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1 #+title: Test Suite
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2 #+author: Robert McIntyre
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3 #+email: rlm@mit.edu
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4 #+description: Simulating a body (movement, touch, proprioception) in jMonkeyEngine3.
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5 #+SETUPFILE: ../../aurellem/org/setup.org
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6 #+INCLUDE: ../../aurellem/org/level-0.org
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7
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8 * Tests
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9
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10 #+name: body-main
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11 #+begin_src clojure
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12 (ns cortex.test
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13 (:use cortex.util)
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14 (:require [cortex.test
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15 body
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16 vision
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17 hearing
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18 touch
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19 proprioception
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20 movement
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21
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22 ])
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23 (:import com.jme3.app.state.AppState
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24 com.jme3.system.AppSettings)
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25 (:import (com.jme3.math Triangle Vector3f Vector2f Ray Matrix4f)))
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26
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27 (defn run-world
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28 "run the simulation and wait until it closes properly."
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29 [world]
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30 (let [lock (promise)]
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31 (.enqueue
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32 world
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33 (partial
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34 (fn [world]
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35 (.attach
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36 (.getStateManager world)
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37 (proxy [AppState] []
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38 (cleanup [] (deliver lock nil))
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39 (initialize [_ _])
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40 (isEnabled [] true)
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41 (setEnabled [_] )
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42 (stateAttached [_])
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43 (stateDetached [_])
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44 (update [_])
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45 (render [_])
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46 (isInitialized [] true)
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47 (postRender []))))
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48 world))
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49 (.start world)
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50 (deref lock)))
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51
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52 (defn run-test
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53 "print the docstring for the test, then run the simulation which it
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54 yields, waiting until it is terminated."
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55 [test-fn-var]
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56 (println-repl (:doc (meta test-fn-var)))
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57 (println-repl "\n ****************\n")
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58 (run-world ((deref test-fn-var))))
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59
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60 (def test-suite
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61 "The full test suite for all sensors/effectors."
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62 [#'cortex.test.body/test-worm
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63
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64 #'cortex.test.vision/test-pipeline
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65 #'cortex.test.vision/test-worm-vision
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66
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67 #'cortex.test.hearing/test-java-hearing
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68 #'cortex.test.hearing/test-worm-hearing
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69
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70 #'cortex.test.touch/test-basic-touch
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71 #'cortex.test.touch/test-worm-touch
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72
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73 #'cortex.test.proprioception/test-proprioception
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74
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75 #'cortex.test.movement/test-worm-movement
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76 ])
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77
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78
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79
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80 (defn run-suite
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81 "Run the entire test-suite."
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82 []
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83 (load-bullet)
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84 (println-repl "\n ****************\n")
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85 (dorun (map run-test test-suite))
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86 (println "all tests complete."))
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87
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88
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89 #+end_src
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90
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91 #+results: body-main
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92 : #'cortex.test/run-suite
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93
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94
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95 * COMMENT generate Source.
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96 #+begin_src clojure :tangle ../src/cortex/test.clj
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97 <<body-main>>
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98 #+end_src
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99
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100
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