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"); }