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prepare state logging system (log state of robot, vr controllers after each stepSimulation)

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This commit is contained in:
Erwin Coumans
2017-02-17 10:47:55 -08:00
parent 6db217b36a
commit 34c3fca8d5
18 changed files with 330 additions and 8 deletions
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2
test/CMakeLists.txt
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@@ -3,5 +3,5 @@ IF(BUILD_BULLET3)
SUBDIRS( InverseDynamics SharedMemory )
ENDIF(BUILD_BULLET3)
SUBDIRS( gtest-1.7.0 collision BulletDynamics/pendulum )
SUBDIRS( gtest-1.7.0 collision RobotLogging BulletDynamics/pendulum )

81
test/RobotLogging/main.cpp Normal file
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@@ -0,0 +1,81 @@
#include "Utils/RobotLoggingUtil.h"
#ifndef ENABLE_GTEST
#include <assert.h>
#define ASSERT_EQ(a,b) assert((a)==(b));
#else
#include <gtest/gtest.h>
#define printf
#endif
void testMinitaurLogging()
{
const char* fileName = "d:/logTest.txt";
btAlignedObjectArray<std::string> structNames;
std::string structTypes;
btAlignedObjectArray<MinitaurLogRecord> logRecords;
bool verbose = false;
int status = readMinitaurLogFile(fileName, structNames, structTypes, logRecords, verbose);
for (int i=0;i<logRecords.size();i++)
{
for (int j=0;j<structTypes.size();j++)
{
switch (structTypes[j])
{
case 'I':
{
int v = logRecords[i].m_values[j].m_intVal;
printf("record %d, %s = %d\n",i,structNames[j].c_str(),v);
break;
}
case 'f':
{
float v = logRecords[i].m_values[j].m_floatVal;
printf("record %d, %s = %f\n",i,structNames[j].c_str(),v);
break;
}
case 'B':
{
int v = logRecords[i].m_values[j].m_charVal;
printf("record %d, %s = %d\n",i,structNames[j].c_str(),v);
break;
}
default:
{
}
}
}
}
}
#ifdef ENABLE_GTEST
TEST(RobotLoggingTest, LogMinitaur) {
testMinitaurLogging();
}
#endif
int main(int argc, char* argv[])
{
//b3SetCustomPrintfFunc(myprintf);
//b3SetCustomWarningMessageFunc(myprintf);
#ifdef ENABLE_GTEST
#if _MSC_VER
_CrtSetDbgFlag ( _CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF );
//void *testWhetherMemoryLeakDetectionWorks = malloc(1);
#endif
::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
#else
testMinitaurLogging();
#endif
}

2
test/SharedMemory/CMakeLists.txt
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@@ -56,6 +56,8 @@ ENDIF()
../../examples/SharedMemory/PosixSharedMemory.h
../../examples/Utils/b3ResourcePath.cpp
../../examples/Utils/b3ResourcePath.h
../../examples/Utils/RobotLoggingUtil.cpp
../../examples/Utils/RobotLoggingUtil.h
../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
../../examples/SharedMemory/TinyRendererVisualShapeConverter.h
../../examples/OpenGLWindow/SimpleCamera.cpp

6
test/SharedMemory/premake4.lua
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@@ -84,6 +84,8 @@ project ("Test_PhysicsServerLoopBack")
"../../examples/TinyRenderer/TinyRenderer.cpp",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
"../../examples/Utils/RobotLoggingUtil.cpp",
"../../examples/Utils/RobotLoggingUtil.h",
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
@@ -158,6 +160,8 @@ project ("Test_PhysicsServerLoopBack")
"../../examples/OpenGLWindow/SimpleCamera.h",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
"../../examples/Utils/RobotLoggingUtil.cpp",
"../../examples/Utils/RobotLoggingUtil.h",
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
@@ -259,6 +263,8 @@ project ("Test_PhysicsServerInProcessExampleBrowser")
"../../examples/TinyRenderer/TinyRenderer.cpp",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
"../../examples/Utils/RobotLoggingUtil.cpp",
"../../examples/Utils/RobotLoggingUtil.h",
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",