
-extern std::ofstream debugfile;
-
-int main( int argc,char** argv )
-{
-  dgDEBUGIN(15);
-  
-  dgDEBUG(5) << " Loading..." << endl;
-  PluginLoader pl;
-  Shell.referencePluginLoader( &pl );
-
-  int fileIdx;
-  try
-    {
-      for( fileIdx=1;fileIdx<argc;++fileIdx )
-	{
-	  std::istringstream script( argv[fileIdx] );
-	  cout << "Run "<< argv[fileIdx] << endl;
-	  Shell.cmd( "run",script,cout );
-	}
-    } 
-  catch( ExceptionAbstract& e )
-    {
-      cout << "!! In file <" << argv[fileIdx] << "> : "  << e <<endl;
-    }
-  catch ( const char* str ) {
-	  cout << "!! In file <" << argv[fileIdx] << "> : "
-	  	  << "Unknown exception " << str << endl;
-  }
-  catch( ... ){ dgDEBUG(5) << "!! Unknown! " <<endl ; }
- 
-  while(1)
-    {
-      try
-	{
-	  dgDEBUG(5) << "Run shell." << endl;
-	  Shell.shell(cin,cout);
-	  dgDEBUG(5) << "Shell over." << endl;
-      if( cin.eof() ) break;
-	} 
-      catch( ExceptionAbstract& e )
-	{
-	  cout << "!!  "  << e <<endl;
-	}
-      catch( ... ){ dgDEBUG(5) << "!! Unknown! " <<endl ; }
-    }
-
-  dgDEBUGOUT(15);
-  return 0;
-}
-
-
-
-