@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());
}
