test_localize.cc

机器人仿真平台,和stage配合运行

/*
 * $Id: test_localize.cc,v 1.1.2.2 2003/05/23 21:23:44 gerkey Exp $
 *
 * a test for the C++ LocalizeProxy
 */

#include "playerclient.h"
#include "test.h"
#include <unistd.h>

int
test_localize(PlayerClient* client, int index)
{
  unsigned char access;
  LocalizeProxy lp(client,index,'c');
  int t;
  int num_particles;
  double pose[3] = {0.0,0.0,0.0};
  double cov[3][3] = {{0.0,0.0,0.0},
                      {0.0,0.0,0.0},
                      {0.0,0.0,0.0}};

  printf("device [localize] index [%d]\n", index);

  TEST("subscribing (read)");
  if((lp.ChangeAccess(PLAYER_READ_MODE,&access) < 0) ||
     (access != PLAYER_READ_MODE))
  {
    FAIL();
    printf("DRIVER: %s\n", lp.driver_name);
    return -1;
  }
  PASS();
  printf("DRIVER: %s\n", lp.driver_name);

  TEST("waiting for the localization system to start up");
  for(t = 0; t < 100; t++)
  {
    if(client->Read() < 0)
    {
      FAIL();
      return(-1);
    }
    if(lp.hypoth_count)
      break;
  }
  // did we timeout?
  if(t == 100)
  {
    FAIL();
    return(-1);
  }
  PASS();

  TEST("setting the pose");
  if((lp.SetPose(pose,cov) < 0) || (client->Read() < 0))
  {
    FAIL();
    return(-1);
  }
  PASS();

  TEST("getting the number of particles");
  if((num_particles = lp.GetNumParticles()) < 0)
  {
    FAIL();
    return(-1);
  }
  printf("%d  ",num_particles);
  PASS();

  TEST("getting the map");
  if((num_particles = lp.GetMap()) < 0)
  {
    FAIL();
    return(-1);
  }
  PASS();

  for(t = 0; t < 10; t++)
  {
    TEST1("reading data (attempt %d)", t);

    if(client->Read() < 0)
    {
      FAIL();
      return(-1);
    }

    PASS();

    lp.Print();
  }

  TEST("unsubscribing");
  if((lp.ChangeAccess(PLAYER_CLOSE_MODE,&access) < 0) ||
     (access != PLAYER_CLOSE_MODE))
  {
    FAIL();
    return -1;
  }

  PASS();

  return(0);
}