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turn test/SharedMemory/test.c into a gtest for CI unit testing in github

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remove overly verbose printfs in importers
fix axis in r2d2.urdf
This commit is contained in:
Erwin Coumans
2016-03-15 22:47:53 -07:00
parent 005ef9d2f1
commit aa3daaa8c6
13 changed files with 189 additions and 76 deletions
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83
test/SharedMemory/test.c
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@@ -22,8 +22,14 @@
#include <stdio.h>
#ifndef ENABLE_GTEST
#include <assert.h>
#define ASSERT_EQ(a,b) assert((a)==(b));
#else
#define printf
#endif
int main(int argc, char* argv[])
void testSharedMemory(b3PhysicsClientHandle sm)
{
int i, dofCount , posVarCount, ret ,numJoints ;
int sensorJointIndexLeft=-1;
@@ -34,21 +40,6 @@ int main(int argc, char* argv[])
double startPosX, startPosY,startPosZ;
int imuLinkIndex = -1;
int bodyIndex = -1;
#ifdef PHYSICS_LOOP_BACK
b3PhysicsClientHandle sm = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
#endif
#ifdef PHYSICS_SERVER_DIRECT
b3PhysicsClientHandle sm = b3ConnectPhysicsDirect();
#endif
#ifdef PHYSICS_IN_PROCESS_EXAMPLE_BROWSER
b3PhysicsClientHandle sm = b3CreateInProcessPhysicsServerAndConnect(argc,argv);
#endif
#ifdef PHYSICS_SHARED_MEMORY
b3PhysicsClientHandle sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
#endif //PHYSICS_SHARED_MEMORY
if (b3CanSubmitCommand(sm))
{
@@ -72,10 +63,7 @@ int main(int argc, char* argv[])
ret = b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_URDF_LOADING_COMPLETED)
{
printf("Loading URDF failed, status type = %d\n",statusType);
}
ASSERT_EQ(statusType, CMD_URDF_LOADING_COMPLETED);
bodyIndex = b3GetStatusBodyIndex(statusHandle);
}
@@ -87,7 +75,7 @@ int main(int argc, char* argv[])
struct b3JointInfo jointInfo;
b3GetJointInfo(sm,bodyIndex, i,&jointInfo);
printf("jointInfo[%d].m_jointName=%s\n",i,jointInfo.m_jointName);
// printf("jointInfo[%d].m_jointName=%s\n",i,jointInfo.m_jointName);
//pick the IMU link index based on torso name
if (strstr(jointInfo.m_linkName,"base_link"))
{
@@ -144,15 +132,16 @@ int main(int argc, char* argv[])
b3SharedMemoryStatusHandle statusHandle;
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
ASSERT_EQ(statusType, CMD_ACTUAL_STATE_UPDATE_COMPLETED);
if (statusType == CMD_ACTUAL_STATE_UPDATE_COMPLETED)
{
b3GetStatusActualState(statusHandle,
0, &posVarCount, &dofCount,
0, 0, 0, 0);
ASSERT_EQ(posVarCount,15);
ASSERT_EQ(dofCount,14);
b3Printf("posVarCount = %d\n",posVarCount);
printf("dofCount = %d\n",dofCount);
}
}
@@ -176,11 +165,7 @@ int main(int argc, char* argv[])
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, b3InitStepSimulationCommand(sm));
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_STEP_FORWARD_SIMULATION_COMPLETED)
{
printf("Step Simulation failed, Unexpected status type = %d\n",statusType);
break;
}
ASSERT_EQ(statusType, CMD_STEP_FORWARD_SIMULATION_COMPLETED);
}
{
@@ -222,3 +207,43 @@ int main(int argc, char* argv[])
b3DisconnectSharedMemory(sm);
}
#ifdef ENABLE_GTEST
TEST(BulletPhysicsClientServerTest, DirectConnection) {
b3PhysicsClientHandle sm = b3ConnectPhysicsDirect();
testSharedMemory(sm);
}
TEST(BulletPhysicsClientServerTest, LoopBackSharedMemory) {
b3PhysicsClientHandle sm = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
testSharedMemory(sm);
}
#else
int main(int argc, char* argv[])
{
#ifdef PHYSICS_LOOP_BACK
b3PhysicsClientHandle sm = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
#endif
#ifdef PHYSICS_SERVER_DIRECT
b3PhysicsClientHandle sm = b3ConnectPhysicsDirect();
#endif
#ifdef PHYSICS_IN_PROCESS_EXAMPLE_BROWSER
b3PhysicsClientHandle sm = b3CreateInProcessPhysicsServerAndConnect(argc,argv);
#endif
#ifdef PHYSICS_SHARED_MEMORY
b3PhysicsClientHandle sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
#endif //PHYSICS_SHARED_MEMORY
testSharedMemory(sm);
}
#endif