CU_TEST_END
static void event_decoder_suite_setup(void)
{
nrf_cunit_mock_call * p_mock_obj;
reset_test();
nrf_cunit_reset_mock();
// Verify the SWI2_IRQ is not set.
CU_ASSERT(NVIC_GetPendingIRQ(SWI2_IRQn) == 0);
nrf_cunit_expect_call_return((uint8_t *)"hci_transport_rx_pkt_consume", &p_mock_obj);
p_mock_obj->compare_rule[0] = COMPARE_ANY;
}
void SortingTester::test_all(int size, int num_tests, bool partial_sort){
std::cout << "Initializing contents.\n" << std::endl;
initialize_contents(size);
if (!data_){
std::cout << "ERROR: Data uninitialized." << std::endl;
std::cout << "Stopping tests." << std::endl;
return;
}
std::cout << "Beginning Tests." << std::endl;
for (auto& sort : sorters_){
// Test each sort
cur_sort = sort->name();
std::cout << "Testing " << cur_sort << std::endl;
SortingTestSummary summary(cur_sort);
for (int i = 0; i < num_tests; i++){
shuffle_contents();
start_timer();
sort->operator()(data_, size);
int time_ms = stop_timer();
if (!check_sorted()){
std::cout << "ERROR: TEST FAILED!" << std::endl;
}
summary.add_result(size, time_ms, comparisons, swap_count);
reset_test();
}
summaries_.push_back(summary);
}
}
int main (int argc, char **argv)
{
// setup pointers to drawstuff callback functions
dsFunctions fn;
fn.version = DS_VERSION;
fn.start = &start;
fn.step = &simLoop;
fn.command = 0;
fn.stop = 0;
fn.path_to_textures = "../../drawstuff/textures";
if(argc==2)
{
fn.path_to_textures = argv[1];
}
dRandSetSeed (time(0));
reset_test();
// run simulation
dsSimulationLoop (argc,argv,352,288,&fn);
dWorldDestroy (world);
return 0;
}
static void simLoop (int pause)
{
if (!pause) {
dBodyAddTorque (anchor_body,torque[0],torque[1],torque[2]);
dBodyAddTorque (test_body,torque[0],torque[1],torque[2]);
dWorldStep (world,0.03);
iteration++;
if (iteration >= 100) {
// measure the difference between the anchor and test bodies
const dReal *w1 = dBodyGetAngularVel (anchor_body);
const dReal *w2 = dBodyGetAngularVel (test_body);
const dReal *q1 = dBodyGetQuaternion (anchor_body);
const dReal *q2 = dBodyGetQuaternion (test_body);
dReal maxdiff = dMaxDifference (w1,w2,1,3);
printf ("w-error = %.4e (%.2f,%.2f,%.2f) and (%.2f,%.2f,%.2f)\n",
maxdiff,w1[0],w1[1],w1[2],w2[0],w2[1],w2[2]);
maxdiff = dMaxDifference (q1,q2,1,4);
printf ("q-error = %.4e\n",maxdiff);
reset_test();
}
}
dReal sides[3] = {SIDE,SIDE,SIDE};
dReal sides2[3] = {6*SIDE,6*SIDE,6*SIDE};
dReal sides3[3] = {3*SIDE,3*SIDE,3*SIDE};
dsSetColor (1,1,1);
dsDrawBox (dBodyGetPosition(anchor_body), dBodyGetRotation(anchor_body),
sides3);
dsSetColor (1,0,0);
dsDrawBox (dBodyGetPosition(test_body), dBodyGetRotation(test_body), sides2);
dsSetColor (1,1,0);
for (int i=0; i<NUM; i++)
dsDrawBox (dBodyGetPosition (particle[i]),
dBodyGetRotation (particle[i]), sides);
}
