void testInfo() {
// Help.
// =====
{
StartsWith output("Show description ");
testCommand("info -h", EXIT_SUCCESS, output);
testCommand("info -help", EXIT_SUCCESS, output);
}
// Error messages.
// ===============
testCommand("info x", EXIT_FAILURE,
"No registered class with name 'x'. "
"Did you intend to load a plugin?\n");
testCommand("info x y", EXIT_FAILURE,
"No registered class with name 'x'. "
"Did you intend to load a plugin?\n");
testCommand("info Body y", EXIT_FAILURE,
"No property with name 'y' found in class 'Body'.\n");
// Successful input.
// =================
testCommand("info", EXIT_SUCCESS, StartsWith("REGISTERED CLASSES "));
testCommand("info PathSpring", EXIT_SUCCESS,
StartsWith("\nPROPERTIES FOR PathSpring"));
testCommand("info Body mass", EXIT_SUCCESS,
"\nBody.mass\nThe mass of the body (kg)\n");
// Library option.
// ===============
testLoadPluginLibraries("info");
}
int main (void)
{
// print infos
printf("Raspberry Pi I2C Arduino Sample\n");
printf("========================================\n");
// initialize buffer
buffer[0] = 0x00;
// address of i2c Arduino device
int deviceI2CAddress = 0x2A; // (0x2A = 42)
// open device on /dev/i2c-0
if ((deviceHandle = open("/dev/i2c-0", O_RDWR)) < 0) {
printf("Error: Couldn't open device! %d\n", deviceHandle);
return 1;
}
// connect to arduino as i2c slave
if (ioctl(deviceHandle, I2C_SLAVE, deviceI2CAddress) < 0) {
printf("Error: Couldn't find arduino on address!\n");
return 1;
}
// begin transmission and request acknowledgement
readBytes = write(deviceHandle, buffer, 1);
if (readBytes != 1)
{
printf("Error: Received no ACK-Bit, couldn't established connection!");
}
else
{
// drive some tests
testCommand("L11", "LED1 on");
usleep(2000000); // 2s
testCommand("L10", "LED1 off");
usleep(2000000); // 2s
testCommand("L21", "LED2 on");
usleep(2000000); // 2s
testCommand("L20", "LED2 off");
usleep(2000000); // 2s
testCommand("L31", "LED3 on");
usleep(2000000); // 2s
testCommand("L30", "LED3 off");
usleep(2000000); // 2s
testCommand("R11", "Relay on");
usleep(2000000); // 2s
testCommand("R10", "Relay off");
}
// close connection and return
close(deviceHandle);
return 0;
}
void testRunTool() {
// Help.
// =====
{
StartsWith output("Run a tool ");
testCommand("run-tool -h", EXIT_SUCCESS, output);
testCommand("run-tool -help", EXIT_SUCCESS, output);
}
// Error messages.
// ===============
testCommand("run-tool", EXIT_FAILURE,
StartsWith("Arguments did not match expected patterns"));
testCommand("run-tool putes.xml", EXIT_FAILURE,
StartsWith("SimTK Exception thrown at"));
// We use print-xml to create a setup file that we can try to run.
// (We are not really trying to test print-xml right now.)
testCommand("print-xml cmc testruntool_cmc_setup.xml", EXIT_SUCCESS,
"Printing 'testruntool_cmc_setup.xml'.\n");
// This fails because this setup file doesn't have much in it.
testCommand("run-tool testruntool_cmc_setup.xml", EXIT_FAILURE,
std::regex(RE_ANY + "(No model file was specified)" + RE_ANY));
// Similar to the previous two commands, except for scaling
// (since ScaleTool goes through a different branch of the code).
testCommand("print-xml scale testruntool_scale_setup.xml", EXIT_SUCCESS,
"Printing 'testruntool_scale_setup.xml'.\n");
// This fails because this setup file doesn't have much in it.
testCommand("run-tool testruntool_scale_setup.xml", EXIT_FAILURE,
std::regex("(Preparing to run ScaleTool.)" + RE_ANY +
"(Processing subject default)" + RE_ANY));
// Now we'll try loading a valid OpenSim XML file that is *not* a Tool
// setup file, and we get a helpful error.
// (We are not really trying to test print-xml right now.)
testCommand("print-xml Model testruntool_Model.xml", EXIT_SUCCESS,
"Printing 'testruntool_Model.xml'.\n");
testCommand("run-tool testruntool_Model.xml", EXIT_FAILURE,
"The provided file 'testruntool_Model.xml' does not define "
"an OpenSim Tool. Did you intend to load a plugin?\n");
// Library option.
// ===============
testLoadPluginLibraries("run-tool");
}
void Application::initQML()
{
/** A QML-Cpp kommunikációhoz használt QMLData obejktumokat létre kell
* hozni a QML felület számára.*/
QMap<QString,QMLData>::iterator iter;
for(iter = qmlDataMap.begin(); iter != qmlDataMap.end(); ++iter)
{
engine.rootContext()->setContextProperty(iter.key(), &iter.value());
}
engine.load(QUrl(QStringLiteral("qrc:/main.qml")));
auto rootObjects = engine.rootObjects();
if (rootObjects.size() == 0)
{
qWarning() << "HIBA: Nem sikerült létrehozni a QML környezetet.";
}
rootObject = rootObjects.first();
customPlotPtr = (QCustomPlot*)rootObject->findChild<QObject*>("customPlot");
auto mainWindowPtr = rootObject->findChild<QObject*>("MainWindow");
eventhandler.setMainWindowPtr(mainWindowPtr);
QObject::connect(rootObject, SIGNAL(connectCommandCpp()),
&eventhandler, SLOT(connectCommand()));
QObject::connect(rootObject, SIGNAL(connectCommandCpp()),
this, SLOT(connectToServer()));
QObject::connect(rootObject, SIGNAL(hvEnableCommandCpp()),
&eventhandler, SLOT(hvEnableCommand()));
QObject::connect(rootObject, SIGNAL(hvEnableCommandCpp()),
this, SLOT(hvenCommand()));
QObject::connect(rootObject, SIGNAL(driveEnableCommandCpp()),
&eventhandler, SLOT(driveEnableCommand()));
QObject::connect(rootObject, SIGNAL(driveEnableCommandCpp()),
this, SLOT(drenCommand()));
QObject::connect(rootObject, SIGNAL(stopCommandCpp()),
&eventhandler, SLOT(stopCommand()));
QObject::connect(rootObject, SIGNAL(stopCommandCpp()),
this, SLOT(stopCommand()));
QObject::connect(rootObject, SIGNAL(testCommandCpp()),
this, SLOT(testCommand()));
QObject::connect(rootObject, SIGNAL(vdemandSliderChanged(QVariant )),
this, SLOT(vdemandChanged(QVariant )));
}
MainApplication::MainApplication(int argc, char *argv[])
: QApplication(argc, argv), simulator(12345), engine(), history(), communication(),
robot(history, communication), handler(robot, *engine.rootContext(), history)
{
// Szimulátor indítása
simulator.start(0.3F);
// Csatlakozás a szimulátorhoz.
communication.connect(QStringLiteral("localhost"),12345);
// Szimulálunk egy history változást, mert attól kezdve léteznek a QML oldalon
// a C++ oldalról származó változók. (Különben referencia hibákat kapnánk a QML oldalon
// egészen addig, amíg az első üzenet meg nem jönne a szimulátortól.
//handler.historyChanged();
engine.load(QUrl(QStringLiteral("qrc:/main.qml")));
// A QML gyökérelemre szükségünk van ahhoz, hogy tudjunk hivatkozni a QML-es elemekre.
auto rootObjects = engine.rootObjects();
if (rootObjects.size() == 0)
{
qDebug() << "HIBA: Nem sikerült létrehozni a QML környezetet.";
return;
}
// A QML környezet is felállt, bekötjük a signalokat a QML és C++ oldal között.
QObject *rootObject = rootObjects[0];
// A handler beköti a saját signaljait.
handler.ConnectQmlSignals(rootObject);
// Bekötjük a nyomógombok signaljait.
QObject::connect(rootObject, SIGNAL(resetCommandCpp()),
&handler, SLOT(resetCommand()));
QObject::connect(rootObject, SIGNAL(accelerateXCommandCpp()),
&handler, SLOT(accelerateXCommand()));
QObject::connect(rootObject, SIGNAL(accelerateYCommandCpp()),
&handler, SLOT(accelerateYCommand()));
QObject::connect(rootObject, SIGNAL(slowDownXCommandCpp()),
&handler, SLOT(slowDownXCommand()));
QObject::connect(rootObject, SIGNAL(slowDownYCommandCpp()),
&handler, SLOT(slowDownYCommand()));
QObject::connect(rootObject, SIGNAL(stopCommandCpp()),
&handler, SLOT(stopCommand()));
QObject::connect(rootObject, SIGNAL(testCommandCpp()),
&handler, SLOT(testCommand()));
QObject::connect(rootObject, SIGNAL(defaultCommandCpp()),
&handler, SLOT(defaultCommand()));
}
int main(int argc, const char **argv) {
printf("Running all tests...\n\n");
//**** core tests
testTree();
testParse();
testDef();
testWord();
testFlow();
testVM();
testStack();
testInit();
testCommand();
testConversation();
testScape();
// testThreads();
//**** builtins tests
testNoun();
testPattern();
//testArray();
// testStream();
testInt();
testStr255();
testCfunc();
testReceptorUtil();
// testReceptor();
//testVmHost();
//**** examples test
testPoint();
// testLine();
report_tests();
return 0;
}
void testUpdateFile() {
// Help.
// =====
{
StartsWith output("Update an .osim, .xml ");
testCommand("update-file -h", EXIT_SUCCESS, output);
testCommand("update-file -help", EXIT_SUCCESS, output);
}
// Error messages.
// ===============
// Syntax errors.
testCommand("update-file", EXIT_FAILURE,
StartsWith("Arguments did not match expected patterns"));
testCommand("update-file x", EXIT_FAILURE,
StartsWith("Arguments did not match expected patterns"));
testCommand("update-file x.doc", EXIT_FAILURE,
StartsWith("Arguments did not match expected patterns"));
testCommand("update-file x.xml", EXIT_FAILURE,
StartsWith("Arguments did not match expected patterns"));
testCommand("update-file x y", EXIT_FAILURE,
"Input file 'x' does not have an extension.\n");
testCommand("update-file x.doc y", EXIT_FAILURE,
"Input file 'x.doc' has an unrecognized extension.\n");
// File does not exist.
testCommand("update-file x.xml y", EXIT_FAILURE,
std::regex("(?:Loading input file 'x.xml')" + RE_ANY +
"(?:Could not make object from file 'x.xml'.\n" +
"Did you intend to load a plugin (with --library)?)" +
RE_ANY));
testCommand("update-file x.osim y", EXIT_FAILURE,
std::regex("(?:Loading input file 'x.osim')" + RE_ANY +
"(?:Could not make object from file 'x.osim'.\n" +
"Did you intend to load a plugin (with --library)?)" +
RE_ANY));
testCommand("update-file x.sto y", EXIT_FAILURE,
std::regex("(Loading input file 'x.sto')" + RE_ANY +
"(Storage: Failed to open file 'x.sto')" + RE_ANY));
// Successful input.
// =================
// We use print-xml to create a file that we can try to update.
// (We are not really trying to test print-xml right now.)
testCommand("print-xml Model testupdatefile_Model.osim", EXIT_SUCCESS,
"Printing 'testupdatefile_Model.osim'.\n");
testCommand("update-file testupdatefile_Model.osim "
"testupdatefile_Model_updated.osim", EXIT_SUCCESS,
"Loading input file 'testupdatefile_Model.osim'.\n"
"Printing updated file to 'testupdatefile_Model_updated.osim'.\n");
// Library option.
// ===============
testLoadPluginLibraries("update-file");
}
void testPrintXML() {
// Help.
// =====
{
StartsWith output("Print a template XML file ");
testCommand("print-xml -h", EXIT_SUCCESS, output);
testCommand("print-xml -help", EXIT_SUCCESS, output);
}
// Error messages.
// ===============
testCommand("print-xml", EXIT_FAILURE,
StartsWith("Arguments did not match expected patterns"));
testCommand("print-xml x y z", EXIT_FAILURE,
StartsWith("Unexpected argument: print-xml, x, y, z"));
testCommand("print-xml bleepbloop", EXIT_FAILURE,
"There is no tool or registered concrete class named 'bleepbloop'.\n"
"Did you intend to load a plugin (with --library)?\n");
testCommand("print-xml bleepbloop y", EXIT_FAILURE,
"There is no tool or registered concrete class named 'bleepbloop'.\n"
"Did you intend to load a plugin (with --library)?\n");
// Successful input.
// =================
testCommand("print-xml cmc", EXIT_SUCCESS,
"Printing 'default_Setup_CMCTool.xml'.\n");
testCommand("print-xml Millard2012EquilibriumMuscle", EXIT_SUCCESS,
"Printing 'default_Millard2012EquilibriumMuscle.xml'.\n");
testCommand("print-xml cmc default_cmc_setup.xml", EXIT_SUCCESS,
"Printing 'default_cmc_setup.xml'.\n");
// Tool names are case-insensitive.
// ================================
testCommand("print-xml CmC", EXIT_SUCCESS,
"Printing 'default_Setup_CMCTool.xml'.\n");
testCommand("print-xml FORwarD", EXIT_SUCCESS,
"Printing 'default_Setup_ForwardTool.xml'.\n");
testCommand("print-xml Analyze default_analyze_setup.xml", EXIT_SUCCESS,
"Printing 'default_analyze_setup.xml'.\n");
// Library option.
// ===============
testLoadPluginLibraries("print-xml");
}
void testLoadPluginLibraries(const std::string& subcommand) {
const auto cmd = subcommand + " -h";
// Nonexistent file.
// =================
{
std::regex output(RE_ANY + "(Failed to load library x)\n");
// These are all valid ways of specifying libraries.
testCommand("-L x " + cmd, EXIT_FAILURE, output);
testCommand("-Lx " + cmd, EXIT_FAILURE, output);
testCommand("--library x " + cmd, EXIT_FAILURE, output);
testCommand("--library=x " + cmd, EXIT_FAILURE, output);
testCommand("-L x --library y " + cmd, EXIT_FAILURE, output);
testCommand("-Lx --library=y -L z " + cmd, EXIT_FAILURE, output);
}
// Load an actual library, including the file extension.
// =====================================================
// OSIM_ACTUATORS_LIB_PATH is a preprocessor definition that is defined
// when compiling this executable.
std::string lib = MAKE_STRING(OSIM_ACTUATORS_LIB_PATH);
// Get rid of the quotes surrounding `lib`.
std::string expectLib = lib.substr(1, lib.size() - 2);
#ifdef _WIN32
// When the library name gets printed back to us, the
// forward slashes are converted to backslashes. We have to
// escape backslash for the C++ parser, so '\\' is actually '\'.
expectLib = replaceString(expectLib, "/", "\\");
#endif
{
StartsWith output("Loaded library " + expectLib);
testCommand("-L " + lib + " " + cmd, EXIT_SUCCESS, output);
testCommand("-L" + lib + " " + cmd, EXIT_SUCCESS, output);
testCommand("--library " + lib + " " + cmd, EXIT_SUCCESS, output);
testCommand("--library=" + lib + " " + cmd, EXIT_SUCCESS, output);
}
// Load multiple libraries.
// ========================
{
// Well, in this case, we just load the same library multiple times.
testCommand("-L " + lib + " --library " + lib + " " + cmd,
EXIT_SUCCESS,
StartsWith("Loaded library " + expectLib + "\n"
"Loaded library " + expectLib + "\n"));
testCommand("-L" + lib +
" --library=" + lib +
" -L " + lib + " " + cmd, EXIT_SUCCESS,
StartsWith("Loaded library " + expectLib + "\n"
"Loaded library " + expectLib + "\n"
"Loaded library " + expectLib + "\n"));
}
}
void testNoCommand() {
// Help.
// =====
{
std::regex output("OpenSim: musculoskeletal" + RE_ANY +
"Pass -h or --help" + RE_ANY);
testCommand("", EXIT_SUCCESS, output);
testCommand("-h", EXIT_SUCCESS, output);
testCommand("-help", EXIT_SUCCESS, output);
}
// Version.
// ========
{
std::regex output("OpenSim version (?:.*), build date (?:.*)\n");
testCommand("-V", EXIT_SUCCESS, output);
testCommand("--version", EXIT_SUCCESS, output);
}
// Library option.
// ===============
// Syntax errors.
testCommand("-L", EXIT_FAILURE, StartsWith("-L requires an argument"));
testCommand("--library", EXIT_FAILURE,
StartsWith("--library requires an argument"));
// Must specify a command; can't only list a library to load.
{
StartsWith output("Arguments did not match expected patterns");
// All of these are otherwise valid options for specify libraries to
// load.
testCommand("-L x", EXIT_FAILURE, output);
testCommand("--library x", EXIT_FAILURE, output);
testCommand("-L=x", EXIT_FAILURE, output);
testCommand("--library=y", EXIT_FAILURE, output);
testCommand("-L x --library y -L z", EXIT_FAILURE, output);
testCommand("-L=x --library=y -L=z", EXIT_FAILURE, output);
}
// Unrecognized command.
// =====================
testCommand("bleepbloop", EXIT_FAILURE,
"'bleepbloop' is not an opensim-cmd command. "
"See 'opensim-cmd --help'.\n");
}
