GCC Code Coverage Report

Directory:	./
File:	tests/tools/test_sot_loader.cpp
Date:	2025-05-13 12:28:21

	Exec	Total	Coverage
Lines:	128	128	100.0%
Branches:	677	1352	50.1%

Line	Branch	Exec	Source
1			/*
2			* License BSD3
3			* Copyright 2021,
4			* Maximilien Naveau,
5			*
6			* CNRS
7			*
8			*/
9
10			#define BOOST_TEST_MODULE test_sot_loader
11			#include <dynamic-graph/entity.h>
12			#include <dynamic-graph/factory.h>
13			#include <dynamic-graph/pool.h>
14
15			#include <boost/test/included/unit_test.hpp>
16			#include <fstream>
17			#include <iostream>
18
19			#include "sot/core/debug.hh"
20			#include "sot/core/device.hh"
21			#include "sot/core/sot-loader.hh"
22
23			using namespace dynamicgraph;
24			using namespace dynamicgraph::sot;
25			namespace dg = dynamicgraph;
26
27			class TestDevice : public dg::sot::Device {
28			public:
29			TestDevice(const std::string &RobotName) : Device(RobotName) {
30			timestep_ = 0.001;
31			}
32			~TestDevice() {}
33			};
34
35			struct TestFixture {
36		14	TestFixture() {
37	1/2 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken.	14	asotei_lib_file_ = LIB_PLUGIN_ABSTRACT_PATH;
38	1/2 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken.	14	good_python_script_ = TEST_GOOD_PYTHON_SCRIPT;
39	1/2 ✓ Branch 1 taken 14 times. ✗ Branch 2 not taken.	14	bad_python_script_ = TEST_BAD_PYTHON_SCRIPT;
40		14	}
41		14	~TestFixture() {}
42			/// @brief Path to the AbstractSotExternalInterface test library.
43			std::string asotei_lib_file_;
44			/// @brief Path to a python srcipt to parse without error.
45			std::string good_python_script_;
46			/// @brief Path to a python srcipt to parse with error.
47			std::string bad_python_script_;
48			/// @brief Sensor values container.
49			std::map<std::string, SensorValues> sensors;
50			/// @brief Control values container.
51			std::map<std::string, ControlValues> controls;
52			};
53
54			BOOST_AUTO_TEST_SUITE(sot_loader_test_suite)
55
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57	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	std::ifstream file(asotei_lib_file_);
58		2	bool file_exists = false;
59	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken.	2	if (file) {
60		2	file_exists = true;
61			}
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64		2	}
65
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67	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SotLoader sot_loader;
68	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	sot_loader.initialization();
69	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(sot_loader.isDynamicGraphStopped());
70		2	}
71
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73	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SotLoader sot_loader;
74	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	sot_loader.initialization();
75	6/12 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 15 taken 1 times. ✗ Branch 16 not taken. ✓ Branch 18 taken 1 times. ✗ Branch 19 not taken. ✗ Branch 23 not taken. ✓ Branch 24 taken 1 times.	2	BOOST_CHECK(sot_loader.isDynamicGraphStopped());
76		2	sot_loader.startDG();
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78		2	sot_loader.stopDG();
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80		2	}
81
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83	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SotLoader sot_loader;
84	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	sot_loader.setDynamicLibraryName(asotei_lib_file_);
85
86		2	char argv0[] = "test_sot_loader";
87		2	char argv1[] = "--input-file";
88		2	char argv2[] = LIB_PLUGIN_ABSTRACT_PATH;
89		2	char *argv[] = {argv0, argv1, argv2, NULL};
90	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	sot_loader.parseOptions(3, argv);
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92		2	}
93
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95	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SotLoader sot_loader;
96	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	sot_loader.setDynamicLibraryName(asotei_lib_file_);
97
98		2	char argv0[] = "test_sot_loader";
99		2	char argv1[] = "--sot-dynamic-library";
100		2	char argv2[] = LIB_PLUGIN_ABSTRACT_PATH;
101		2	char *argv[] = {argv0, argv1, argv2, NULL};
102	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	sot_loader.parseOptions(3, argv);
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104		2	}
105
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107	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SotLoader sot_loader;
108	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	sot_loader.setDynamicLibraryName(asotei_lib_file_);
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110		2	}
111
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113		2	std::vector<double> controls_values;
114	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SotLoader sot_loader;
115	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	sot_loader.setDynamicLibraryName(asotei_lib_file_);
116	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	sot_loader.initialization();
117			// Without running the graph:
118	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	sot_loader.oneIteration(sensors, controls);
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120			// With the graph running:
121		2	sot_loader.startDG();
122	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	std::cout << "running the graph" << std::endl;
123	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	sot_loader.oneIteration(sensors, controls);
124	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	std::cout << "running the graph ... done" << std::endl;
125	3/6 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 9 taken 1 times. ✗ Branch 10 not taken.	2	controls_values = controls["ctrl_map_name"].getValues();
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127	2/2 ✓ Branch 5 taken 5 times. ✓ Branch 6 taken 1 times.	12	for (auto value : controls_values) {
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129			}
130		2	}
131
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133	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SotLoader sot_loader;
134	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	sot_loader.cleanUp();
135		2	}
136
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138	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SotLoader sot_loader;
139	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	sot_loader.setDynamicLibraryName(asotei_lib_file_);
140	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	sot_loader.initialization();
141	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	sot_loader.cleanUp();
142		2	}
143
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145	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SotLoader sot_loader;
146	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	sot_loader.setDynamicLibraryName(asotei_lib_file_);
147	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	sot_loader.initialization();
148		2	std::string res, out, err;
149	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	sot_loader.runPythonCommand("1+1", res, out, err);
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153		2	}
154
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156	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SotLoader sot_loader;
157	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	sot_loader.setDynamicLibraryName(asotei_lib_file_);
158	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	sot_loader.initialization();
159		2	std::string res, out, err;
160	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	sot_loader.runPythonCommand("print(a)", res, out, err);
161	3/6 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 1 times. ✗ Branch 8 not taken.	2	std::cout << std::quoted(err) << std::endl;
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165			"Traceback (most recent call last):\n"
166			" File \"<string>\", line 1, in <module>\n"
167			"NameError: name 'a' is not defined\n");
168		2	}
169
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171	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SotLoader sot_loader;
172	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	sot_loader.setDynamicLibraryName(asotei_lib_file_);
173	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	sot_loader.initialization();
174		2	std::string err;
175	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	sot_loader.runPythonFile(good_python_script_, err);
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177		2	}
178
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180	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SotLoader sot_loader;
181	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	sot_loader.setDynamicLibraryName(asotei_lib_file_);
182	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	sot_loader.initialization();
183		2	std::string err;
184	2/4 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 1 times. ✗ Branch 5 not taken.	2	sot_loader.runPythonFile(bad_python_script_, err);
185	7/14 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken. ✓ Branch 8 taken 1 times. ✗ Branch 9 not taken. ✓ Branch 11 taken 1 times. ✗ Branch 12 not taken. ✓ Branch 16 taken 1 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 1 times. ✗ Branch 20 not taken. ✗ Branch 25 not taken. ✓ Branch 26 taken 1 times.	2	BOOST_CHECK_EQUAL(err,
186			"Traceback (most recent call last):\n"
187			" File \"" +
188			bad_python_script_ +
189			"\", line 2, in <module>\n"
190			" print(b)\n"
191			"NameError: name 'b' is not defined\n");
192		2	}
193
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195	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	SotLoader sot_loader;
196	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	sot_loader.setDynamicLibraryName(asotei_lib_file_);
197	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	sot_loader.initialization();
198	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	4	Device device("device_name");
199	1/2 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken.	2	sot_loader.loadDeviceInPython(device.getName());
200		2	std::string res, out, err;
201	2/4 ✓ Branch 2 taken 1 times. ✗ Branch 3 not taken. ✓ Branch 5 taken 1 times. ✗ Branch 6 not taken.	2	sot_loader.runPythonCommand("print(device_cpp_object.name)", res, out, err);
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205		2	}
206
207			BOOST_AUTO_TEST_SUITE_END()
208