int main(int argc, char **argv)
{
ros::init(argc, argv);
BaseTest b;
printf("start\n");
BaseController bc;
bc.Init();
while (b.ok())
{
//bc.setVelocity(vx, vy, vw);
//bc.Update();
usleep(1000);
}
ros::fini();
return 0;
}
void TestController::addConsoleAutoTest()
{
auto console = Director::getInstance()->getConsole();
static struct Console::Command autotest = {
"autotest",
"testcpp autotest command, use -h to list available tests",
[this](int fd, const std::string& args)
{
Scheduler *sched = Director::getInstance()->getScheduler();
if(args == "help" || args == "-h")
{
const char msg[] = "usage: autotest ActionsTest\n\tavailable tests: ";
send(fd, msg, sizeof(msg),0);
send(fd, "\n",1,0);
for(int i = 0; i < g_testCount; i++)
{
send(fd, "\t",1,0);
send(fd, g_aTestNames[i].test_name, strlen(g_aTestNames[i].test_name)+1,0);
send(fd, "\n",1,0);
}
const char help_main[] = "\tmain, return to main menu\n";
send(fd, help_main, sizeof(help_main),0);
const char help_next[] = "\tnext, run next test\n";
send(fd, help_next, sizeof(help_next),0);
const char help_back[] = "\tback, run prev test\n";
send(fd, help_back, sizeof(help_back),0);
const char help_restart[] = "\trestart, restart current test\n";
send(fd, help_restart, sizeof(help_restart),0);
return;
}
if(args == "main")
{
sched->performFunctionInCocosThread( [&]()
{
auto scene = Scene::create();
auto layer = new TestController();
scene->addChild(layer);
layer->release();
Director::getInstance()->replaceScene(scene);
cocostudio::ArmatureDataManager::destroyInstance();
} );
return;
}
const char msg_notest[] = "autotest: can't detect running test.\n";
AppDelegate* app = (AppDelegate *)Application::getInstance();
BaseTest* currentTest = app->getCurrentTest();
if(args == "next")
{
if(currentTest != nullptr)
{
//currentTest->nextCallback(nullptr);
sched->performFunctionInCocosThread( [&](){
currentTest->nextCallback(nullptr);
} );
}
else
{
send(fd, msg_notest, sizeof(msg_notest),0);
}
return;
}
if(args == "back")
{
if(currentTest != nullptr)
{
sched->performFunctionInCocosThread( [&](){
currentTest->backCallback(nullptr);
} );
}
else
{
send(fd, msg_notest, sizeof(msg_notest),0);
}
return;
}
if(args == "restart")
{
if(currentTest != nullptr)
{
sched->performFunctionInCocosThread( [&](){
currentTest->restartCallback(nullptr);
} );
}
else
{
send(fd, msg_notest, sizeof(msg_notest),0);
}
return;
}
if(args == "run")
{
_exitThread = false;
std::thread t = std::thread( &TestController::runAllTests, this, fd);
t.detach();
return;
}
if(args == "stop")
{
_exitThread = true;
std::string msg("autotest: autotest stopped!");
send(fd, msg.c_str(), strlen(msg.c_str()),0);
send(fd, "\n",1,0);
return;
}
for(int i = 0; i < g_testCount; i++)
{
if(args == g_aTestNames[i].test_name)
{
currentController = &g_aTestNames[i];
std::string msg("autotest: running test:");
msg += args;
send(fd, msg.c_str(), strlen(msg.c_str()),0);
send(fd, "\n",1,0);
sched->performFunctionInCocosThread( [&](){
auto scene = currentController->callback();
if(scene)
{
scene->runThisTest();
scene->release();
}
} );
return;
}
}
//no match found,print warning message
std::string msg("autotest: could not find test:");
msg += args;
send(fd, msg.c_str(), strlen(msg.c_str()),0);
send(fd, "\n",1,0);
}
};
console->addCommand(autotest);
}
void TestController::runAllTests(int fd)
{
AppDelegate* app = (AppDelegate *)Application::getInstance();
Scheduler *sched = Director::getInstance()->getScheduler();
for (int i = 0; i < g_testCount; i++)
{
// create the test scene and run it
std::string msg("autotest: running test:");
msg += g_aTestNames[i].test_name;
send(fd, msg.c_str(), strlen(msg.c_str()),0);
send(fd, "\n",1,0);
currentController = &g_aTestNames[i];
sched->performFunctionInCocosThread( [&](){
auto scene = currentController->callback();
if(scene)
{
scene->runThisTest();
scene->release();
}
} );
wait(1);
BaseTest* firstTest = app->getCurrentTest();
if(firstTest == nullptr)
{
continue;
}
std::string t1("");
t1 += firstTest->subtitle();
send(fd, t1.c_str(), strlen(t1.c_str()),0);
send(fd, "\n",1,0);
wait(2);
while(1)
{
if(_exitThread)
{
return;
}
//currentTest->nextCallback(nullptr);
sched->performFunctionInCocosThread( [&](){
BaseTest *t = app->getCurrentTest();
if(t != nullptr)
{
t->nextCallback(nullptr);
}
} );
wait(1);
BaseTest * curTest = app->getCurrentTest();
if(curTest == nullptr)
{
break;
}
std::string title("");
title += curTest->subtitle();
send(fd, title.c_str(), strlen(title.c_str()),0);
send(fd, "\n",1,0);
wait(2);
if(t1 == title)
{
break;
}
}
}
std::string msg("autotest run successfully!");
send(fd, msg.c_str(), strlen(msg.c_str()),0);
send(fd, "\n",1,0);
return;
}
