void app_initialize(void) {
static const UrosString turtle1 = { 7, "turtle1" };
static const UrosNodeConfig *const cfgp = &urosNode.config;
unsigned i;
/* Initialize the uROS system.*/
urosInit();
fifo_init(&rosoutQueue, 8);
/* Initialize the turtle slots.*/
urosMutexObjectInit(&turtleCanSpawnLock);
turtleCanSpawn = UROS_TRUE;
turtle_init_pools();
for (i = 0; i < MAX_TURTLES; ++i) {
turtle_init(&turtles[i], i);
}
/* Create the Node thread.*/
urosNodeCreateThread();
/* Spawn the first turtle.*/
turtle_spawn(&turtle1, 0.5f * SANDBOX_WIDTH, 0.5f * SANDBOX_HEIGHT, 0.0f);
}
bool test_forward_and_rounding()
{
cout << "Testing turtle_move_forward and rounding: " << endl;
turtle t;
turtle_init(&t, 500, 500, "");
for (int i = 0; i < 10; i++)
{
turtle_rotate_left (&t, 33);
turtle_move_forward(&t,10);
}
if (t.x != -10 || t.y != -1)
{
display_result (__FILE__, __LINE__, testcount);
return false;
}
cout << "Test " << testcount << " passed." << endl;
testcount++;
turtle_end(&t);
cout << endl;
return true;
}
int main() {
int koch = 3;
turtle_init(2000, 2000);
koch_start(5);
turtle_save_bmp("koch.bmp");
turtle_cleanup();
printf("%d\n", koch);
return 0;
}
bool test_pen ()
{
cout << "Testing turtle_pen_up and turtle_pen_down:" << endl;
turtle t;
/*
* This code one of the problems with using structures. Even though
* we want all the modification of the turtle structure to happen through
* our functions, the compiler will not prevent someone from changing
* the contents directly.
* This is helpful for my test program, but bad in general.
*/
t.x = 99;
t.y = 99;
t.angle = 99;
t.penDown = false;
t.writeToFile = true;
turtle_init(&t, 500,500, NULL);
turtle_pen_up(&t);
if (t.penDown)
{
display_result (__FILE__, __LINE__, testcount);
return false;
}
cout << "Test " << testcount << " passed." << endl;
testcount++;
turtle_pen_down(&t);
if (!t.penDown)
{
display_result (__FILE__, __LINE__, testcount);
return false;
}
cout << "Test " << testcount << " passed." << endl;
testcount++;
turtle_end(&t);
cout << endl;
return true;
}
bool test_svg_output()
{
cout << "Testing svg output. You need to validate this test by hand." << endl;
turtle t;
turtle_init(&t, 500, 500, "part1.svg");
turtle_pen_down(&t);
for (int i = 0; i < 5; i++)
{
turtle_move_forward(&t, 50);
turtle_rotate_right (&t, 144);
}
turtle_end(&t);
return true;
}
bool test_rotate()
{
cout << "Testing turtle_rotate_left and turtle_rotate_right:" << endl;
turtle t;
turtle_init(&t, 500,500, NULL);
turtle_rotate_left(&t, 90);
if (t.angle != 90)
{
display_result (__FILE__, __LINE__, testcount);
return false;
}
cout << "Test " << testcount << " passed." << endl;
testcount++;
turtle_rotate_right(&t, 90);
if (t.angle != 0)
{
display_result (__FILE__, __LINE__, testcount);
return false;
}
cout << "Test " << testcount << " passed." << endl;
testcount++;
for (int i = 1; i <= 16; i++)
{
turtle_rotate_left(&t,45);
int expected = (i*45) % 360;
if (t.angle != expected)
{
display_result (__FILE__, __LINE__, testcount);
return false;
}
}
cout << "Test " << testcount << " passed." << endl;
testcount++;
for (int i = 1; i <= 16; i++)
{
turtle_rotate_right(&t,45);
int expected = (360 - ((i*45) % 360)) % 360;
if (t.angle != expected)
{
display_result (__FILE__, __LINE__, testcount);
return false;
}
}
cout << "Test " << testcount << " passed." << endl;
testcount++;
cout << endl;
turtle_end(&t);
return true;
}
