From 3edf8e7d6f8ee15c3014dfa3b33ec50ad88d3112 Mon Sep 17 00:00:00 2001
From: Francois Bleibel <fbleibel@gmail.com>
Date: Fri, 25 Jun 2010 18:32:45 +0900
Subject: [PATCH] Added new test test_factory
---
unitTesting/CMakeLists.txt | 8 +-
unitTesting/factory/test_factory.cpp | 154 +++++++++++++++++++++++++++
unitTesting/{main.cpp => link.cpp} | 0
unitTesting/test-paths.h.cmake | 5 +
4 files changed, 165 insertions(+), 2 deletions(-)
create mode 100644 unitTesting/factory/test_factory.cpp
rename unitTesting/{main.cpp => link.cpp} (100%)
create mode 100644 unitTesting/test-paths.h.cmake
diff --git a/unitTesting/CMakeLists.txt b/unitTesting/CMakeLists.txt
index ec704265..b789b96c 100644
--- a/unitTesting/CMakeLists.txt
+++ b/unitTesting/CMakeLists.txt
@@ -2,6 +2,9 @@
# Copyright
#
+CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/test-paths.h.cmake
+ ${CMAKE_CURRENT_SOURCE_DIR}/test-paths.h)
+
#The sot-core plugin libraries that tests have to be linked against
#the name of the variable for test EXECUTABLE_NAME is TEST_${EXECUTABLE_NAME}_LIBS
SET(TEST_tsot_LIBS
@@ -12,13 +15,14 @@ SET(TEST_tsot_LIBS
#test paths and names (without .cpp extension)
SET (tests
- main
+ link
signal/test_signal
signal/test_depend
signal/test_ptr
signal/test_dep
sot/tsot
- sot/test_solverSoth)
+ sot/test_solverSoth
+ factory/test_factory)
FOREACH(test ${tests})
GET_FILENAME_COMPONENT(EXECUTABLE_NAME ${test} NAME)
diff --git a/unitTesting/factory/test_factory.cpp b/unitTesting/factory/test_factory.cpp
new file mode 100644
index 00000000..64b6fdff
--- /dev/null
+++ b/unitTesting/factory/test_factory.cpp
@@ -0,0 +1,154 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * 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 <sot-core/factory.h>
+#include <dynamic-graph/entity.h>
+#include "../test-paths.h"
+#include <sot-core/feature-visual-point.h>
+#include <sot-core/exception-feature.h>
+#include <sot-core/debug.h>
+using namespace std;
+using namespace sot;
+using namespace dg;
+
+#ifdef WIN32
+#include <Windows.h>
+#else
+#include <dlfcn.h>
+#endif
+
+#ifdef WIN32
+ typedef HMODULE sotPluginKey;
+#else
+ typedef void* sotPluginKey;
+#endif
+
+class TestFeature
+ :public FeatureAbstract
+{
+public:
+ TestFeature( void ) : FeatureAbstract("") {}
+ virtual ~TestFeature( void ) {}
+ virtual unsigned int& getDimension( unsigned int& res,int time ) {return res;}
+
+ virtual ml::Vector& computeError( ml::Vector& res,int time ) {return res;}
+ virtual ml::Matrix& computeJacobian( ml::Matrix& res,int time ) {return res;}
+ virtual ml::Vector& computeActivation( ml::Vector& res,int time ) {return res;}
+};
+
+
+int main()
+{
+
+ sotDEBUG(0) << "# In {"<<endl;
+// Entity test("");
+// ExceptionFeature t2(ExceptionFeature::BAD_INIT);
+// ExceptionSignal t4(ExceptionSignal::COPY_NOT_INITIALIZED);
+// Flags t3;
+// TestFeature t5;
+
+#ifndef WIN32
+ sotPluginKey dlib = dlopen(PLUGIN_LIB_INSTALL_PATH "feature-visual-point.so", RTLD_NOW);
+#else
+ sotPluginKey dlib = LoadLibrary (PLUGIN_LIB_INSTALL_PATH "lib/plugin/feature-visual-point.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(1);
+ }
+
+
+#ifndef WIN32
+ dlib = dlopen(PLUGIN_LIB_INSTALL_PATH "lib/plugin/gain-adaptative.so", RTLD_NOW);
+#else
+ dlib = LoadLibrary (PLUGIN_LIB_INSTALL_PATH "lib/plugin/gain-adaptative.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(1);
+ }
+
+ Entity* gain = g_factory.newEntity("GainAdaptative","Gain");
+ FeatureAbstract* point = sotFactory.newFeature("FeatureVisualPoint","DynamicTest.");
+
+ try {
+ gain->display(cout); cout << endl;
+ cout <<gain->getClassName(); cout << endl;
+
+ point->display(cout); cout << endl;
+ cout <<point->getClassName(); cout << endl;
+ }
+ catch ( ExceptionSignal e ) {
+ cout << "Exception caught! " << e << endl;
+ }
+
+ sotDEBUG(0) << "# Out }"<<endl;
+}
+
diff --git a/unitTesting/main.cpp b/unitTesting/link.cpp
similarity index 100%
rename from unitTesting/main.cpp
rename to unitTesting/link.cpp
diff --git a/unitTesting/test-paths.h.cmake b/unitTesting/test-paths.h.cmake
new file mode 100644
index 00000000..6cd128b2
--- /dev/null
+++ b/unitTesting/test-paths.h.cmake
@@ -0,0 +1,5 @@
+#ifndef TEST_PATHS_H
+
+#define PLUGIN_LIB_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/lib/plugin"
+
+#endif
--
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