[unitTesting] Add unitTest for control-manager.

To be completed but at least it is testing sendMsg.

unitTesting/CMakeLists.txt

+# Make Boost.Test generates the main function in test cases.
+ADD_DEFINITIONS(-DBOOST_TEST_DYN_LINK -DBOOST_TEST_MAIN)
+
 # Add unit tests for validation
 
+MACRO(SOT_TOR_CTR_TEST NAME)
+  ADD_EXECUTABLE(test-${NAME} test-${NAME}.cpp)
+  IF (test-${NAME}-args)
+    ADD_TEST(test-${NAME} ${RUNTIME_OUTPUT_DIRECTORY}/test-${NAME} ${test-${NAME}-args} )
+  ELSE (test-${NAME}-args)
+    ADD_TEST(test-${NAME} ${RUNTIME_OUTPUT_DIRECTORY}/test-${NAME} )
+  ENDIF (test-${NAME}-args)    
+
+  TARGET_LINK_LIBRARIES(test-${NAME} ${PROJECT_NAME})
+  ADD_DEPENDENCIES(test-${NAME} ${PROJECT_NAME})
+  PKG_CONFIG_USE_DEPENDENCY(test-${NAME} pinocchio)
+
+  IF (test-${NAME}-libs)
+    TARGET_LINK_LIBRARIES(test-${NAME} ${test-${NAME}-libs})
+    ADD_DEPENDENCIES(test-${NAME} ${test-${NAME}-libs})
+  ENDIF (test-${NAME}-libs)
+
+  # Link against Boost.
+  TARGET_LINK_LIBRARIES(test-${NAME} ${Boost_LIBRARIES})
+
+ENDMACRO(SOT_TOR_CTR_TEST)
+
+SET(urdfpath
+  ${SIMPLE_HUMANOID_DESCRIPTION_PKGDATAROOTDIR}/simple_humanoid_description/urdf/simple_humanoid.urdf
+  )
+SET(srdfpath
+  ${SIMPLE_HUMANOID_DESCRIPTION_PKGDATAROOTDIR}/simple_humanoid_description/srdf/simple_humanoid.srdf
+  )
+
+SET(test-control-manager-args ${urdfpath} ${srdfpath} )
+SET(test-control-manager-libs control-manager)
+SOT_TOR_CTR_TEST(control-manager)
+
 IF(BUILD_PYTHON_INTERFACE)
   SET(LIST_OF_TESTS
     unit_test_control_manager.py

unitTesting/test-control-manager.cpp

+
+/* Copyright 2019, LAAS-CNRS
+ *
+ * Olivier Stasse
+ *
+ */
+#include <sstream>
+#include <iostream>
+
+#include <dynamic-graph/factory.h>
+
+// Needed for sendMsg.
+#define ENABLE_RT_LOG
+#include <dynamic-graph/real-time-logger.h>
+
+#include <sot/torque_control/control-manager.hh>
+
+#include <sot/core/robot-utils.hh>
+#include <sot/core/debug.hh>
+
+#define BOOST_TEST_MODULE test-control-manager
+
+#include <boost/test/unit_test.hpp>
+#include <boost/test/output_test_stream.hpp>
+
+using boost::test_tools::output_test_stream;
+namespace dyn_sot_tc = dynamicgraph::sot::torque_control;
+
+void robot_utils_for_simple_humanoid()
+{
+  std::string robotName("simple_humanoid");
+  robot_util = createRobotUtil(robotName);
+  
+  robot_util->m_urdf_filename =
+    boost::unit_test::framework::master_test_suite().argv[1];
+
+  
+}
+
+BOOST_AUTO_TEST_CASE(testControlManager)
+{
+  RealTimeLogger& rtl = RealTimeLogger::instance();
+  dgADD_OSTREAM_TO_RTLOG (std::cout);
+  
+  dyn_sot_tc::ControlManager &a_control_manager =
+    *(dynamic_cast<dyn_sot_tc::ControlManager *>
+      (dynamicgraph::FactoryStorage::
+       getInstance()->newEntity("ControlManager",
+				"a_control_manager")));
+  
+  if (boost::unit_test::framework::master_test_suite().argc!=3)
+    BOOST_CHECK(false);
+  
+  a_control_manager.setLoggerVerbosityLevel(dynamicgraph::VERBOSITY_ALL);
+  
+  std::string urdfFile =  boost::unit_test::framework::
+    master_test_suite().argv[1];
+  std::string robotRef("simple_humanoid_description");
+  a_control_manager.init(0.001,urdfFile,robotRef);
+
+  dynamicgraph::Vector av;
+  a_control_manager.m_uSOUT.needUpdate(6);
+  
+  RealTimeLogger::destroy();
+}