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

test/RobotLogging/main.cpp

@@ -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
+
+
+}