void
test_hz(engine::KnowledgeBase & knowledge,
controllers::BaseController & loop, double hz = 0.0, double duration = 10.0)
{
algorithm->reset_counters();
std::cerr << "Testing " << duration << "s experiment with "
<< hz << "hz.\n";
loop.run_hz(hz, duration);
knowledge.set(".loops", algorithm->loops);
#ifndef _MADARA_NO_KARL_
knowledge.evaluate(".loop_speed = .loops / 10");
knowledge.evaluate(".legible_speed = to_legible_hertz(.loop_speed)");
#else
knowledge.set(".loop_speed", algorithm->loops / 10);
#endif
knowledge.print(
" Results: {.loops} loop executions @ {.legible_speed}\n");
if (hz == 0.0 ||((double)algorithm->loops > hz * .1 * duration) ||
algorithm->loops > 100)
{
knowledge.print(
" SUCCESS: {.loops} > hz * .1 * duration\n");
}
else
{
knowledge.print(
" FAIL: {.loops} < hz * .1 * duration\n");
++gams_fails;
}
}
/// Tests logicals operators (&&, ||)
void create_arrays(madara::knowledge::KnowledgeBase& knowledge)
{
knowledge.clear();
std::vector<double> doubles_vector;
doubles_vector.resize(5);
doubles_vector[0] = 2.0 / 3;
doubles_vector[1] = 5.0 / 4;
doubles_vector[2] = -3.14159;
doubles_vector[3] = 42.0;
doubles_vector[4] = 3000.5238;
knowledge.set(
"doubles_vector", doubles_vector, madara::knowledge::EvalSettings::SEND);
madara::knowledge::KnowledgeRecord::Integer* integer_array =
new madara::knowledge::KnowledgeRecord::Integer[3];
integer_array[0] = 0;
integer_array[1] = 1;
integer_array[2] = 2;
knowledge.set("integers_vector", integer_array, 3,
madara::knowledge::EvalSettings::SEND);
#ifndef _MADARA_NO_KARL_
knowledge.evaluate(
"var_array[1] = 3.0", madara::knowledge::EvalSettings::SEND);
knowledge.evaluate(
"var_array[3] = 20", madara::knowledge::EvalSettings::SEND);
#else
knowledge.set_index(
"var_array", 1, 3.0, madara::knowledge::EvalSettings::SEND);
knowledge.set_index(
"var_array", 3, Integer(3.0), madara::knowledge::EvalSettings::SEND);
#endif // _MADARA_NO_KARL_
knowledge.set(
"finished_transmitting", 1, madara::knowledge::EvalSettings::SEND);
knowledge.print("Sending the following data sets to id 1\n");
knowledge.print("doubles_vector = [{doubles_vector}]\n");
knowledge.print("integers_vector = [{integers_vector}]\n");
knowledge.print("var_array = [{var_array}]\n");
madara::knowledge::KnowledgeRecord::set_precision(10);
knowledge.print("Setting precision to 10 and reprinting\n");
knowledge.print("doubles_vector = [{doubles_vector}]\n");
knowledge.print("integers_vector = [{integers_vector}]\n");
knowledge.print("var_array = [{var_array}]\n");
delete[] integer_array;
}
/// Tests logicals operators (&&, ||)
void write_transported_arrays(madara::knowledge::KnowledgeBase& knowledge)
{
knowledge.print("\nReceived the following arrays from id 0\n");
knowledge.print("doubles_vector = [{doubles_vector}]\n");
knowledge.print("integers_vector = [{integers_vector}]\n");
knowledge.print("var_array = [{var_array}]\n\n");
madara::knowledge::KnowledgeRecord doubles_vector =
knowledge.get("doubles_vector");
doubles_vector.set_index(5, 127.25);
doubles_vector.set_index(6, 1.2575);
std::cerr << "adding two doubles (127.25, 1.2575) to the doubles_vector\n";
std::cerr << "doubles_vector = [" << doubles_vector.to_string(", ") << "]"
<< std::endl;
madara::knowledge::KnowledgeRecord integers_vector =
knowledge.get("integers_vector");
std::cerr << "\nintegers_vector = [" << integers_vector.to_string(", ") << "]"
<< std::endl;
integers_vector.set_index(7, madara::knowledge::KnowledgeRecord::Integer(7));
std::cerr << "adding one integer (7) to the integers_vector\n";
std::cerr << "integers_vector = [" << integers_vector.to_string(", ") << "]"
<< std::endl;
std::cerr << "adding one double (6.0) to the integers_vector\n";
integers_vector.set_index(6, 6.0);
std::cerr << "integers_vector = [" << integers_vector.to_string(", ")
<< "]\n\n";
knowledge.print("var_array = [{var_array}]\n");
std::cerr << "copying elements of var_array to var_array\n";
#ifndef _MADARA_NO_KARL_
knowledge.evaluate(
"var_array[0] = var_array[3]", madara::knowledge::EvalSettings::SEND);
knowledge.evaluate(
"var_array[2] = var_array[1]", madara::knowledge::EvalSettings::SEND);
knowledge.evaluate(
"var_array[8] = 100.012", madara::knowledge::EvalSettings::SEND);
#else
knowledge.set_index("var_array", 0,
knowledge.retrieve_index("var_array", 3).to_double(),
madara::knowledge::EvalSettings::SEND);
knowledge.set_index("var_array", 2,
knowledge.retrieve_index("var_array", 1).to_double(),
madara::knowledge::EvalSettings::SEND);
knowledge.set_index(
"var_array", 8, 100.012, madara::knowledge::EvalSettings::SEND);
#endif // _MADARA_NO_KARL_
knowledge.print("var_array = [{var_array}]\n\n");
}