Sophiar2/tests/interface/ndi.cpp

#define BOOST_TEST_DYN_LINK
#define BOOST_TEST_MAIN  // in only one cpp file

#include "utility/variable_helper.hpp"
#include "core/basic_obj_types.hpp"

#include <boost/asio/co_spawn.hpp>
#include <boost/asio/detached.hpp>
#include <boost/asio/this_coro.hpp>
#include <boost/asio/use_awaitable.hpp>
#include <boost/test/unit_test.hpp>

#include <spdlog/spdlog.h>

#include <chrono>
#include <fstream>
#include <iostream>
#include <vector>

using boost::asio::awaitable;
using boost::asio::co_spawn;
using boost::asio::detached;
using boost::asio::use_awaitable;

using namespace sophiar;
using namespace std::chrono_literals;

//awaitable<void> coro_ndi_test() {
//    auto interface = std::make_unique<ndi_interface>();
//    auto init_config = nlohmann::json::parse(
//            R"({"address_type":"ethernet","ip":"169.254.132.51","tcp_port":8765,"com_port":"COM3","tool_list":[{"rom_path":"D:\\Program\\Robot\\Tools\\roms\\Probe_Small_4Ball.rom","outputs":{"transform":"tracker_probe_transform","marker_uncertainty":"tracker_probe_transform_uncertainty"}},{"rom_path":"D:\\Program\\Robot\\Tools\\roms\\Head_3Ball_2.rom","outputs":{"transform":"tracker_model_ref_transform","marker_uncertainty":"tracker_model_ref_transform_uncertainty"}}]})");
//    auto start_config = nlohmann::json::parse(
//            R"({"allow_unreliable":true,"prefer_stream_tracking":true})");
//
//    BOOST_TEST(co_await interface->init(init_config));
//    BOOST_TEST(co_await interface->start(start_config));
//    auto trans_obj = global_obj_auto_sync_delegate<transform_obj>(
//            global_sophiar_manager,
//            "tracker_probe_transform");
//    int cnt = 0;
//    FILE_LINE_TRACE
//    for (;;) {
//        co_await trans_obj.coro_wait_update();
////        if (!trans_obj.empty()) {
////            std::cout << trans_obj->value.matrix() << std::endl;
////        } else {
////            std::cout << "empty" << std::endl;
////        }
//        if (++cnt == 250) break;
//    }
//    FILE_LINE_TRACE
//    co_await interface->reset();
//
//    start_config = nlohmann::json::parse(
//            R"({"allow_unreliable":true,"prefer_stream_tracking":false})");
//    BOOST_TEST(co_await interface->init(init_config));
//    BOOST_TEST(co_await interface->start(start_config));
//    cnt = 0;
//    FILE_LINE_TRACE
//    for (;;) {
//        co_await trans_obj.coro_wait_update();
//        if (++cnt == 60) break;
//    }
//    FILE_LINE_TRACE
//    co_await interface->reset();
//
//    co_return;
//}

BOOST_AUTO_TEST_CASE(test_ndi) {
    spdlog::set_level(spdlog::level::trace);
    std::ifstream config_file("data/ndi_interface_config.json");
    assert(config_file.is_open());
    auto config = nlohmann::json::parse(config_file);
    auto ok = initialize(config);
    assert(ok);
    global_context->run();
}