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authorStefan Radomski <radomski@tk.informatik.tu-darmstadt.de>2013-01-10 22:42:42 (GMT)
committerStefan Radomski <radomski@tk.informatik.tu-darmstadt.de>2013-01-10 22:42:42 (GMT)
commit7aa7095d17a180d663cd9647c31d99d97c1dca4f (patch)
tree460bc3a67f0adc3199bec9f22ee15a102263eb4c /test
parentda1032ffbff229ce2ca9a83d47522ff45c90ba23 (diff)
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Major changes - see details
- Dynamic SceneGraph ML - V8 DOM for ecmascript datamodel - New heartbeat invoker - Fixed various bugs
Diffstat (limited to 'test')
-rw-r--r--test/CMakeLists.txt5
-rw-r--r--test/samples/uscxml/applications/3dviewer.scxml84
-rw-r--r--test/samples/uscxml/arabica/test-arabica-events.xml10
-rw-r--r--test/samples/uscxml/proto/3DViewer/CameraPos.proto9
-rw-r--r--test/samples/uscxml/proto/3DViewer/DirectoryListingService.proto48
-rw-r--r--test/samples/uscxml/proto/3DViewer/LinearAlgebra.proto18
-rw-r--r--test/samples/uscxml/proto/3DViewer/ModelInfo.proto10
-rw-r--r--test/samples/uscxml/proto/3DViewer/Pose.proto22
-rw-r--r--test/samples/uscxml/proto/3DViewer/SceneSetup.proto8
-rw-r--r--test/samples/uscxml/proto/3DViewer/SceneShotService.proto24
-rw-r--r--test/samples/uscxml/scripts/test-simple-ecmascript.scxml12
-rw-r--r--test/samples/uscxml/test-scenegraph.scxml45
-rw-r--r--test/src/test-arabica-events.cpp61
13 files changed, 346 insertions, 10 deletions
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index d47364e..39a4667 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -48,3 +48,8 @@ add_executable(test-completion src/test-completion.cpp)
target_link_libraries(test-completion uscxml)
add_test(test-completion ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/test-completion ${CMAKE_SOURCE_DIR}/test/samples/uscxml/test-donedata.scxml)
set_target_properties(test-completion PROPERTIES FOLDER "Tests")
+
+add_executable(test-arabica-events src/test-arabica-events.cpp)
+target_link_libraries(test-arabica-events uscxml)
+add_test(test-arabica-events ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/test-arabica-events ${CMAKE_SOURCE_DIR}/test/samples/arabica/test-arabica-events.xml)
+set_target_properties(test-arabica-events PROPERTIES FOLDER "Tests")
diff --git a/test/samples/uscxml/applications/3dviewer.scxml b/test/samples/uscxml/applications/3dviewer.scxml
new file mode 100644
index 0000000..90970d3
--- /dev/null
+++ b/test/samples/uscxml/applications/3dviewer.scxml
@@ -0,0 +1,84 @@
+<scxml
+ datamodel="ecmascript"
+ xmlns="http://www.w3.org/2005/07/scxml"
+ xmlns:scenegraph="http://uscxml.tk.informatik.tu-darmstadt.de/scenegraph.xsd">
+ <datamodel>
+ <data id="localCam" />
+ <data id="foo" />
+ </datamodel>
+ <state id="start">
+ <!-- setup all invokers -->
+
+ <!-- 20ms heartbeat -->
+ <invoke type="heartbeat" id="heartbeat.20ms">
+ <param name="interval" expr="'20ms'" />
+ </invoke>
+
+ <!-- receive files -->
+ <invoke type="umundo" id="umundo.files">
+ <param name="domain" expr="''" />
+ <param name="channel" expr="'umundo.files'" />
+ <param name="types" expr="'../proto/3DViewer'" />
+ </invoke>
+
+ <!-- publish / subscribe to remote pose -->
+ <invoke type="umundo" id="umundo.pose">
+ <param name="domain" expr="''" />
+ <param name="channel" expr="'umundo.pose'" />
+ <param name="types" expr="'../proto/3DViewer'" />
+ </invoke>
+
+ <!-- 3D viewer
+ This is only a template for nodes inserted per javascript
+ -->
+ <invoke type="scenegraph">
+ <content>
+ <scenegraph:display id="localDisplay" width="50%" height="50%">
+ <scenegraph:viewport>
+ <scenegraph:camera id="localCam">
+ </scenegraph:camera>
+ <scenegraph:translation>
+ <scenegraph:rotation>
+ <scenegraph:scale>
+ <scenegraph:node />
+ </scenegraph:scale>
+ </scenegraph:rotation>
+ </scenegraph:translation>
+ </scenegraph:viewport>
+ </scenegraph:display>
+ </content>
+ </invoke>
+ <state id="sendPose">
+ <transition target="sendPose" event="heartbeat.20ms" />
+ <onentry>
+ <script>
+ localCam = document.evaluate("//scenegraph:display[@id='localDisplay']").asNodeSet();
+ print(localCam[0].getAttribute("pitch"));
+ </script>
+ <send target="#_umundo.pose" event="umundo.pose">
+ <param name="type" expr="'SceneSetup'" />
+ <content>
+({
+ 'camPose': {
+ 'euler': {
+ 'pitch': localCam.getAttribute("pitch"),
+ 'roll': localCam.getAttribute("roll"),
+ 'yaw': localCam.getAttribute("yaw"),
+ }
+ },
+ 'modelPose': {
+ 'euler': {
+ 'pitch': localCam.getAttribute("pitch"),
+ 'roll': localCam.getAttribute("roll"),
+ 'yaw': localCam.getAttribute("yaw"),
+ }
+ },
+ 'modelName': "foo",
+ 'bandName': "foo"
+})
+ </content>
+ </send>
+ </onentry>
+ </state>
+ </state>
+</scxml> \ No newline at end of file
diff --git a/test/samples/uscxml/arabica/test-arabica-events.xml b/test/samples/uscxml/arabica/test-arabica-events.xml
new file mode 100644
index 0000000..8998fd9
--- /dev/null
+++ b/test/samples/uscxml/arabica/test-arabica-events.xml
@@ -0,0 +1,10 @@
+<root>
+ <head>
+ <title></title>
+ </head>
+ <body>
+ <h1>This is Foo!</h1>
+ <p>This not supposed to be valid HTML</p>
+ <div id="container" />
+ </body>
+</root> \ No newline at end of file
diff --git a/test/samples/uscxml/proto/3DViewer/CameraPos.proto b/test/samples/uscxml/proto/3DViewer/CameraPos.proto
new file mode 100644
index 0000000..6178ef4
--- /dev/null
+++ b/test/samples/uscxml/proto/3DViewer/CameraPos.proto
@@ -0,0 +1,9 @@
+import "LinearAlgebra.proto";
+
+message CameraPos {
+ required Vector3 center = 1;
+ required Quaternion rotation = 2;
+ required double distance = 3;
+ required double lastFrameTime = 4;
+ required bool thrown = 5 [default = false];
+} \ No newline at end of file
diff --git a/test/samples/uscxml/proto/3DViewer/DirectoryListingService.proto b/test/samples/uscxml/proto/3DViewer/DirectoryListingService.proto
new file mode 100644
index 0000000..4a0e412
--- /dev/null
+++ b/test/samples/uscxml/proto/3DViewer/DirectoryListingService.proto
@@ -0,0 +1,48 @@
+option java_package = "org.umundo.filesystem";
+
+message DirectoryEntry {
+ enum Type {
+ NAMED_PIPE = 0;
+ CHAR_DEV = 1;
+ BLOCK_DEV = 2;
+ FILE = 3;
+ DIR = 4;
+ SYMLINK = 5;
+ SOCKET = 6;
+ UNKNOWN = 7;
+ }
+ required string name = 1;
+ required Type type = 2;
+ required string path = 3;
+ required int64 size = 4;
+ optional string extension = 5;
+
+ repeated string segments = 6;
+
+ optional int64 atime_ms = 11;
+ optional int64 ctime_ms = 12;
+ optional int64 mtime_ms = 13;
+ optional int64 btime_ms = 14;
+
+ required string hostId = 15;
+
+}
+
+message DirectoryListingRequest {
+ required string pattern = 1;
+}
+
+message DirectoryListingReply {
+ repeated DirectoryEntry entries = 1;
+}
+
+message DirectoryEntryContent {
+ required bytes content = 1;
+ required string md5 = 2;
+}
+
+service DirectoryListingService {
+ rpc list (DirectoryListingRequest) returns (DirectoryListingReply);
+ rpc get (DirectoryEntry) returns (DirectoryEntryContent);
+}
+
diff --git a/test/samples/uscxml/proto/3DViewer/LinearAlgebra.proto b/test/samples/uscxml/proto/3DViewer/LinearAlgebra.proto
new file mode 100644
index 0000000..135ed00
--- /dev/null
+++ b/test/samples/uscxml/proto/3DViewer/LinearAlgebra.proto
@@ -0,0 +1,18 @@
+message Quaternion {
+ required double w = 1;
+ required double x = 2;
+ required double y = 3;
+ required double z = 4;
+}
+
+message Vector3 {
+ required double x = 1 [default = 0];
+ required double y = 2 [default = 0];
+ required double z = 3 [default = 0];
+}
+
+message Matrix3 {
+ required Vector3 x = 1;
+ required Vector3 y = 2;
+ required Vector3 z = 3;
+}
diff --git a/test/samples/uscxml/proto/3DViewer/ModelInfo.proto b/test/samples/uscxml/proto/3DViewer/ModelInfo.proto
new file mode 100644
index 0000000..3214a71
--- /dev/null
+++ b/test/samples/uscxml/proto/3DViewer/ModelInfo.proto
@@ -0,0 +1,10 @@
+import "LinearAlgebra.proto";
+
+message ModelInfo {
+ required string name = 1;
+ required string description = 2;
+}
+
+message Annotation {
+ required Vector3 position = 1;
+} \ No newline at end of file
diff --git a/test/samples/uscxml/proto/3DViewer/Pose.proto b/test/samples/uscxml/proto/3DViewer/Pose.proto
new file mode 100644
index 0000000..c29d6ff
--- /dev/null
+++ b/test/samples/uscxml/proto/3DViewer/Pose.proto
@@ -0,0 +1,22 @@
+import "LinearAlgebra.proto";
+
+message EulerAngles {
+ required double pitch = 1 [default = 0];
+ required double roll = 2 [default = 0];
+ required double yaw = 3 [default = 0];
+}
+
+message Heading {
+ required Vector3 direction = 1;
+ optional double timestamp = 2;
+ optional double magneticHeading = 3;
+ optional double trueHeading = 4;
+}
+
+message Pose {
+ optional Matrix3 orientation = 1;
+ optional EulerAngles euler = 2;
+ optional Vector3 position = 3;
+ optional Heading heading = 4;
+ optional double timestamp = 5;
+}
diff --git a/test/samples/uscxml/proto/3DViewer/SceneSetup.proto b/test/samples/uscxml/proto/3DViewer/SceneSetup.proto
new file mode 100644
index 0000000..b3b7697
--- /dev/null
+++ b/test/samples/uscxml/proto/3DViewer/SceneSetup.proto
@@ -0,0 +1,8 @@
+import "Pose.proto";
+
+message SceneSetup {
+ optional Pose modelPose = 1;
+ optional Pose camPose = 2;
+ required string modelName = 3;
+ required string bandName = 4;
+} \ No newline at end of file
diff --git a/test/samples/uscxml/proto/3DViewer/SceneShotService.proto b/test/samples/uscxml/proto/3DViewer/SceneShotService.proto
new file mode 100644
index 0000000..c7412a3
--- /dev/null
+++ b/test/samples/uscxml/proto/3DViewer/SceneShotService.proto
@@ -0,0 +1,24 @@
+import "SceneSetup.proto";
+
+message SceneShotReply {
+ optional bytes data = 1;
+ optional string base64 = 2;
+ optional string url = 3;
+ required uint32 width = 4;
+ required uint32 height = 5;
+}
+
+message SceneShotRequest {
+ required uint32 width = 1 [default = 640];
+ required uint32 height = 2 [default = 480];
+ optional string format = 3 [default = "png"];
+ optional string filename = 4;
+ optional SceneSetup sceneSetup = 5;
+ optional double pitch = 6;
+ optional double roll = 7;
+ optional double zoom = 8;
+}
+
+service SceneShotService {
+ rpc sceneShot (SceneShotRequest) returns (SceneShotReply);
+}
diff --git a/test/samples/uscxml/scripts/test-simple-ecmascript.scxml b/test/samples/uscxml/scripts/test-simple-ecmascript.scxml
new file mode 100644
index 0000000..10dee02
--- /dev/null
+++ b/test/samples/uscxml/scripts/test-simple-ecmascript.scxml
@@ -0,0 +1,12 @@
+<scxml datamodel="ecmascript">
+ <state id="start">
+ <onentry>
+ <script>
+ var nodeSet = document.evaluate("//state").asNodeSet();
+ nodeSet[0].setAttribute("foo", "bar");
+ </script>
+ <raise event="redo" />
+ </onentry>
+ <transition target="start" event="redo" />
+ </state>
+</scxml> \ No newline at end of file
diff --git a/test/samples/uscxml/test-scenegraph.scxml b/test/samples/uscxml/test-scenegraph.scxml
index 25e13ed..0efcd6d 100644
--- a/test/samples/uscxml/test-scenegraph.scxml
+++ b/test/samples/uscxml/test-scenegraph.scxml
@@ -1,5 +1,16 @@
-<scxml datamodel="ecmascript" initial="start" binding="late" xmlns:scenegraph="http://uscxml.tk.informatik.tu-darmstadt.de/scenegraph.xsd">
+<scxml datamodel="ecmascript" initial="start" binding="late"
+ xmlns="http://www.w3.org/2005/07/scxml"
+ xmlns:scenegraph="http://uscxml.tk.informatik.tu-darmstadt.de/scenegraph.xsd">
+ <datamodel>
+ <data id="pitch">0</data>
+ <data id="yaw">0</data>
+ <data id="roll">0</data>
+ </datamodel>
<state id="start">
+ <invoke type="heartbeat">
+ <param name="interval" expr="'10ms'" />
+ <param name="eventname" expr="'heartbeat.20ms'" />
+ </invoke>
<invoke type="scenegraph">
<content>
<scenegraph:display x="10%" y="10 %" width="50 % " height=" 50 % ">
@@ -10,13 +21,8 @@
</scenegraph:translation>
</scenegraph:scale>
</scenegraph:viewport>
- <scenegraph:viewport x="50%" y="0" width="50%" height="50%" id="scene2">
- <scenegraph:translation x="0" y="0" z="0">
- <scenegraph:node src="http://cs.iupui.edu/~aharris/mm/vrml4/house.wrl" />
- </scenegraph:translation>
- </scenegraph:viewport>
<scenegraph:viewport x="0" y="50%" width="50%" height="50%" id="scene3">
- <scenegraph:rotation pitch="100deg" roll="3.15149rad" yaw="10deg">
+ <scenegraph:rotation id="treeRotation" pitch="100deg" roll="3.15149rad" yaw="10deg">
<scenegraph:node src="http://cs.iupui.edu/~aharris/webDesign/vrml/tree.wrl" />
</scenegraph:rotation>
</scenegraph:viewport>
@@ -25,17 +31,36 @@
<scenegraph:node src="scenegraph/HARD_MP_VAL_000.wrl" />
</scenegraph:translation>
</scenegraph:viewport>
+ <scenegraph:viewport x="50%" y="0" width="50%" height="50%" id="scene2">
+ <scenegraph:translation x="0" y="0" z="0">
+ <scenegraph:node src="http://cs.iupui.edu/~aharris/mm/vrml4/house.wrl" />
+ </scenegraph:translation>
+ </scenegraph:viewport>
</scenegraph:display>
- <!-- scenegraph:display x="20%" y="20 %" width="50 % " height=" 50 % ">
- <scenegraph:viewport x="0" y="0" width="50%" height="50%" id="scene1">
+ <scenegraph:display x="20%" y="20 %" width="50 % " height=" 50 % ">
+ <scenegraph:viewport x="0" y="0" width="100%" height="100%" id="scene1">
<scenegraph:translation x="0" y="0" z="0">
<scenegraph:node src="scenegraph/HARD_MP_VAL_000.wrl" />
</scenegraph:translation>
</scenegraph:viewport>
- </scenegraph:display -->
+ </scenegraph:display>
</content>
</invoke>
+ <state id="animate">
+ <onentry>
+ <script>
+ var nodeSet = document.evaluate("//scenegraph:rotation[@id='treeRotation']").asNodeSet();
+ nodeSet[0].setAttribute("pitch", "pitch" + pitch + "deg");
+ nodeSet[0].setAttribute("roll", "roll" + roll + "deg");
+ nodeSet[0].setAttribute("yaw", "yaw" + yaw + "deg");
+ pitch += 0.5;
+ roll += 0.3;
+ yaw += 0.1;
+ </script>
+ </onentry>
+ <transition event="heartbeat.20ms" target="animate" />
+ </state>
</state>
<final id="final">
<onentry>
diff --git a/test/src/test-arabica-events.cpp b/test/src/test-arabica-events.cpp
new file mode 100644
index 0000000..fcf4ea8
--- /dev/null
+++ b/test/src/test-arabica-events.cpp
@@ -0,0 +1,61 @@
+#include <XPath/XPath.hpp>
+#include <DOM/Document.hpp>
+#include <DOM/SAX2DOM/SAX2DOM.hpp>
+#include <SAX/helpers/CatchErrorHandler.hpp>
+#include <DOM/Events/EventTarget.hpp>
+#include <DOM/Events/EventListener.hpp>
+
+using namespace Arabica::DOM;
+
+class CapturingEventListener : public Events::EventListener<std::string> {
+public:
+ void handleEvent(Events::Event<std::string>& event) {
+ std::cout << "Handling captured event " << event.getType() << std::endl;
+ }
+};
+
+class BubblingEventListener : public Events::EventListener<std::string> {
+public:
+ void handleEvent(Events::Event<std::string>& event) {
+ std::cout << "Handling bubbling event " << event.getType() << std::endl;
+ }
+};
+
+int main(int argc, char** argv) {
+ Arabica::SAX::InputSource<std::string> inputSource(argv[1]);
+
+ Arabica::SAX2DOM::Parser<std::string> domParser;
+ Arabica::SAX::CatchErrorHandler<std::string> errorHandler;
+ domParser.setErrorHandler(errorHandler);
+ if(!domParser.parse(inputSource)) {
+ return -1;
+ }
+ Document<std::string> doc = domParser.getDocument();
+ Element<std::string> elem = doc.getDocumentElement();
+
+ CapturingEventListener cel;
+ BubblingEventListener bel;
+
+ Events::EventTarget<std::string> eventTarget(elem);
+ eventTarget.addEventListener("DOMNodeInserted", cel, true);
+ eventTarget.addEventListener("DOMNodeInserted", bel, false);
+ eventTarget.addEventListener("DOMNodeRemoved", cel, true);
+ eventTarget.addEventListener("DOMNodeRemoved", bel, false);
+ eventTarget.addEventListener("DOMAttrModified", cel, true);
+ eventTarget.addEventListener("DOMAttrModified", bel, false);
+
+ Arabica::XPath::XPath<std::string> xpath;
+ Arabica::XPath::NodeSet<std::string> divs = xpath.evaluate("//div", doc).asNodeSet();
+
+ for (int i = 0; i < divs.size(); i++) {
+ Element<std::string> divElem = Element<std::string>(divs[i]);
+ divElem.setAttribute("foo", "true");
+ divElem.setAttribute("foo", "false");
+
+ Element<std::string> fooElem = divElem.getOwnerDocument().createElement("foo");
+ divElem.appendChild(fooElem);
+ divElem.removeChild(fooElem);
+ }
+
+
+} \ No newline at end of file
generated by cgit v0.12 at 2024-09-04 17:41:44 (GMT)