@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."); }