Update of /cvsroot/playerstage/code/player/client_libs/libplayerc++/test
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv2950
Modified Files:
Makefile.am test.cc test.h test_audiodsp.cc test_audiomixer.cc
test_blinkenlight.cc test_blobfinder.cc test_bps.cc
test_bumper.cc test_dio.cc test_fiducialfinder.cc test_gps.cc
test_gripper.cc test_laser.cc test_lbd.cc test_localize.cc
test_log.cc test_lookup.cc test_mcom.cc test_misc.cc
test_motor.cc test_position.cc test_position2d.cc
test_position3d.cc test_position_control.cc test_power.cc
test_ptz.cc test_sonar.cc test_speech.cc test_truth.cc
test_vision.cc test_wifi.cc
Added Files:
test_actarray.cc test_gripper_holdsub.cc
test_position2d_holdsub.cc
Log Message:
applied patch 1624654
Index: test_bumper.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test_bumper.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test_bumper.cc 20 Sep 2005 13:17:08 -0000 1.1
--- test_bumper.cc 2 Feb 2007 17:12:04 -0000 1.2
***************
*** 5,9 ****
*/
- #include "playerclient.h"
#include "test.h"
#include <unistd.h>
--- 5,8 ----
***************
*** 12,30 ****
test_bumper(PlayerClient* client, int index)
{
! unsigned char access;
! BumperProxy sp(client,index,'c');
!
! printf("device [bumper] index [%d]\n", index);
!
! TEST("subscribing (read)");
! if((sp.ChangeAccess(PLAYER_READ_MODE,&access) < 0) ||
! (access != PLAYER_READ_MODE))
! {
! FAIL();
! printf("DRIVER: %s\n", sp.driver_name);
! return -1;
! }
! PASS();
! printf("DRIVER: %s\n", sp.driver_name);
// wait for P2OS to start up
--- 11,16 ----
test_bumper(PlayerClient* client, int index)
{
! TEST("bumper");
! BumperProxy sp(client,index);
// wait for P2OS to start up
***************
*** 32,43 ****
client->Read();
TEST("getting bumper geometry");
player_bumper_geom_t bumper_geom;
! if(sp.GetBumperGeom( &bumper_geom ) < 0)
! {
! FAIL();
! return(-1);
! }
sleep(1);
PASS();
--- 18,26 ----
client->Read();
+ /*
TEST("getting bumper geometry");
player_bumper_geom_t bumper_geom;
! sp.GetBumperGeom( &bumper_geom );
sleep(1);
PASS();
***************
*** 52,55 ****
--- 35,39 ----
bumper_geom.bumper_def[i].radius );
}
+ */
for(int t = 0; t < 3; t++)
***************
*** 57,80 ****
TEST1("reading data (attempt %d)", t);
! if(client->Read() < 0)
! {
! FAIL();
! return(-1);
! }
PASS();
! sp.Print();
}
- TEST("unsubscribing");
- if((sp.ChangeAccess(PLAYER_CLOSE_MODE,&access) < 0) ||
- (access != PLAYER_CLOSE_MODE))
- {
- FAIL();
- return -1;
- }
-
PASS();
--- 41,55 ----
TEST1("reading data (attempt %d)", t);
! client->Read();
PASS();
! std::cerr << sp << std::endl;
! if(sp.IsAnyBumped()) {
! std::cerr << "A bumper switch is pressed.\n";
! }
}
PASS();
Index: test_lbd.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test_lbd.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test_lbd.cc 20 Sep 2005 13:17:08 -0000 1.1
--- test_lbd.cc 2 Feb 2007 17:12:04 -0000 1.2
***************
*** 5,9 ****
*/
- #include "playerclient.h"
#include "test.h"
#include <unistd.h>
--- 5,8 ----
--- NEW FILE: test_position2d_holdsub.cc ---
/*
* $Id: test_position2d_holdsub.cc,v 1.1 2007/02/02 17:12:04 gerkey Exp $
*
* a test for the C++ Position2DProxy
*/
#include "test.h"
#include <unistd.h>
#include <math.h>
using namespace PlayerCc;
int
test_position2d_holdsubscribe(PlayerClient* client, int index)
{
TEST("position2d");
Position2dProxy p2d(client,index);
// wait for P2OS to start up
for(int i=0;i<20;i++)
client->Read();
while(1)
{
client->Read();
std::cerr << p2d << std::endl;
}
return -1;
}
Index: test_log.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test_log.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test_log.cc 20 Sep 2005 13:17:08 -0000 1.1
--- test_log.cc 2 Feb 2007 17:12:04 -0000 1.2
***************
*** 5,9 ****
*/
- #include "playerclient.h"
#include "test.h"
#include <unistd.h>
--- 5,8 ----
Index: test_mcom.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test_mcom.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test_mcom.cc 20 Sep 2005 13:17:08 -0000 1.1
--- test_mcom.cc 2 Feb 2007 17:12:04 -0000 1.2
***************
*** 5,9 ****
*/
- #include "playerclient.h"
#include "test.h"
#include <unistd.h>
--- 5,8 ----
--- NEW FILE: test_gripper_holdsub.cc ---
/*
* $Id: test_gripper_holdsub.cc,v 1.1 2007/02/02 17:12:04 gerkey Exp $
*
* a test for the C++ SonarProxy
*/
#include "test.h"
#include <unistd.h>
using namespace PlayerCc;
int
test_gripper_holdsubscribe(PlayerClient* client, int index)
{
GripperProxy gp(client,index);
// wait for P2OS to start up
for(int i=0; i < 20; i++)
client->Read();
while(1)
{
client->Read();
std::cerr << "got gripper data: " << std::endl << gp << std::endl;
}
return(-1);
}
Index: test.h
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test.h,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** test.h 11 Apr 2006 15:40:31 -0000 1.6
--- test.h 2 Feb 2007 17:12:04 -0000 1.7
***************
*** 60,63 ****
--- 60,67 ----
int test_rfid(PlayerClient* client, int index);
int test_wsn(PlayerClient* client, int index);
+ int test_position2d_holdsubscribe(PlayerClient* client, int index);
+ int test_gripper_holdsubscribe(PlayerClient* client, int index);
+ int test_actarray(PlayerClient* client, int index);
+
//int test_bps(PlayerClient* client, int index);
Index: test_speech.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test_speech.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test_speech.cc 20 Sep 2005 13:17:08 -0000 1.1
--- test_speech.cc 2 Feb 2007 17:12:04 -0000 1.2
***************
*** 5,9 ****
*/
- #include "playerclient.h"
#include "test.h"
#include <unistd.h>
--- 5,8 ----
Index: test.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test.cc,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** test.cc 11 Apr 2006 15:40:31 -0000 1.5
--- test.cc 2 Feb 2007 17:12:04 -0000 1.6
***************
*** 51,54 ****
--- 51,75 ----
else if(!strcmp(argv[i],"-stage"))
use_stage = true;
+ else if(!strcmp(argv[i], "-help") || !strcmp(argv[i], "--help"))
+ {
+ puts("usage: test [-h <host>] [-p <port>] [-stage] [--all|<tests>]\n"\
+ "where <tests> is one or more of --<interface>[:<index>] (default
index is 0).\n"
+ "Available interfaces to test are:\n"
+ " rfid\n"\
+ " wsn\n"\
+ " power\n"\
+ " dio\n"\
+ " position2d\n"\
+ " sonar\n"\
+ " laser\n"\
+ " ptz\n"\
+ " gripper\n"\
+ " camera\n"\
+ " actarray\n"\
+ " position2d-subscribe (subscribe to position2d indefinitely)\n"\
+ " gripper-subscribe (subscribe to gripper indefinitely)\n"\
+ "");
+ exit(0);
+ }
}
***************
*** 56,60 ****
PlayerCc::PlayerClient client(host, port);
! // Run the tests
for (i = 1; i < argc; i++)
{
--- 77,82 ----
PlayerCc::PlayerClient client(host, port);
! // Check each command line argument for the form --<interface>:<index>, and
! // run the test for <interface> if recognized.
for (i = 1; i < argc; i++)
{
***************
*** 69,75 ****
/*
! // Test the ClientProxy and PlayerClient
#ifdef HAVE_BOOST_SIGNALS
! // we need both signals and threads
#ifdef HAVE_BOOST_THREAD
if(strcmp(device, "client") == 0 || strcmp(device, "all") == 0)
--- 91,97 ----
/*
! // Test the ClientProxy and PlayerClient
#ifdef HAVE_BOOST_SIGNALS
! // we need both signals and threads
#ifdef HAVE_BOOST_THREAD
if(strcmp(device, "client") == 0 || strcmp(device, "all") == 0)
***************
*** 79,209 ****
*/
! // RFID device
! if(strcmp(device, "rfid") == 0 || strcmp(device, "all") == 0)
! test_rfid(&client, index);
! // WSN device
! if(strcmp(device, "wsn") == 0 || strcmp(device, "all") == 0)
! test_wsn(&client, index);
! #if 0
! // Power device - a simple one to start with
! if(strcmp(device, "power") == 0 || strcmp(device, "all") == 0)
! test_power(&client, index);
! // DIO device
! if(strcmp(device, "dio") == 0 || strcmp(device, "all") == 0)
! test_dio(&client, index);
! // Position device
! if (strcmp(device, "motor") == 0 || strcmp(device, "all") == 0)
! test_motor(&client, index);
! if (strcmp(device, "position") == 0 || strcmp(device, "all") == 0)
! test_position(&client, index);
! if (strcmp(device, "position2d") == 0 || strcmp(device, "all") == 0)
! test_position2d(&client, index);
! if (strcmp(device, "position3d") == 0 || strcmp(device, "all") == 0)
! test_position3d(&client, index);
! // Position device - position control mode
! // not many robots support this mode but Stage's position model does.
! if (strcmp(device, "position_control") == 0 || strcmp(device, "all") == 0)
! test_position_control(&client, index);
! // Sonar device
! if(strcmp(device, "sonar") == 0 || strcmp(device, "all") == 0)
! test_sonar(&client, index);
! // Name lookup
! if(strcmp(device, "lookup") == 0 || strcmp(device, "all") == 0)
! test_lookup(&client, index);
! // Blobfinder device
! if(strcmp(device, "blobfinder") == 0 || strcmp(device, "all") == 0)
! test_blobfinder(&client, index);
! // Laser device
! if(strcmp(device, "laser") == 0 || strcmp(device, "all") == 0)
! test_laser(&client, index);
! // Fiducial finder device
! if(strcmp(device, "fiducial") == 0 || strcmp(device, "all") == 0)
! test_fiducial(&client, index);
! // PTZ device
! if(strcmp(device, "ptz") == 0 || strcmp(device, "all") == 0)
! test_ptz(&client, index);
! // Speech device
! if(strcmp(device, "speech") == 0 || strcmp(device, "all") == 0)
! test_speech(&client, index);
! // Vision device
! if(strcmp(device, "vision") == 0 || strcmp(device, "all") == 0)
! test_vision(&client, index);
! // GPS device
! if(strcmp(device, "gps") == 0 || strcmp(device, "all") == 0)
! test_gps(&client, index);
! // Gripper device
! if(strcmp(device, "gripper") == 0 || strcmp(device, "all") == 0)
! test_gripper(&client, index);
! // Ground truth device
! if(strcmp(device, "truth") == 0 || strcmp(device, "all") == 0)
! test_truth(&client, index);
! // Laserbeacon device
! if(strcmp(device, "laserbeacon") == 0 || strcmp(device, "all") == 0)
! test_lbd(&client, index);
! // Bumper
! if(strcmp(device, "bumper") == 0 || strcmp(device, "all") == 0)
! test_bumper(&client, index);
! // WiFi
! if(strcmp(device, "wifi") == 0 || strcmp(device, "all") == 0)
! test_wifi(&client, index);
! if(strcmp(device, "log") == 0 || strcmp(device, "all") == 0)
! test_log(&client, index);
! if(strcmp(device, "mcom") == 0 || strcmp(device, "all") == 0)
! test_mcom(&client, index);
! if(strcmp(device, "localize") == 0 || strcmp(device, "all") == 0)
! test_localize(&client, index);
! if(strcmp(device, "audiodsp") == 0 || strcmp(device, "all") == 0)
! test_audiodsp(&client, index);
! if(strcmp(device, "audiomixer") == 0 || strcmp(device, "all") == 0)
! test_audiomixer(&client, index);
! if(strcmp(device, "blinkenlight") == 0 || strcmp(device, "all") == 0)
! test_blinkenlight(&client, index);
! #endif
! if(strcmp(device, "camera") == 0 || strcmp(device, "all") == 0)
! test_camera(&client, index);
! #if 0
! // BPS device
! /*
! if(strcmp(device, "bps") == 0 || strcmp(device, "all") == 0)
! test_bps(&client, index);
! */
! /*
! // IDAR device
! if(strcmp(device, "idar") == 0 || strcmp(device, "all") == 0)
! test_idar(&client, index);
- // IDAR turret device
- if(strcmp(device, "idarturret") == 0 || strcmp(device, "all") == 0)
- test_idarturret(&client, index);
- */
- #endif
free(arg);
! }
return 0;
--- 101,240 ----
*/
! try {
! if(strcmp(device, "rfid") == 0 || strcmp(device, "all") == 0)
! test_rfid(&client, index);
! if(strcmp(device, "wsn") == 0 || strcmp(device, "all") == 0)
! test_wsn(&client, index);
! if(strcmp(device, "power") == 0 || strcmp(device, "all") == 0)
! test_power(&client, index);
! if(strcmp(device, "dio") == 0 || strcmp(device, "all") == 0)
! test_dio(&client, index);
! /*
! if (strcmp(device, "motor") == 0 || strcmp(device, "all") == 0)
! test_motor(&client, index);
! if (strcmp(device, "position") == 0 || strcmp(device, "all") == 0)
! test_position(&client, index);
! */
! if (strcmp(device, "position2d") == 0 || strcmp(device, "all") == 0)
! test_position2d(&client, index);
! if (strcmp(device, "position2d-subscribe") == 0)
! test_position2d_holdsubscribe(&client, index);
! /*
! if (strcmp(device, "position3d") == 0 || strcmp(device, "all") == 0)
! test_position3d(&client, index);
! // Position device - position control mode
! // not many robots support this mode but Stage's position model does.
! if (strcmp(device, "position_control") == 0 || strcmp(device, "all") ==
0)
! test_position_control(&client, index);
! */
! if(strcmp(device, "sonar") == 0 || strcmp(device, "all") == 0)
! test_sonar(&client, index);
! /*
! if(strcmp(device, "lookup") == 0 || strcmp(device, "all") == 0)
! test_lookup(&client, index);
! */
! /*
! if(strcmp(device, "blobfinder") == 0 || strcmp(device, "all") == 0)
! test_blobfinder(&client, index);
! */
! if(strcmp(device, "laser") == 0 || strcmp(device, "all") == 0)
! test_laser(&client, index);
! /*
! if(strcmp(device, "fiducial") == 0 || strcmp(device, "all") == 0)
! test_fiducial(&client, index);
! */
! if(strcmp(device, "ptz") == 0 || strcmp(device, "all") == 0)
! test_ptz(&client, index);
! /*
! if(strcmp(device, "speech") == 0 || strcmp(device, "all") == 0)
! test_speech(&client, index);
! if(strcmp(device, "vision") == 0 || strcmp(device, "all") == 0)
! test_vision(&client, index);
! */
! /*
! if(strcmp(device, "gps") == 0 || strcmp(device, "all") == 0)
! test_gps(&client, index);
! */
! if(strcmp(device, "gripper") == 0 || strcmp(device, "all") == 0)
! test_gripper(&client, index);
! if(strcmp(device, "gripper-subscribe") == 0)
! test_gripper_holdsubscribe(&client, index);
+ /*
+ if(strcmp(device, "truth") == 0 || strcmp(device, "all") == 0)
+ test_truth(&client, index);
+ */
! /*
! if(strcmp(device, "laserbeacon") == 0 || strcmp(device, "all") == 0)
! test_lbd(&client, index);
! */
! if(strcmp(device, "bumper") == 0 || strcmp(device, "all") == 0)
! test_bumper(&client, index);
! /*
! if(strcmp(device, "wifi") == 0 || strcmp(device, "all") == 0)
! test_wifi(&client, index);
! */
! /*
! if(strcmp(device, "log") == 0 || strcmp(device, "all") == 0)
! test_log(&client, index);
! */
! /*
! if(strcmp(device, "mcom") == 0 || strcmp(device, "all") == 0)
! test_mcom(&client, index);
! if(strcmp(device, "localize") == 0 || strcmp(device, "all") == 0)
! test_localize(&client, index);
! if(strcmp(device, "audiodsp") == 0 || strcmp(device, "all") == 0)
! test_audiodsp(&client, index);
! if(strcmp(device, "audiomixer") == 0 || strcmp(device, "all") == 0)
! test_audiomixer(&client, index);
! if(strcmp(device, "blinkenlight") == 0 || strcmp(device, "all") == 0)
! test_blinkenlight(&client, index);
! */
! if(strcmp(device, "camera") == 0 || strcmp(device, "all") == 0)
! test_camera(&client, index);
! /*
! if(strcmp(device, "bps") == 0 || strcmp(device, "all") == 0)
! test_bps(&client, index);
! */
! /*
! if(strcmp(device, "idar") == 0 || strcmp(device, "all") == 0)
! test_idar(&client, index);
! if(strcmp(device, "idarturret") == 0 || strcmp(device, "all") == 0)
! test_idarturret(&client, index);
! */
! if(strcmp(device, "actarray") == 0 || strcmp(device, "all") == 0)
! test_actarray(&client, index);
! } catch(std::exception& e) {
! FAIL();
! std::cerr << "Caught exception: " << e.what() << std::endl;
! }
free(arg);
! }
return 0;
Index: test_wifi.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test_wifi.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test_wifi.cc 20 Sep 2005 13:17:08 -0000 1.1
--- test_wifi.cc 2 Feb 2007 17:12:04 -0000 1.2
***************
*** 5,9 ****
*/
- #include "playerclient.h"
#include "test.h"
#include <unistd.h>
--- 5,8 ----
Index: test_position.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test_position.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test_position.cc 20 Sep 2005 13:17:08 -0000 1.1
--- test_position.cc 2 Feb 2007 17:12:04 -0000 1.2
***************
*** 5,9 ****
*/
- #include "playerclient.h"
#include "test.h"
#include <unistd.h>
--- 5,8 ----
Index: Makefile.am
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/Makefile.am,v
retrieving revision 1.15
retrieving revision 1.16
diff -C2 -d -r1.15 -r1.16
*** Makefile.am 11 Apr 2006 15:40:31 -0000 1.15
--- Makefile.am 2 Feb 2007 17:12:04 -0000 1.16
***************
*** 27,64 ****
test.h \
test_camera.cc \
! test_rfid.cc \
! test_wsn.cc
!
! # test_gps.cc \
! test_blobfinder.cc \
test_gripper.cc \
test_laser.cc \
- test_lbd.cc \
- test_motor.cc \
- test_position.cc \
test_position2d.cc \
- test_position3d.cc \
- test_position_control.cc \
test_ptz.cc \
test_sonar.cc \
- test_speech.cc \
- test_truth.cc \
- test_vision.cc \
test_power.cc \
test_dio.cc \
test_bumper.cc \
! test_wifi.cc \
! test_log.cc \
! test_mcom.cc \
! test_fiducialfinder.cc \
! test_lookup.cc \
! test_audiodsp.cc \
! test_localize.cc \
! test_audiomixer.cc \
! test_blinkenlight.cc
- #test_idar.cc \
- #test_idarturret.cc
- #test_misc.cc
- #test_bps.cc
--- 27,67 ----
test.h \
test_camera.cc \
! test_rfid.cc \
! test_wsn.cc \
test_gripper.cc \
test_laser.cc \
test_position2d.cc \
test_ptz.cc \
test_sonar.cc \
test_power.cc \
test_dio.cc \
test_bumper.cc \
!
test_position2d_holdsub.cc \
!
test_gripper_holdsub.cc \
! test_actarray.cc
+ # These tests are broken and need to be fixed or removed:
+ #test_wifi.cc
+ #test_log.cc
+ #test_lbd.cc
+ #test_fiducialfinder.cc
+ #test_blobfinder.cc
+ #test_gps.cc
+ #test_idar.cc
+ #test_idarturret.cc
+ #test_misc.cc
+ #test_bps.cc
+ #test_motor.cc
+ #test_position.cc
+ #test_position3d.cc
+ #test_speech.cc
+ #test_truth.cc
+ #test_vision.cc
+ #test_position_control.cc
+ #test_mcom.cc
+ #test_lookup.cc
+ #test_audiodsp.cc
+ #test_localize.cc
+ #test_audiomixer.cc
+ #test_blinkenlight.cc
Index: test_gps.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test_gps.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test_gps.cc 20 Sep 2005 13:17:08 -0000 1.1
--- test_gps.cc 2 Feb 2007 17:12:04 -0000 1.2
***************
*** 5,9 ****
*/
- #include "playerclient.h"
#include "test.h"
--- 5,8 ----
Index: test_position3d.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test_position3d.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test_position3d.cc 20 Sep 2005 13:17:08 -0000 1.1
--- test_position3d.cc 2 Feb 2007 17:12:04 -0000 1.2
***************
*** 5,9 ****
*/
- #include "playerclient.h"
#include "test.h"
#include <unistd.h>
--- 5,8 ----
Index: test_audiomixer.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test_audiomixer.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test_audiomixer.cc 20 Sep 2005 13:17:08 -0000 1.1
--- test_audiomixer.cc 2 Feb 2007 17:12:04 -0000 1.2
***************
*** 1,4 ****
- #include "playerclient.h"
#include "test.h"
#include <unistd.h>
--- 1,3 ----
Index: test_sonar.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test_sonar.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test_sonar.cc 20 Sep 2005 13:17:08 -0000 1.1
--- test_sonar.cc 2 Feb 2007 17:12:04 -0000 1.2
***************
*** 5,9 ****
*/
- #include "playerclient.h"
#include "test.h"
#include <unistd.h>
--- 5,8 ----
***************
*** 12,43 ****
test_sonar(PlayerClient* client, int index)
{
! unsigned char access;
! SonarProxy sp(client,index,'c');
!
! printf("device [sonar] index [%d]\n", index);
! TEST("subscribing (read)");
! if((sp.ChangeAccess(PLAYER_READ_MODE,&access) < 0) ||
! (access != PLAYER_READ_MODE))
{
! FAIL();
! printf("DRIVER: %s\n", sp.driver_name);
! return -1;
}
- PASS();
- printf("DRIVER: %s\n", sp.driver_name);
! // wait for P2OS to start up
! for(int i=0; i < 20; i++)
! client->Read();
! TEST("getting sonar geometry");
! if(sp.GetSonarGeom() < 0)
! {
! FAIL();
! return(-1);
! }
! sleep(1);
! PASS();
for(int i=0;i<sp.pose_count;i++)
{
--- 11,26 ----
test_sonar(PlayerClient* client, int index)
{
! TEST("sonar");
! SonarProxy sp(client,index);
! // wait for P2OS to start up, throwing away data as fast as possible
! for(int i=0; i < 60; i++)
{
! client->Read();
}
! sp.RequestGeom();
! /*
for(int i=0;i<sp.pose_count;i++)
{
***************
*** 47,50 ****
--- 30,36 ----
RTOD(sp.poses[i][2]));
}
+ */
+
+ std::cout << "There are " << sp.GetCount() << " sonar sensors.\n";
for(int t = 0; t < 3; t++)
***************
*** 52,96 ****
TEST1("reading data (attempt %d)", t);
! if(client->Read() < 0)
! {
! FAIL();
! return(-1);
! }
PASS();
- sp.Print();
- }
-
- TEST("disabling sonars");
- if(sp.SetSonarState(0) < 0)
- {
- FAIL();
- return(-1);
- }
- sleep(1);
- PASS();
-
- TEST("enabling sonars");
- if(sp.SetSonarState(1) < 0)
- {
- FAIL();
- return(-1);
- }
- sleep(1);
- PASS();
-
-
- TEST("unsubscribing");
- if((sp.ChangeAccess(PLAYER_CLOSE_MODE,&access) < 0) ||
- (access != PLAYER_CLOSE_MODE))
- {
- FAIL();
- return -1;
}
PASS();
!
! return(0);
}
--- 38,50 ----
TEST1("reading data (attempt %d)", t);
! client->Read();
PASS();
+ std::cout << sp << std::endl;
}
PASS();
! return 0;
}
Index: test_localize.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test_localize.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test_localize.cc 20 Sep 2005 13:17:08 -0000 1.1
--- test_localize.cc 2 Feb 2007 17:12:04 -0000 1.2
***************
*** 5,9 ****
*/
- #include "playerclient.h"
#include "test.h"
#include <unistd.h>
--- 5,8 ----
Index: test_lookup.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test_lookup.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test_lookup.cc 20 Sep 2005 13:17:08 -0000 1.1
--- test_lookup.cc 2 Feb 2007 17:12:04 -0000 1.2
***************
*** 5,9 ****
*/
- #include "playerclient.h"
#include "test.h"
--- 5,8 ----
Index: test_misc.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test_misc.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test_misc.cc 20 Sep 2005 13:17:08 -0000 1.1
--- test_misc.cc 2 Feb 2007 17:12:04 -0000 1.2
***************
*** 5,9 ****
*/
- #include "playerclient.h"
#include "test.h"
#include <unistd.h>
--- 5,8 ----
Index: test_dio.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test_dio.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test_dio.cc 20 Sep 2005 13:17:08 -0000 1.1
--- test_dio.cc 2 Feb 2007 17:12:04 -0000 1.2
***************
*** 5,30 ****
*/
- #include "playerclient.h"
#include "test.h"
#include <unistd.h>
int
test_dio(PlayerClient* client, int index)
{
! unsigned char access;
! DIOProxy dp(client,index,'c');
!
! printf("device [dio] index [%d]\n", index);
!
! TEST("subscribing (read)");
! if((dp.ChangeAccess(PLAYER_READ_MODE,&access) < 0) ||
! (access != PLAYER_READ_MODE))
! {
! FAIL();
! printf("DRIVER: %s\n", dp.driver_name);
! return -1;
! }
! PASS();
! printf("DRIVER: %s\n", dp.driver_name);
for(int t = 0; t < 3; t++)
--- 5,18 ----
*/
#include "test.h"
#include <unistd.h>
+ using namespace PlayerCc;
+
int
test_dio(PlayerClient* client, int index)
{
! TEST("dio");
! DioProxy dp(client,index);
for(int t = 0; t < 3; t++)
***************
*** 32,52 ****
TEST1("reading data (attempt %d)", t);
! if(client->Read() < 0)
! {
! FAIL();
! return(-1);
! }
PASS();
! dp.Print();
! }
!
! TEST("unsubscribing");
! if((dp.ChangeAccess(PLAYER_CLOSE_MODE,&access) < 0) ||
! (access != PLAYER_CLOSE_MODE))
! {
! FAIL();
! return -1;
}
--- 20,28 ----
TEST1("reading data (attempt %d)", t);
! client->Read();
PASS();
! std::cerr << dp << std::endl;
}
Index: test_position2d.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test_position2d.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test_position2d.cc 20 Sep 2005 13:17:08 -0000 1.1
--- test_position2d.cc 2 Feb 2007 17:12:04 -0000 1.2
***************
*** 5,33 ****
*/
- #include "playerclient.h"
#include "test.h"
#include <unistd.h>
#include <math.h>
int
test_position2d(PlayerClient* client, int index)
{
! unsigned char access;
! Position2DProxy p2d(client,index,'c');
!
! printf("device [position] index [%d]\n", index);
!
! TEST("subscribing (read/write)");
! if((p2d.ChangeAccess(PLAYER_ALL_MODE,&access) < 0) ||
! (access != PLAYER_ALL_MODE))
! {
! FAIL();
! printf("DRIVER: %s\n", p2d.driver_name);
! printf("access:%d\n", access);
! return -1;
! }
! PASS();
!
! printf("DRIVER: %s\n", p2d.driver_name);
// wait for P2OS to start up
--- 5,19 ----
*/
#include "test.h"
#include <unistd.h>
#include <math.h>
+ using namespace PlayerCc;
+
int
test_position2d(PlayerClient* client, int index)
{
! TEST("position2d");
! Position2dProxy p2d(client,index);
// wait for P2OS to start up
***************
*** 39,51 ****
TEST1("reading data (attempt %d)", t);
! if(client->Read() < 0)
! {
! FAIL();
! return(-1);
! }
PASS();
! p2d.Print();
}
--- 25,33 ----
TEST1("reading data (attempt %d)", t);
! client->Read();
PASS();
! std::cerr << p2d << std::endl;
}
***************
*** 54,105 ****
TEST("Setting odometry" );
! if( p2d.SetOdometry(ox, oy, DTOR((double)oa)) < 0 )
! {
! FAIL();
! //return(-1);
! }
! else
! {
! printf("\n - initial \t[%.3f %.3f %.3f]\n"
! " - requested \t[%.3f %.3f %.3f]\n",
! p2d.Xpos(), p2d.Ypos(), RTOD(p2d.Yaw()),
! ox, oy, (double)oa);
!
!
! for( int s=0; s<10; s++ )
! {
! client->Read();
! printf( " - reading \t[%.3f %.3f %.3f]\r",
! p2d.Xpos(), p2d.Ypos(), RTOD(p2d.Yaw()) );
! fflush(stdout);
! }
- puts("");
-
- if((p2d.Xpos() != ox) ||
- (p2d.Ypos() != oy) ||
- ((int)rint(RTOD(p2d.Yaw())) != oa))
- {
- FAIL();
- //return(-1);
- }
- else
- PASS();
- }
! TEST("resetting odometry");
! if(p2d.ResetOdometry() < 0)
{
! FAIL();
! //return(-1);
}
- else
- {
- sleep(1);
- PASS();
- }
! TEST("enabling motors");
! if(p2d.SetMotorState(1) < 0)
{
FAIL();
--- 36,60 ----
TEST("Setting odometry" );
! p2d.SetOdometry(ox, oy, DTOR((double)oa));
!
! printf("\n - initial \t[%.3f %.3f %.3f]\n"
! " - requested \t[%.3f %.3f %.3f]\n",
! p2d.GetXPos(), p2d.GetYPos(), RTOD(p2d.GetYaw()),
! ox, oy, (double)oa);
! for( int s=0; s<10; s++ )
{
! client->Read();
! printf( " - reading \t[%.3f %.3f %.3f]\r",
! p2d.GetXPos(), p2d.GetYPos(), RTOD(p2d.GetYaw()) );
! fflush(stdout);
}
! puts("");
!
! if((p2d.GetXPos() != ox) ||
! (p2d.GetYPos() != oy) ||
! ((int)rint(RTOD(p2d.GetYaw())) != oa))
{
FAIL();
***************
*** 107,281 ****
}
else
PASS();
TEST("moving forward");
! if(p2d.SetSpeed(0.1,0) < 0)
! {
! FAIL();
! //return(-1);
! }
! else
! {
! sleep(3);
! PASS();
! }
TEST("moving backward");
! if(p2d.SetSpeed(-0.1,0) < 0)
! {
! FAIL();
! //return(-1);
! }
! else
! {
! sleep(3);
! PASS();
! }
TEST("moving left");
! if(p2d.SetSpeed(0,0.1,0) < 0)
! {
! FAIL();
! //return(-1);
! }
! else
! {
! sleep(3);
! PASS();
! }
TEST("moving right");
! if(p2d.SetSpeed(0,-0.1,0) < 0)
! {
! FAIL();
! //return(-1);
! }
! else
! {
! sleep(3);
! PASS();
! }
TEST("turning right");
! if(p2d.SetSpeed(0,DTOR(-25.0)) < 0)
! {
! FAIL();
! //return(-1);
! }
! else
! {
! sleep(3);
! PASS();
! }
TEST("turning left");
! if(p2d.SetSpeed(0,DTOR(25.0)) < 0)
! {
! FAIL();
! //return(-1);
! }
! else
! {
! sleep(3);
! PASS();
! }
TEST("moving left and anticlockwise (testing omnidrive)");
! if( p2d.SetSpeed( 0, 0.1, DTOR(45.0) ) < 0 )
! {
! FAIL();
! //return(-1);
! }
! else
! {
! sleep(3);
! PASS();
! }
TEST("moving right and clockwise (testing omnidrive)");
! if( p2d.SetSpeed( 0, -0.1, DTOR(-45) ) < 0 )
! {
! FAIL();
! //return(-1);
! }
! else
! {
! sleep(3);
! PASS();
! }
TEST("stopping");
! if(p2d.SetSpeed(0,0) < 0)
! {
! FAIL();
! //return(-1);
! }
! else
! {
! sleep(3);
! PASS();
! }
TEST("disabling motors");
! if(p2d.SetMotorState(0) < 0)
! {
! FAIL();
! //return(-1);
! }
! else
! {
! sleep(1);
! PASS();
! }
TEST("changing to separate velocity control");
! if(p2d.SelectVelocityControl(1) < 0)
! {
! FAIL();
! //return(-1);
! }
! else
! {
! sleep(1);
! PASS();
! }
TEST("changing to direct wheel velocity control");
! if(p2d.SelectVelocityControl(0) < 0)
! {
! FAIL();
! //return(-1);
! }
! else
! {
sleep(1);
PASS();
! }
TEST("resetting odometry");
! if(p2d.ResetOdometry() < 0)
! {
! FAIL();
! //return(-1);
! }
! else
! {
sleep(1);
PASS();
! }
- TEST("unsubscribing");
- if((p2d.ChangeAccess(PLAYER_CLOSE_MODE,&access) < 0) ||
- (access != PLAYER_CLOSE_MODE))
- {
- FAIL();
- return -1;
- }
-
PASS();
!
! return(0);
}
--- 62,150 ----
}
else
+ {
PASS();
+ }
+
+ TEST("resetting odometry");
+ p2d.ResetOdometry();
+ sleep(1);
+ PASS();
+
+ TEST("enabling motors");
+ p2d.SetMotorEnable(1);
+ PASS();
TEST("moving forward");
! p2d.SetSpeed(0.1,0);
! sleep(3);
! PASS();
TEST("moving backward");
! p2d.SetSpeed(-0.1,0);
! sleep(3);
! PASS();
TEST("moving left");
! p2d.SetSpeed(0,0.1,0);
! sleep(3);
! PASS();
TEST("moving right");
! p2d.SetSpeed(0,-0.1,0);
! sleep(3);
! PASS();
TEST("turning right");
! p2d.SetSpeed(0,DTOR(-25.0));
! sleep(3);
! PASS();
TEST("turning left");
! p2d.SetSpeed(0,DTOR(25.0));
! sleep(3);
! PASS();
TEST("moving left and anticlockwise (testing omnidrive)");
! p2d.SetSpeed( 0, 0.1, DTOR(45.0) );
! sleep(3);
! PASS();
TEST("moving right and clockwise (testing omnidrive)");
! p2d.SetSpeed( 0, -0.1, DTOR(-45) );
! sleep(3);
! PASS();
TEST("stopping");
! p2d.SetSpeed(0,0);
! sleep(3);
! PASS();
TEST("disabling motors");
! p2d.SetMotorEnable(0);
! sleep(1);
! PASS();
+ /*
TEST("changing to separate velocity control");
! p2d.SelectVelocityControl(1);
! sleep(1);
! PASS();
TEST("changing to direct wheel velocity control");
! p2d.SelectVelocityControl(0);
sleep(1);
PASS();
! */
TEST("resetting odometry");
! p2d.ResetOdometry();
sleep(1);
PASS();
!
PASS();
! return 0;
}
Index: test_laser.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test_laser.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test_laser.cc 20 Sep 2005 13:17:08 -0000 1.1
--- test_laser.cc 2 Feb 2007 17:12:04 -0000 1.2
***************
*** 5,9 ****
*/
- #include "playerclient.h"
#include "test.h"
#include <unistd.h>
--- 5,8 ----
***************
*** 15,35 ****
test_laser(PlayerClient* client, int index)
{
! unsigned char access;
! LaserProxy lp(client,index,'c');
! int min, max;
! int resolution, intensity, range_res;
!
! printf("device [laser] index [%d]\n", index);
!
! TEST("subscribing (read)");
! if((lp.ChangeAccess(PLAYER_READ_MODE,&access) < 0) ||
! (access != PLAYER_READ_MODE))
! {
! FAIL();
! printf("DRIVER: %s\n", lp.driver_name);
! return -1;
! }
! PASS();
! printf("DRIVER: %s\n", lp.driver_name);
// wait for the laser to warm up
--- 14,19 ----
test_laser(PlayerClient* client, int index)
{
! TEST("laser");
! LaserProxy lp(client,index);
// wait for the laser to warm up
***************
*** 38,74 ****
TEST("set configuration");
! min = -90;
! max = +90;
! resolution = 100;
! range_res = 1;
! intensity = 1;
! if(lp.Configure(DTOR(min), DTOR(max), resolution, range_res, intensity) >=
0)
! PASS();
! else
! {
! FAIL();
! return(-1);
! }
TEST("get configuration");
! if(lp.GetConfigure() == 0)
! PASS();
! else
! {
! FAIL();
! return(-1);
! }
- lp.PrintConfig();
-
TEST("check configuration sanity");
! if((((int)rint(RTOD(lp.min_angle))) != min) ||
! (((int)rint(RTOD(lp.max_angle))) != max))
{
FAIL();
return(-1);
}
! else if((((int)rint(RTOD(lp.scan_res)*100.0)) != resolution) ||
! (lp.intensity != intensity))
{
FAIL();
--- 22,44 ----
TEST("set configuration");
! int min = -90;
! int max = +90;
! int resolution = 100;
! int range_res = 1;
! bool intensity = true;
! lp.Configure(DTOR(min), DTOR(max), resolution, range_res, intensity);
TEST("get configuration");
! lp.RequestConfigure();
TEST("check configuration sanity");
! if((((int)rint(RTOD(lp.GetMinAngle()))) != min) ||
! (((int)rint(RTOD(lp.GetMaxAngle()))) != max))
{
FAIL();
return(-1);
}
! else if((((int)rint(RTOD(lp.GetScanRes())*100.0)) != resolution) ||
! (lp.GetRangeRes() != range_res))
{
FAIL();
***************
*** 82,106 ****
TEST1("reading data (attempt %d)", t);
! if(client->Read() < 0)
! {
! FAIL();
! return(-1);
! }
PASS();
- lp.Print();
}
- TEST("unsubscribing");
- if((lp.ChangeAccess(PLAYER_CLOSE_MODE,&access) < 0) ||
- (access != PLAYER_CLOSE_MODE))
- {
- FAIL();
- return -1;
- }
- PASS();
! return(0);
}
--- 52,65 ----
TEST1("reading data (attempt %d)", t);
! client->Read();
+ std::cerr << "read laser data: " << std::endl << lp << std::endl;
PASS();
}
! PASS();
! return 0;
}
Index: test_ptz.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test_ptz.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test_ptz.cc 20 Sep 2005 13:17:08 -0000 1.1
--- test_ptz.cc 2 Feb 2007 17:12:04 -0000 1.2
***************
*** 5,111 ****
*/
- #include "playerclient.h"
#include "test.h"
#include <unistd.h>
int
test_ptz(PlayerClient* client, int index)
{
! unsigned char access;
! PtzProxy zp(client,index,'c');
!
! printf("device [ptz] index [%d]\n", index);
! TEST("subscribing (read/write)");
! if((zp.ChangeAccess(PLAYER_ALL_MODE,&access) < 0) ||
! (access != PLAYER_ALL_MODE))
! {
! FAIL();
! printf("DRIVER: %s\n", zp.driver_name);
! return -1;
! }
! PASS();
! printf("DRIVER: %s\n", zp.driver_name);
! for(int t = 0; t < 3; t++)
! {
! TEST1("reading data (attempt %d)", t);
! if(client->Read() < 0)
! {
! FAIL();
! return(-1);
}
PASS();
! zp.Print();
! }
!
! TEST("panning left");
! if(zp.SetCam(DTOR(90),0,0) < 0)
! {
! FAIL();
! return(-1);
! }
! sleep(3);
! PASS();
! TEST("panning right");
! if(zp.SetCam(DTOR(-90),0,0) < 0)
! {
! FAIL();
! return(-1);
! }
! sleep(3);
! PASS();
! TEST("tilting up");
! if(zp.SetCam(0,DTOR(25),0) < 0)
! {
! FAIL();
! return(-1);
! }
! sleep(3);
! PASS();
! TEST("tilting down");
! if(zp.SetCam(0,DTOR(-25),0) < 0)
! {
! FAIL();
! return(-1);
! }
! sleep(3);
! PASS();
! TEST("zooming in");
! if(zp.SetCam(0,0,DTOR(10)) < 0)
! {
! FAIL();
! return(-1);
! }
! sleep(3);
! PASS();
- TEST("zooming out");
- if(zp.SetCam(0,0,DTOR(60)) < 0)
- {
- FAIL();
- return(-1);
- }
- sleep(3);
- PASS();
! TEST("unsubscribing");
! if((zp.ChangeAccess(PLAYER_CLOSE_MODE,&access) < 0) ||
! (access != PLAYER_CLOSE_MODE))
! {
FAIL();
return -1;
}
PASS();
!
! return(0);
}
-
--- 5,68 ----
*/
#include "test.h"
#include <unistd.h>
+ using namespace PlayerCc;
+
int
test_ptz(PlayerClient* client, int index)
{
! TEST("ptz");
! try {
! PtzProxy zp(client,index);
! for(int t = 0; t < 3; t++)
! {
! TEST1("reading data (attempt %d)", t);
! client->Read();
! PASS();
! std::cerr << zp << std::endl;
}
+ TEST("panning left");
+ zp.SetCam(DTOR(90),0,0);
+ sleep(3);
PASS();
! TEST("panning right");
! zp.SetCam(DTOR(-90),0,0);
! sleep(3);
! PASS();
! TEST("tilting up");
! zp.SetCam(0,DTOR(25),0);
! sleep(3);
! PASS();
! TEST("tilting down");
! zp.SetCam(0,DTOR(-25),0);
! sleep(3);
! PASS();
! TEST("zooming in");
! zp.SetCam(0,0,DTOR(10));
! sleep(3);
! PASS();
! TEST("zooming out");
! zp.SetCam(0,0,DTOR(60));
! sleep(3);
! PASS();
! } catch(std::exception& e) {
FAIL();
+ std::cerr << e.what() << std::endl;
return -1;
}
PASS();
! return 0;
}
Index: test_audiodsp.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test_audiodsp.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test_audiodsp.cc 20 Sep 2005 13:17:08 -0000 1.1
--- test_audiodsp.cc 2 Feb 2007 17:12:04 -0000 1.2
***************
*** 1,4 ****
- #include "playerclient.h"
#include "test.h"
#include <unistd.h>
--- 1,3 ----
Index: test_power.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test_power.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test_power.cc 20 Sep 2005 13:17:08 -0000 1.1
--- test_power.cc 2 Feb 2007 17:12:04 -0000 1.2
***************
*** 5,9 ****
*/
- #include "playerclient.h"
#include "test.h"
#include <unistd.h>
--- 5,8 ----
***************
*** 12,30 ****
test_power(PlayerClient* client, int index)
{
! unsigned char access;
! PowerProxy pp(client,index,'c');
!
! printf("device [power] index [%d]\n", index);
!
! TEST("subscribing (read/write)");
! if((pp.ChangeAccess(PLAYER_ALL_MODE,&access) < 0) ||
! (access != PLAYER_ALL_MODE))
! {
! FAIL();
! printf("DRIVER: %s\n", pp.driver_name);
! return -1;
! }
! PASS();
! printf("DRIVER: %s\n", pp.driver_name);
// wait for P2OS to start up
--- 11,16 ----
test_power(PlayerClient* client, int index)
{
! TEST("power");
! PowerProxy pp(client,index);
// wait for P2OS to start up
***************
*** 35,57 ****
{
TEST1("reading data (attempt %d)", t);
!
! if(client->Read() < 0)
! {
! FAIL();
! return(-1);
! }
!
PASS();
! pp.Print();
}
- TEST("unsubscribing");
- if((pp.ChangeAccess(PLAYER_CLOSE_MODE,&access) < 0) ||
- (access != PLAYER_CLOSE_MODE))
- {
- FAIL();
- return -1;
- }
PASS();
--- 21,30 ----
{
TEST1("reading data (attempt %d)", t);
! client->Read();
PASS();
! std::cerr << pp << std::endl;
}
PASS();
Index: test_motor.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test_motor.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test_motor.cc 20 Sep 2005 13:17:08 -0000 1.1
--- test_motor.cc 2 Feb 2007 17:12:04 -0000 1.2
***************
*** 5,9 ****
*/
- #include "playerclient.h"
#include "test.h"
#include <unistd.h>
--- 5,8 ----
Index: test_truth.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test_truth.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test_truth.cc 20 Sep 2005 13:17:08 -0000 1.1
--- test_truth.cc 2 Feb 2007 17:12:04 -0000 1.2
***************
*** 5,9 ****
*/
- #include "playerclient.h"
#include "test.h"
--- 5,8 ----
--- NEW FILE: test_actarray.cc ---
/*
* $Id: test_actarray.cc,v 1.1 2007/02/02 17:12:04 gerkey Exp $
*
* a test for the C++ SonarProxy
*/
#include "test.h"
#include <unistd.h>
using namespace PlayerCc;
int
test_actarray(PlayerClient* client, int index)
{
ActArrayProxy aap(client,index);
// wait for P2OS to start up
for(int i=0; i < 20; i++)
client->Read();
aap.RequestGeometry();
aap.GetActuatorGeom(0);
for(int t = 0; t < 3; t++)
{
TEST1("reading data (attempt %d)", t);
client->Read();
std::cerr << "got actarray data: " << std::endl << aap << std::endl;
PASS();
}
const int wait_iters = 50;
TEST("homing actuator #0");
aap.MoveHome(0);
for(int i = 0; i < wait_iters; ++i)
{
client->Read();
if(i % 5 == 0)
std::cerr << aap << std::endl;
}
PASS();
TEST("moving #0 to 1.0");
aap.MoveTo(0, 1.0);
for(int i = 0; i < wait_iters; ++i)
{
client->Read();
if(i % 5 == 0)
std::cerr << aap << std::endl;
}
PASS();
TEST("moving #0 to 0.0");
aap.MoveTo(0, 0.0);
for(int i = 0; i < wait_iters; ++i)
{
client->Read();
if(i % 5 == 0)
std::cerr << aap << std::endl;
}
PASS();
TEST("moving #0 to 0.5");
aap.MoveTo(0, 0.5);
for(int i = 0; i < wait_iters; ++i)
{
client->Read();
if(i % 5 == 0)
std::cerr << aap << std::endl;
}
PASS();
TEST("moving #0 at speed 0.25, then setting speed to 0");
aap.MoveAtSpeed(0, 0.25);
for(int i = 0; i < wait_iters; ++i)
{
client->Read();
if(i % 5 == 0)
std::cerr << aap << std::endl;
}
aap.MoveAtSpeed(0, 0.0);
PASS();
TEST("moving #0 at speed -0.3, then setting speed to 0");
aap.MoveAtSpeed(0, -0.3);
for(int i = 0; i < wait_iters; ++i)
{
client->Read();
if(i % 5 == 0)
std::cerr << aap << std::endl;
}
aap.MoveAtSpeed(0, 0.0);
PASS();
TEST("homing #0");
aap.MoveHome(0);
for(int i = 0; i < wait_iters; ++i)
{
client->Read();
if(i % 5 == 0)
std::cerr << aap << std::endl;
}
PASS();
PASS();
return(0);
}
Index: test_blinkenlight.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test_blinkenlight.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test_blinkenlight.cc 20 Sep 2005 13:17:08 -0000 1.1
--- test_blinkenlight.cc 2 Feb 2007 17:12:04 -0000 1.2
***************
*** 5,9 ****
*/
- #include "playerclient.h"
#include "test.h"
#include <unistd.h>
--- 5,8 ----
Index: test_gripper.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test_gripper.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test_gripper.cc 20 Sep 2005 13:17:08 -0000 1.1
--- test_gripper.cc 2 Feb 2007 17:12:04 -0000 1.2
***************
*** 5,30 ****
*/
- #include "playerclient.h"
#include "test.h"
#include <unistd.h>
int
test_gripper(PlayerClient* client, int index)
{
! unsigned char access;
! GripperProxy gp(client,index,'c');
!
! printf("device [gripper] index [%d]\n", index);
!
! TEST("subscribing (read/write)");
! if((gp.ChangeAccess(PLAYER_ALL_MODE,&access) < 0) ||
! (access != PLAYER_ALL_MODE))
! {
! FAIL();
! printf("DRIVER: %s\n", gp.driver_name);
! return -1;
! }
! PASS();
! printf("DRIVER: %s\n", gp.driver_name);
// wait for P2OS to start up
--- 5,17 ----
*/
#include "test.h"
#include <unistd.h>
+ using namespace PlayerCc;
+
int
test_gripper(PlayerClient* client, int index)
{
! GripperProxy gp(client,index);
// wait for P2OS to start up
***************
*** 35,128 ****
{
TEST1("reading data (attempt %d)", t);
! if(client->Read() < 0)
! {
! FAIL();
! return(-1);
! }
PASS();
-
- gp.Print();
}
! if(use_stage)
! {
! TEST("gripper open");
! if(gp.SetGrip(GRIPopen) < 0)
! {
! FAIL();
! return(-1);
! }
! sleep(3);
! PASS();
!
! TEST("gripper close");
! if(gp.SetGrip(GRIPclose) < 0)
! {
! FAIL();
! return(-1);
! }
! sleep(3);
! PASS();
!
! TEST("gripper open");
! if(gp.SetGrip(GRIPopen) < 0)
! {
! FAIL();
! return(-1);
! }
! sleep(3);
! PASS();
!
! TEST("gripper up");
! if(gp.SetGrip(LIFTup) < 0)
! {
! FAIL();
! return(-1);
! }
! sleep(3);
! PASS();
! TEST("gripper down");
! if(gp.SetGrip(LIFTdown) < 0)
! {
! FAIL();
! return(-1);
! }
! sleep(3);
! PASS();
! }
! else
! {
! TEST("gripper deploy");
! if(gp.SetGrip(GRIPdeploy) < 0)
! {
! FAIL();
! return(-1);
! }
! sleep(3);
! PASS();
! TEST("gripper store");
! if(gp.SetGrip(GRIPstore) < 0)
! {
! FAIL();
! return(-1);
! }
! sleep(4);
! PASS();
! }
! TEST("unsubscribing");
! if((gp.ChangeAccess(PLAYER_CLOSE_MODE,&access) < 0) ||
! (access != PLAYER_CLOSE_MODE))
! {
! FAIL();
! return -1;
! }
PASS();
return(0);
}
--- 22,58 ----
{
TEST1("reading data (attempt %d)", t);
+ client->Read();
! std::cerr << "got gripper data: " << std::endl << gp << std::endl;
PASS();
}
! TEST("gripper open");
! gp.Open();
! sleep(5);
! PASS();
! TEST("gripper close");
! gp.Close();
! sleep(8);
! PASS();
! TEST("gripper open");
! gp.Open();
! sleep(5);
! PASS();
! TEST("gripper store object (only on some grippers, e.g. stage)");
! gp.Store();
! sleep(3);
! PASS();
+ TEST("gripper retrieve object (only on some grippers, e.g. stage");
+ gp.Retrieve();
+ sleep(3);
PASS();
+ PASS();
return(0);
}
Index: test_fiducialfinder.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test_fiducialfinder.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test_fiducialfinder.cc 20 Sep 2005 13:17:08 -0000 1.1
--- test_fiducialfinder.cc 2 Feb 2007 17:12:04 -0000 1.2
***************
*** 5,9 ****
*/
- #include "playerclient.h"
#include "test.h"
#include <unistd.h>
--- 5,8 ----
Index: test_vision.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test_vision.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test_vision.cc 20 Sep 2005 13:17:08 -0000 1.1
--- test_vision.cc 2 Feb 2007 17:12:04 -0000 1.2
***************
*** 5,9 ****
*/
- #include "playerclient.h"
#include "test.h"
#include <unistd.h>
--- 5,8 ----
Index: test_position_control.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test_position_control.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test_position_control.cc 20 Sep 2005 13:17:08 -0000 1.1
--- test_position_control.cc 2 Feb 2007 17:12:04 -0000 1.2
***************
*** 5,9 ****
*/
- #include "playerclient.h"
#include "test.h"
#include <unistd.h>
--- 5,8 ----
Index: test_bps.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test_bps.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test_bps.cc 20 Sep 2005 13:17:08 -0000 1.1
--- test_bps.cc 2 Feb 2007 17:12:04 -0000 1.2
***************
*** 5,9 ****
*/
- #include "playerclient.h"
#include "test.h"
#include <unistd.h>
--- 5,8 ----
Index: test_blobfinder.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/test/test_blobfinder.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** test_blobfinder.cc 20 Sep 2005 13:17:08 -0000 1.1
--- test_blobfinder.cc 2 Feb 2007 17:12:04 -0000 1.2
***************
*** 5,9 ****
*/
- #include "playerclient.h"
#include "test.h"
#include <unistd.h>
--- 5,8 ----
-------------------------------------------------------------------------
Using Tomcat but need to do more? Need to support web services, security?
Get stuff done quickly with pre-integrated technology to make your job easier.
Download IBM WebSphere Application Server v.1.0.1 based on Apache Geronimo
http://sel.as-us.falkag.net/sel?cmd=lnk&kid=120709&bid=263057&dat=121642
_______________________________________________
Playerstage-commit mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/playerstage-commit
