public static void startController(WandererController wandererController) {
AcsellSetup.startStreamingData();
YoVariableRegistry registry = new YoVariableRegistry("wanderer");
WandererRobotModel robotModel = new WandererRobotModel(true, true);
PeriodicThreadScheduler scheduler = new PeriodicRealtimeThreadScheduler(45);
YoVariableServer variableServer =
new YoVariableServer(
WandererSingleThreadedController.class,
scheduler,
robotModel.getLogModelProvider(),
robotModel.getLogSettings(),
0.01);
AcsellSetup wandererSetup = new AcsellSetup(variableServer);
PriorityParameters priority = new PriorityParameters(PriorityParameters.getMaximumPriority());
WandererSingleThreadedController communicator =
new WandererSingleThreadedController(
robotModel, priority, variableServer, wandererController, registry);
variableServer.start();
wandererSetup.start();
communicator.start();
ThreadTools.sleepForever();
}
@After
public void destroySimulationAndRecycleMemory() {
if (simulationTestingParameters.getKeepSCSUp()) {
ThreadTools.sleepForever();
}
// Do this here in case a test fails. That way the memory will be recycled.
if (drcFlatGroundWalkingTrack != null) {
drcFlatGroundWalkingTrack.destroySimulation();
drcFlatGroundWalkingTrack = null;
}
if (blockingSimulationRunner != null) {
blockingSimulationRunner.destroySimulation();
blockingSimulationRunner = null;
}
pushRobotController = null;
doubleSupportStartConditions = null;
pushCondition = null;
MemoryTools.printCurrentMemoryUsageAndReturnUsedMemoryInMB(
getClass().getSimpleName() + " after test.");
}
@After
public void destroySimulationAndRecycleMemory() {
if (simulationTestingParameters.getKeepSCSUp()) {
ThreadTools.sleepForever();
}
// Do this here in case a test fails. That way the memory will be recycled.
if (drcSimulationTestHelper != null) {
drcSimulationTestHelper.destroySimulation();
drcSimulationTestHelper = null;
}
if (behaviorCommunicatorClient != null) {
behaviorCommunicatorClient.close();
}
if (behaviorCommunicatorServer != null) {
behaviorCommunicatorServer.close();
}
MemoryTools.printCurrentMemoryUsageAndReturnUsedMemoryInMB(
getClass().getSimpleName() + " after test.");
}