Added new test test_factory

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)

unitTesting/factory/test_factory.cpp

+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * 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;
+}
+

unitTesting/test-paths.h.cmake

+#ifndef TEST_PATHS_H
+
+#define PLUGIN_LIB_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/lib/plugin"
+
+#endif