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."); }