@After
public void tearDown() {
conductor = null;
variables = null;
MemoryTools.printCurrentMemoryUsageAndReturnUsedMemoryInMB(
getClass().getSimpleName() + " after test.");
}
@Before
public void setup() {
try {
MemoryTools.printCurrentMemoryUsageAndReturnUsedMemoryInMB(
getClass().getSimpleName() + " before test.");
ParameterRegistry.destroyAndRecreateInstance();
QuadrupedTestFactory quadrupedTestFactory = createQuadrupedTestFactory();
quadrupedTestFactory.setControlMode(QuadrupedControlMode.POSITION);
quadrupedTestFactory.setGroundContactModelType(QuadrupedGroundContactModelType.FLAT);
conductor = quadrupedTestFactory.createTestConductor();
variables = new QuadrupedPositionTestYoVariables(conductor.getScs());
} catch (IOException e) {
throw new RuntimeException("Error loading simulation: " + e.getMessage());
}
}
@Before
public void setUp() {
MemoryTools.printCurrentMemoryUsageAndReturnUsedMemoryInMB(
getClass().getSimpleName() + " before test.");
behaviorCommunicatorServer =
PacketCommunicator.createIntraprocessPacketCommunicator(
NetworkPorts.BEHAVIOUR_MODULE_PORT, new IHMCCommunicationKryoNetClassList());
behaviorCommunicatorClient =
PacketCommunicator.createIntraprocessPacketCommunicator(
NetworkPorts.BEHAVIOUR_MODULE_PORT, new IHMCCommunicationKryoNetClassList());
try {
behaviorCommunicatorClient.connect();
behaviorCommunicatorServer.connect();
} catch (IOException e) {
throw new RuntimeException(e);
}
drcSimulationTestHelper =
new DRCSimulationTestHelper(
testEnvironment,
getSimpleRobotName(),
DRCObstacleCourseStartingLocation.DEFAULT,
simulationTestingParameters,
getRobotModel());
Robot robotToTest = drcSimulationTestHelper.getRobot();
yoTime = robotToTest.getYoTime();
robot = drcSimulationTestHelper.getRobot();
fullRobotModel = getRobotModel().createFullRobotModel();
forceSensorDataHolder =
new ForceSensorDataHolder(Arrays.asList(fullRobotModel.getForceSensorDefinitions()));
robotDataReceiver = new HumanoidRobotDataReceiver(fullRobotModel, forceSensorDataHolder);
drcSimulationTestHelper.attachListener(RobotConfigurationData.class, robotDataReceiver);
PacketRouter<PacketDestination> networkProcessor = new PacketRouter<>(PacketDestination.class);
networkProcessor.attachPacketCommunicator(
PacketDestination.CONTROLLER, drcSimulationTestHelper.getControllerCommunicator());
networkProcessor.attachPacketCommunicator(
PacketDestination.BEHAVIOR_MODULE, behaviorCommunicatorClient);
communicationBridge =
new BehaviorCommunicationBridge(
behaviorCommunicatorServer, robotToTest.getRobotsYoVariableRegistry());
}
@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.");
}
@Before
public void showMemoryUsageBeforeTest() {
MemoryTools.printCurrentMemoryUsageAndReturnUsedMemoryInMB(
getClass().getSimpleName() + " before test.");
}
@After
public void showMemoryUsageAfterTest() {
MemoryTools.printCurrentMemoryUsageAndReturnUsedMemoryInMB(
getClass().getSimpleName() + " after test.");
}