|
rlm@66
|
1 #+title: Test Suite
|
|
rlm@58
|
2 #+author: Robert McIntyre
|
|
rlm@58
|
3 #+email: rlm@mit.edu
|
|
rlm@306
|
4 #+description: Simulating a body (movement, touch, proprioception) in jMonkeyEngine3.
|
|
rlm@58
|
5 #+SETUPFILE: ../../aurellem/org/setup.org
|
|
rlm@58
|
6 #+INCLUDE: ../../aurellem/org/level-0.org
|
|
rlm@58
|
7
|
|
rlm@66
|
8 * Tests
|
|
rlm@58
|
9
|
|
rlm@66
|
10 #+name: body-main
|
|
rlm@58
|
11 #+begin_src clojure
|
|
rlm@68
|
12 (ns cortex.test
|
|
rlm@69
|
13 (:use cortex.util)
|
|
rlm@321
|
14 (:require [cortex.test
|
|
rlm@321
|
15 body
|
|
rlm@321
|
16 vision
|
|
rlm@321
|
17 hearing
|
|
rlm@321
|
18 touch
|
|
rlm@321
|
19 proprioception
|
|
rlm@321
|
20 movement
|
|
rlm@321
|
21
|
|
rlm@321
|
22 ])
|
|
rlm@58
|
23 (:import com.jme3.app.state.AppState
|
|
rlm@321
|
24 com.jme3.system.AppSettings)
|
|
rlm@321
|
25 (:import (com.jme3.math Triangle Vector3f Vector2f Ray Matrix4f)))
|
|
rlm@58
|
26
|
|
rlm@58
|
27 (defn run-world
|
|
rlm@306
|
28 "run the simulation and wait until it closes properly."
|
|
rlm@58
|
29 [world]
|
|
rlm@58
|
30 (let [lock (promise)]
|
|
rlm@58
|
31 (.enqueue
|
|
rlm@58
|
32 world
|
|
rlm@58
|
33 (partial
|
|
rlm@58
|
34 (fn [world]
|
|
rlm@58
|
35 (.attach
|
|
rlm@58
|
36 (.getStateManager world)
|
|
rlm@58
|
37 (proxy [AppState] []
|
|
rlm@58
|
38 (cleanup [] (deliver lock nil))
|
|
rlm@58
|
39 (initialize [_ _])
|
|
rlm@58
|
40 (isEnabled [] true)
|
|
rlm@58
|
41 (setEnabled [_] )
|
|
rlm@58
|
42 (stateAttached [_])
|
|
rlm@58
|
43 (stateDetached [_])
|
|
rlm@58
|
44 (update [_])
|
|
rlm@58
|
45 (render [_])
|
|
rlm@58
|
46 (isInitialized [] true)
|
|
rlm@58
|
47 (postRender []))))
|
|
rlm@58
|
48 world))
|
|
rlm@58
|
49 (.start world)
|
|
rlm@58
|
50 (deref lock)))
|
|
rlm@58
|
51
|
|
rlm@69
|
52 (defn run-test
|
|
rlm@69
|
53 "print the docstring for the test, then run the simulation which it
|
|
rlm@69
|
54 yields, waiting until it is terminated."
|
|
rlm@69
|
55 [test-fn-var]
|
|
rlm@321
|
56 (println-repl (:doc (meta test-fn-var)))
|
|
rlm@69
|
57 (println-repl "\n ****************\n")
|
|
rlm@69
|
58 (run-world ((deref test-fn-var))))
|
|
rlm@69
|
59
|
|
rlm@317
|
60 (def test-suite
|
|
rlm@317
|
61 "The full test suite for all sensors/effectors."
|
|
rlm@321
|
62 [#'cortex.test.body/test-worm
|
|
rlm@69
|
63
|
|
rlm@321
|
64 #'cortex.test.vision/test-pipeline
|
|
rlm@321
|
65 #'cortex.test.vision/test-worm-vision
|
|
rlm@321
|
66
|
|
rlm@321
|
67 #'cortex.test.hearing/test-java-hearing
|
|
rlm@321
|
68 #'cortex.test.hearing/test-worm-hearing
|
|
rlm@321
|
69
|
|
rlm@321
|
70 #'cortex.test.touch/test-basic-touch
|
|
rlm@321
|
71 #'cortex.test.touch/test-worm-touch
|
|
rlm@321
|
72
|
|
rlm@321
|
73 #'cortex.test.proprioception/test-proprioception
|
|
rlm@321
|
74
|
|
rlm@321
|
75 #'cortex.test.movement/test-worm-movement
|
|
rlm@321
|
76 ])
|
|
rlm@321
|
77
|
|
rlm@321
|
78
|
|
rlm@321
|
79
|
|
rlm@71
|
80 (defn run-suite
|
|
rlm@69
|
81 "Run the entire test-suite."
|
|
rlm@69
|
82 []
|
|
rlm@321
|
83 (println-repl "\n ****************\n")
|
|
rlm@69
|
84 (dorun (map run-test test-suite)))
|
|
rlm@69
|
85
|
|
rlm@58
|
86 #+end_src
|
|
rlm@58
|
87
|
|
rlm@69
|
88 #+results: body-main
|
|
rlm@71
|
89 : #'cortex.test/run-suite
|
|
rlm@69
|
90
|
|
rlm@69
|
91
|
|
rlm@58
|
92 * COMMENT generate Source.
|
|
rlm@68
|
93 #+begin_src clojure :tangle ../src/cortex/test.clj
|
|
rlm@58
|
94 <<body-main>>
|
|
rlm@58
|
95 #+end_src
|
|
rlm@58
|
96
|
|
rlm@58
|
97
|
