151 lines
5.4 KiB
Plaintext
151 lines
5.4 KiB
Plaintext
These are test programs, users may not want to look at these to
|
|
understand how ARIA works, but after understanding ARIA may want to
|
|
look at specific files in this directory to see some more complicated
|
|
things. These are not documented much, each program trying only to do
|
|
one or two things, which should be fairly self-evident from these
|
|
descriptions and from the code.
|
|
|
|
-------------------------------------------------------------------------------
|
|
|
|
absoluteHeadingActionTest - Tests an action with absolute heading.
|
|
|
|
actionArgumentTest - Tests the ArArg class and the argument part of ArAction.
|
|
|
|
actionAverageTest - Tests to make sure actions average right if at
|
|
same priority (differently than samePriorityActionTest, slightly)
|
|
|
|
actionManagementTest - Tests adding, removing, and finding actions.
|
|
|
|
actsTest - Does a test print out from ACTS
|
|
|
|
angleBetweenTest - Tests ArMath::angleBetween
|
|
|
|
angleFixTest - Tests ArMath::angleFix
|
|
|
|
angleTest - Tests some various things with angles
|
|
|
|
asyncConnectTest - Connects to the robot, disconnects, and tries to break the
|
|
connection state. This was designed to test the connection sequence. This
|
|
uses ArRobot::asyncConnect.
|
|
|
|
auxSerialTest - Dumps a lot of things out to aux serial port with TTY commands
|
|
|
|
callbackTest - Tests the connection callbacks in ArRobot
|
|
|
|
chargeTest - A test for charging with a powerbot dock
|
|
|
|
configTest - Tests ArConfig reading in a file and writing files
|
|
|
|
connectTest - Connects to the robot, disconnects, and tries to break the
|
|
connection state. This was designed to test the connection sequence. This
|
|
uses ArRobot::blockingConnect.
|
|
|
|
connectionTest - Tests the connection by requesting IO packets as it
|
|
drives about hard and fast (make sure it won't hurt anyone)
|
|
|
|
driveFast - a test that drives the robot fast for a given distance
|
|
|
|
encoderCorrectionTest - Connects to a robot with a joystick, pressing button
|
|
two will set the encoder correction callback, just run it to see the args
|
|
|
|
fileParserTest - just tests the file parser and shows how to use it a little
|
|
|
|
functorTest - Does some extensive tests of functors
|
|
|
|
gotoTest - Uses the ArActionGoto to go somewhere in a very naive way
|
|
|
|
hardDriveWander - This drives about very hard and fast, only run this
|
|
in lots of space where no one will get hurt
|
|
|
|
interpolationTest - Tests the position interpolation functions on ArRobot
|
|
|
|
ioTest - Tests the response time for IOREQUEST commands sent to the robot
|
|
|
|
keyHandlerTest - Tests the keyhandler out
|
|
|
|
keys - Lower level test of the keyhandler
|
|
|
|
lineTest - Tests the used functionality of ArLine and ArLineSegment
|
|
|
|
moveRobotTest - Drives the robot around, has different actions for pushing
|
|
button 2, its to make sure that the ArRobot::moveTo(pos) command works in
|
|
some fashion, and to check the transforms, just run the program to have it
|
|
print its usage
|
|
|
|
optoIOtest - This is a very simple test of using the Opto22 interface on the
|
|
Versalogic motherboards in P2 and P3 robots. It also tests the analog
|
|
|
|
p2osSlamTest - Sends lots of packets to the P2 to try and mess it up
|
|
|
|
paramTest - Tests out some of the ArPreference parameter stuff
|
|
|
|
poseTest - Tests out ArPose
|
|
|
|
robotListTest - Tests some of the Aria:: functions that have to do with
|
|
the robot list
|
|
|
|
robotConfigPacketReaderTest - A test of getting the robot config packet
|
|
|
|
rotvelActionExample - Tests out an action that drives using rot vel
|
|
|
|
runtimeTest - Times how long the robot will run when doing a period of
|
|
wandering, then a period of resting, then wandering and so on, until the
|
|
battery dies. It runs ACTS while wandering, and pipes the display to another computer.
|
|
|
|
samePriorityActionTest - Sees if actions average right when at the
|
|
same priority (differently than actionAverageTest, slightly)
|
|
|
|
segvTest - Causes a seg fault to see if its handled right
|
|
|
|
serialTest - Test for checking for interference on a serial port
|
|
|
|
serialTest2 - Another test for checking for interference on a serial port
|
|
|
|
sickSimpleTest - A test used in the development of the sick driver
|
|
|
|
sickMiddleTest - A test that prints out the middle readings of the
|
|
laser continually
|
|
|
|
sickTest - A test that connects to the laser then prints out a few
|
|
sets of readings
|
|
|
|
sickTestAll - A test that connects to the laser, turns off all
|
|
filtering then prints out readings until killed
|
|
|
|
signalTest - Prints out signals that come in to the program
|
|
|
|
sonarDeviceTest - Prints out the sonar readings from the sonarDevice
|
|
|
|
sonarTest - Prints out the sonar disk positions then prints out the sonar
|
|
readings
|
|
|
|
stallTest - Tests the stall behavior by going forward and ramming things, you
|
|
should only use this one in the simulator, also can be set to go backwards
|
|
|
|
stressTest - Creates 2 busy loops, and sees if the syncLoop still winds up
|
|
with the right amount of time between runs
|
|
|
|
stripQuotesTest - Just a tests that tests ArUtil::stripQuotes
|
|
|
|
systemCallTest - Tests doing system calls and signals
|
|
|
|
tcm2Test - Connects to the tcm2 compass and prints out its information
|
|
|
|
threadTest - Does a rudamentary test on threading
|
|
|
|
timeTest - Just does a simple test of the functions related to ArTime
|
|
|
|
timingTest - Does a test of how long the syncLoop takes to run, prints out
|
|
the results
|
|
|
|
transformTest - Tests out ArTransform
|
|
|
|
triangleAccuracyTest - Tests out the repeatability of ArActionTriangleDriveTo
|
|
|
|
usertasktest - Tests the user task list that ArRobot maintains.
|
|
|
|
vcc4Test - Test and exercise a vcc4 camera
|
|
|
|
velTest - has the robot drive at set velocities (trans and rot) and
|
|
prints out how fast it says its going
|