Category:HamsterAPICPPTest

Tests in C++

How our C++ tests works ?

before all test we have to be connected to the Robot so we beginning with the connection.

It is necessary to create an object hamster and it use all information about the Hamster class. Then we use we create a new HamsterClientParameters. It use to initialize the port and the base address of the Robot. and now we use the object Hamster that we created before with two parameters :

1- number agent of the robot

2- the name of the HamsterClientParameters that we created before.

We put this little function in a try catch of function with throws exception because if we can't be connected to the robot all the test after will failed.

Example : <syntaxhighlight lang="bash" line='line'> HamsterAPI::HamsterClientParameters params7; params7.port = 8107; params7.base_address = "10.0.2"; // Init the agent ID and the port HamsterAPI::Hamster hamster7(7,params7); </syntaxhighlight>

Test with simulation

Before launch our test we have to launch our simulation software Gazebo.

<syntaxhighlight lang="bash" line='line'> cd hamster_ws source devel/setup.bash </syntaxhighlight>

and then launch Gazebo :

<syntaxhighlight lang="bash" line='line'> roslaunch hamster_api_server_cpp hamster_api_simulation_server_and_gazbo_and_algs.launch </syntaxhighlight>

For the tests we created a test file where each test corresponds to a function

<syntaxhighlight lang="bash" line='line'> try { // define pose like get pose from the robot and print it HamsterAPI::Pose pose = hamster.getPose(); HamsterAPI::Log::i("Client",pose.toString()); } catch(const HamsterAPI::HamsterError & message_error) { std::stringstream stream; stream << "Pose: " << message_error.what(); HamsterAPI::Log::i("Client", stream.str()); } </syntaxhighlight>

We have created a function to get the position of the robot and print it as long as we are connected. In a second time we start the topic on ROS and we compare the values. The purpose of this test is to verify that the positioning of the robot makes sense.

We have created a function that recovers speed and position as long as we are connected to the robot. The aim of this test is to verify the speed variations of the robots with respect to the position.

We created a function for the robot to navigate from point A to point B. To be done:
-First define the point A as the initial points and therefore define the initial position.

<syntaxhighlight lang="bash" line='line'> HamsterAPI::Pose pose; pose.setX(7.03); pose.setY(1.35); pose.setHeading(-135.0); hamster.setInitialPose(pose); </syntaxhighlight>

- In second time set goal to reach with position

<syntaxhighlight lang="bash" line='line'> HamsterAPI::Goal goal; goal.setX(3.0); goal.setY(-2.0); goal.setHeading(-135.0); goal.setGoalType(HamsterAPI::GT_GLOBAL_GOAL); //print all information about the goal HamsterAPI::Log::i("Client", goal.toString());

// Thread --> sleep 1s boost::this_thread::sleep(boost::posix_time::milliseconds(1000));

// ask to the hamster to navigate forward the goal hamster.navigateTo(goal); </syntaxhighlight>

Between the initial position and the goal we have to insert a thread.sleep().

Test with robots

To make the tests on the robots we use a software allowing us to know all the parameters of the robot such as the position on a map for example. To launch this software type the following command lines : <syntaxhighlight lang="bash" line='line'>

export ROS_MASTER_URI=http://10.0.2.1:11311

</syntaxhighlight> The address after http correspond to the robot's base address.

Now do an ifconfig and find the ip address that has just been added. <syntaxhighlight lang="bash" line='line'> ROS_IP=10.0.2. your address </syntaxhighlight>

And then launch rviz. <syntaxhighlight lang="bash" line='line'> rviz </syntaxhighlight>

To check the communication between two hamster we have developed two programs one for the sending of data and the other for the reception and the answer.
We first run the ReceiveDataMess program before the SendDataMessage program because we need the receiver connected to be able to send a message to it.

ReceiveDataMessage

<syntaxhighlight lang="bash" line='line'>

• HamsterAPIClientDataMessageReceiver.cpp
• Created on: jun 21, 2016
• Author: Ilan

1. include <hamster_api_client_cpp/Hamster.h>
2. include <boost/date_time.hpp>
3. include <boost/thread.hpp>
4. include "IFDEF.h"

1. ifdef RECEIVER

int main(int argc, char ** argv) { try { HamsterAPI::HamsterClientParameters params; params.port = 8108; params.base_address = "10.0.2";

// Init hamster with the agent id number HamsterAPI::Hamster hamster(8,params);

while(hamster.isConnected()) { try { HamsterAPI::Log::i("Client", "Waiting for Sender to send msg");// print

while(!hamster.hasDataMessages()) // Thread --> sleep 1 boost::this_thread::sleep(boost::posix_time::milliseconds(1000));

HamsterAPI::Log::i("Client", "Got msg"); // print

HamsterAPI::DataMessage msg = hamster.popLatestDataMessage(); HamsterAPI::Log::i("Client", boost::lexical_cast<std::string>(msg.getSourceAgentID()) + "=" + msg.getStringData());

// define message of receiver : receiver_msg HamsterAPI::DataMessage receiver_msg("coucou",8,7); HamsterAPI::Log::i("Client", "Sending Data Message");//print HamsterAPI::Log::i("Client", receiver_msg.toString());//print the receiver_msg // send the message from the receiver to the sender hamster.sendDataMessage(receiver_msg); } // Message Issue or Connection Issue catch(const HamsterAPI::HamsterError & message_error) { HamsterAPI::Log::i("Client", message_error.what()); } } } // Connection Issue catch(const HamsterAPI::HamsterError & connection_error) { HamsterAPI::Log::i("Client",connection_error.what());

 }

}

1. endif

</syntaxhighlight>

SendDataMessage

<syntaxhighlight lang="bash" line='line'> try{ // Init the hamster with agent ID number and port HamsterClientParameters params = new HamsterClientParameters(); params.port = 8107; params.base_address = "10.0.2"; Hamster hamster = new Hamster(7,params);

    while(hamster.isConnected()){

// define a new message "Salut" send by 7 to 8 DataMessage sender_msg = new DataMessage("Salut",7,8); Log.i("Client", "Sending Data Message"); Log.i("Client", sender_msg.toString());// print "Sending data message" on the console hamster.sendDataMessage(sender_msg);// we print all information about the message : "Salut" send by 7 to 8

Log.i("Client", "Waiting for Receiver to send msg");

while(!hamster.hasDataMessages()) { try { Thread.sleep(1000); } catch (InterruptedException e) { continue; } }

Log.i("Client", "Got msg"); // print "got message "

DataMessage msg = hamster.popLatestDataMessage(); Log.i("Client", "" + msg.getSourceAgentID() + "=" + msg.getStringData()); // print source ID message = message ex : 8=coucou } } // Connection Issue catch(HamsterError connection_error) { Log.i("Client",connection_error.what()); }

 }

</syntaxhighlight>

TwoHamsterTwoGoal

<syntaxhighlight lang="bash" line='line'> public class TwoHamsterTwoGoalGlobal {

public static void main(String[] args) { // TODO Auto-generated method stub

tryThe purpose of this test is to make two hamster go towards a definite goal one after the other. As long as the first did not reach its goal the second robot does not go towards are objectives. For this, first we initialize the positions of each robot and then we impose the goal for each of them. { // Init hamster with the agent id number and port HamsterClientParameters params7 = new HamsterClientParameters(); // set port for agent 7 params7.port = 8107; // set the base address params7.base_address = "10.0.2"; Hamster hamster7 = new Hamster(7,params7);

HamsterClientParameters params8 = new HamsterClientParameters(); params8.port = 8108; params8.base_address = "10.0.2"; Hamster hamster8 = new Hamster(8,params8);

if(hamster7.isConnected() && hamster8.isConnected()) { // if hamster 7 is connected // DEF Initial position hamster 7 & 8 Pose p = new Pose(); p.setX(5.96f); p.setY(2.06f); p.setHeading(-135.0f); hamster7.setInitialPose(p); p.setX(7.1f); p.setY(1.30f); hamster8.setInitialPose(p);

try { Thread.sleep(500); } catch (InterruptedException e) { // TODO Auto-generated catch block e.printStackTrace(); } //just for know if i come inside this if //System.out.print("---------- Tu passe par la ???? \n"); // goal and navigation for hamster 7

Goal g = new Goal(); // POSITION OF THE GOAL g.setX(3.55f); g.setY(-2.44f); g.setHeading(135.0f); // GOAL TYPE IS GLOBAL g.setGoalType(GoalType.GT_GLOBAL_GOAL); //tell to hamster 7 navigate from initial pose to goal hamster7.navigateTo(g);

}

// status of navigation hamster 7

while(hamster7.isConnected()) { // during hamster 7 is connected get the navigation state NavigationState state = hamster7.getNavigationState(); // if the state is in progress, the navigation continue if(state.getStatus() == NavigationStatus.NS_IN_PROGRESS) continue; else if(state.getStatus() == NavigationStatus.NS_REACHED_GOAL) { // if the navigation state is reach so the goal is reach and we disconnect the hamster Log.i("Client", "Reached Goal : Hamster 7 !"); break; } else { // else the goal failed and we print it Log.i("Client", "Goal Failed : Hamster 7 "); break; } }

// deconnection hamster 7 hamster7.disconnect();

if(!hamster7.isConnected() && hamster8.isConnected()) { // if goal hamster 7 is reach or failed and hamster 8 is conected // define goal for hamster 8 and navigate to the position

//just for know if i come inside this if //System.out.print("---------- Tu passe par la ? ");

Goal g = new Goal(); // set the position of the goal for hamster 8 g.setX(4.01f); g.setY(-0.948f); g.setHeading(135.0f); //define type of goal for hamster 8 : global g.setGoalType(GoalType.GT_GLOBAL_GOAL); //tell to hamster 8 navigate from initial pose to goal hamster8.navigateTo(g); }

try { Thread.sleep(500); } catch (InterruptedException e) { // TODO Auto-generated catch block e.printStackTrace(); }

while(hamster8.isConnected()) { // status of navigation Hamster 8 NavigationState state = hamster8.getNavigationState(); // if it's in progress so the hamster continue the navigation if(state.getStatus() == NavigationStatus.NS_IN_PROGRESS) continue; else if(state.getStatus() == NavigationStatus.NS_REACHED_GOAL) { // if the navigation state is reach so the goal is reach and we disconnect the hamster Log.i("Client", "Reached Goal : Hamster 8 !"); break; } else { // else the goal failed and we print it Log.i("Client", "Goal Failed : Hamster 8 "); break;

} } // disconnection Hamster 8 hamster8.disconnect(); } // Connection Issue catch(HamsterError connection_error) { Log.i("Client",connection_error.what()); } } }

</syntaxhighlight>

The purpose of this test is to make two hamster go towards a definite goal one after the other. As long as the first did not reach his goal the second robot does not go towards his objectives.
For this, first we initialize the positions of each robot and then we impose the goal for each of them.