|
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@69
|
14 (:use clojure.contrib.def)
|
|
rlm@69
|
15 (:require [cortex.test touch vision body hearing])
|
|
rlm@58
|
16 (:import com.jme3.app.state.AppState
|
|
rlm@69
|
17 com.jme3.system.AppSettings))
|
|
rlm@58
|
18
|
|
rlm@58
|
19 (defn run-world
|
|
rlm@306
|
20 "run the simulation and wait until it closes properly."
|
|
rlm@58
|
21 [world]
|
|
rlm@58
|
22 (let [lock (promise)]
|
|
rlm@58
|
23 (.enqueue
|
|
rlm@58
|
24 world
|
|
rlm@58
|
25 (partial
|
|
rlm@58
|
26 (fn [world]
|
|
rlm@58
|
27 (.attach
|
|
rlm@58
|
28 (.getStateManager world)
|
|
rlm@58
|
29 (proxy [AppState] []
|
|
rlm@58
|
30 (cleanup [] (deliver lock nil))
|
|
rlm@58
|
31 (initialize [_ _])
|
|
rlm@58
|
32 (isEnabled [] true)
|
|
rlm@58
|
33 (setEnabled [_] )
|
|
rlm@58
|
34 (stateAttached [_])
|
|
rlm@58
|
35 (stateDetached [_])
|
|
rlm@58
|
36 (update [_])
|
|
rlm@58
|
37 (render [_])
|
|
rlm@58
|
38 (isInitialized [] true)
|
|
rlm@58
|
39 (postRender []))))
|
|
rlm@58
|
40 world))
|
|
rlm@58
|
41 (.start world)
|
|
rlm@58
|
42 (deref lock)))
|
|
rlm@58
|
43
|
|
rlm@69
|
44 (defn run-test
|
|
rlm@69
|
45 "print the docstring for the test, then run the simulation which it
|
|
rlm@69
|
46 yields, waiting until it is terminated."
|
|
rlm@69
|
47 [test-fn-var]
|
|
rlm@69
|
48 (println-repl "\n ****************\n")
|
|
rlm@69
|
49 (println-repl (:doc (meta test-fn-var)))
|
|
rlm@69
|
50 (run-world ((deref test-fn-var))))
|
|
rlm@69
|
51
|
|
rlm@69
|
52 (defvar test-suite
|
|
rlm@69
|
53 [#'cortex.test.touch/test-skin
|
|
rlm@69
|
54 #'cortex.test.vision/test-two-eyes
|
|
rlm@69
|
55 #'cortex.test.hearing/test-advanced-hearing
|
|
rlm@69
|
56 #'cortex.test.body/test-proprioception
|
|
rlm@69
|
57 #'cortex.test.body/test-motor-control]
|
|
rlm@69
|
58 "The full test suite for all sensors/effectors.")
|
|
rlm@69
|
59
|
|
rlm@71
|
60 (defn run-suite
|
|
rlm@69
|
61 "Run the entire test-suite."
|
|
rlm@69
|
62 []
|
|
rlm@69
|
63 (dorun (map run-test test-suite)))
|
|
rlm@69
|
64
|
|
rlm@58
|
65 #+end_src
|
|
rlm@58
|
66
|
|
rlm@69
|
67 #+results: body-main
|
|
rlm@71
|
68 : #'cortex.test/run-suite
|
|
rlm@69
|
69
|
|
rlm@69
|
70
|
|
rlm@58
|
71 * COMMENT generate Source.
|
|
rlm@68
|
72 #+begin_src clojure :tangle ../src/cortex/test.clj
|
|
rlm@58
|
73 <<body-main>>
|
|
rlm@58
|
74 #+end_src
|
|
rlm@58
|
75
|
|
rlm@58
|
76
|
