private boolean executeBehavior(final AbstractBehavior behavior, double trajectoryTime)
throws SimulationExceededMaximumTimeException {
final double simulationRunTime = trajectoryTime + EXTRA_SIM_TIME_FOR_SETTLING;
if (DEBUG) {
System.out.println("\n");
PrintTools.debug(
this, "starting behavior: " + behavior.getName() + " t = " + yoTime.getDoubleValue());
}
Thread behaviorThread =
new Thread() {
public void run() {
{
double startTime = Double.NaN;
boolean simStillRunning = true;
boolean initalized = false;
while (simStillRunning) {
if (!initalized) {
startTime = yoTime.getDoubleValue();
initalized = true;
}
double timeSpentSimulating = yoTime.getDoubleValue() - startTime;
simStillRunning = timeSpentSimulating < simulationRunTime;
robotDataReceiver.updateRobotModel();
behavior.doControl();
}
}
}
};
behaviorThread.start();
boolean ret = drcSimulationTestHelper.simulateAndBlockAndCatchExceptions(simulationRunTime);
PrintTools.debug(
this, "done with behavior: " + behavior.getName() + " t = " + yoTime.getDoubleValue());
return ret;
}
@ContinuousIntegrationTest(
estimatedDuration = 50.0,
categoriesOverride = IntegrationCategory.EXCLUDE)
@Test(timeout = 300000)
public void testWalkForwardsX() throws SimulationExceededMaximumTimeException {
BambooTools.reportTestStartedMessage(simulationTestingParameters.getShowWindows());
boolean success = drcSimulationTestHelper.simulateAndBlockAndCatchExceptions(1.0);
assertTrue(success);
double walkDistance = RandomTools.generateRandomDouble(new Random(), 1.0, 2.0);
Vector2d walkDirection = new Vector2d(1, 0);
double trajectoryTime = walkDistance / ASSUMED_WALKING_SPEED_mPerSec;
WalkToGoalBehavior walkToGoalBehavior =
testWalkToGoalBehavior(walkDistance, walkDirection, trajectoryTime);
assertTrue(walkToGoalBehavior.isDone());
BambooTools.reportTestFinishedMessage(simulationTestingParameters.getShowWindows());
}