rlm@66: #+title: Test Suite
rlm@58: #+author: Robert McIntyre
rlm@58: #+email: rlm@mit.edu
rlm@306: #+description: Simulating a body (movement, touch, proprioception) in jMonkeyEngine3.
rlm@58: #+SETUPFILE: ../../aurellem/org/setup.org
rlm@58: #+INCLUDE: ../../aurellem/org/level-0.org
rlm@58: 
rlm@66: * Tests
rlm@58: 
rlm@66: #+name: body-main
rlm@58: #+begin_src clojure 
rlm@68: (ns cortex.test
rlm@69:   (:use cortex.util)
rlm@321:   (:require [cortex.test
rlm@321:              body
rlm@321:              vision
rlm@321:              hearing
rlm@321:              touch
rlm@321:              proprioception
rlm@321:              movement
rlm@388:              integration])
rlm@321: 
rlm@58:   (:import com.jme3.app.state.AppState
rlm@321: 	   com.jme3.system.AppSettings)
rlm@321:   (:import (com.jme3.math Triangle Vector3f Vector2f Ray Matrix4f)))
rlm@58: 
rlm@58: (defn run-world
rlm@306:   "run the simulation and wait until it closes properly."
rlm@58:   [world]
rlm@58:   (let [lock (promise)]
rlm@58:     (.enqueue
rlm@58:      world 
rlm@58:      (partial
rlm@58:       (fn [world]
rlm@58:         (.attach
rlm@58:          (.getStateManager world)
rlm@58:          (proxy [AppState] []
rlm@58:            (cleanup [] (deliver lock nil))
rlm@58:            (initialize [_ _])
rlm@58:            (isEnabled [] true)
rlm@58:            (setEnabled [_] )
rlm@58:            (stateAttached [_])
rlm@58:            (stateDetached [_])
rlm@58:            (update [_])
rlm@58:            (render [_])
rlm@58:            (isInitialized [] true)
rlm@58:            (postRender []))))
rlm@58:       world))
rlm@58:     (.start world)
rlm@58:     (deref lock)))
rlm@58: 
rlm@69: (defn run-test
rlm@69:   "print the docstring for the test, then run the simulation which it
rlm@69:   yields, waiting until it is terminated."
rlm@69:   [test-fn-var]
rlm@321:   (println-repl (:doc (meta test-fn-var)))
rlm@69:   (println-repl "\n ****************\n")
rlm@69:   (run-world ((deref test-fn-var))))
rlm@69: 
rlm@317: (def test-suite
rlm@317:   "The full test suite for all sensors/effectors."
rlm@321:   [#'cortex.test.body/test-worm
rlm@69: 
rlm@321:    #'cortex.test.vision/test-pipeline
rlm@321:    #'cortex.test.vision/test-worm-vision
rlm@321: 
rlm@321:    #'cortex.test.hearing/test-java-hearing
rlm@321:    #'cortex.test.hearing/test-worm-hearing
rlm@321:    
rlm@321:    #'cortex.test.touch/test-basic-touch
rlm@321:    #'cortex.test.touch/test-worm-touch
rlm@321: 
rlm@321:    #'cortex.test.proprioception/test-proprioception
rlm@321: 
rlm@321:    #'cortex.test.movement/test-worm-movement
rlm@388: 
rlm@388:    #'cortex.test.integration/test-integration
rlm@321:    ])
rlm@321:    
rlm@321:    
rlm@321:    
rlm@71: (defn run-suite
rlm@69:   "Run the entire test-suite."
rlm@69:   []
rlm@323:   (load-bullet)
rlm@321:   (println-repl "\n ****************\n")
rlm@323:   (dorun (map run-test test-suite))
rlm@323:   (println "all tests complete."))
rlm@323:          
rlm@69: 
rlm@58: #+end_src
rlm@58: 
rlm@69: #+results: body-main
rlm@71: : #'cortex.test/run-suite
rlm@69: 
rlm@69: 
rlm@58: * COMMENT generate Source.
rlm@68: #+begin_src clojure :tangle ../src/cortex/test.clj
rlm@58: <<body-main>>
rlm@58: #+end_src
rlm@58: 
rlm@58: