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This directory contains unit tests and client/server tests.
Unit tests are language-specific.
This file describes the client/server tests.
The server is implemented in C/server.c. It runs continuously while the client
tests for each language are run one at a time. Each client test issues a set
of requests to the server, and checks the replies it receives.
1. Echo test
============
This tests basic message transmission, without any marshalling.
Client publishes a random set of mmessages to the "TEST_ECHO" channel and
listens for replies on "TEST_ECHO_REPLY". The replies should be identical to
the transmitted messages, and should be received within 1 s of transmission.
2. primitives_t test
=================
This tests primitive data types, fixed length primitive arrays, and
variable-length primitive arrays.
Client publishes 1000 lcmtest.primitives_t messages to channel
"test_lcmtest_primitives_t". Message number n should be populated as follows for
n from 0 to 999:
.i8 = n % 100
.i16 = n * 10
.i64 = n * 10000
.position[0] = n
.position[1] = n
.position[2] = n
.orientation[0] = n
.orientation[1] = n
.orientation[2] = n
.orientation[3] = n
.num_ranges = n
.ranges[i] = i (i = 0 ... n-1)
.name = <string representation of n>
.enabled = n % 2
The server should reply to each message with an lcmtest.primitives_t message on
channel "test_lcmtest_primitives_t_reply". The reply should be populated as
follows:
.i8 = (n + 1) % 100
.i16 = (n + 1) * 10
.i64 = (n + 1) * 10000
.position[0] = n + 1
.position[1] = n + 1
.position[2] = n + 1
.orientation[0] = n + 1
.orientation[1] = n + 1
.orientation[2] = n + 1
.orientation[3] = n + 1
.num_ranges = n + 1
.ranges[i] = i (i = 0 ... n-1)
.name = <string representation of n+1>
.enabled = (n+1) % 2
3. example_list_t
=================
This tests nested datatypes.
Client publishes 100 lcmtest.example_list_t messages to channel
"test_lcmtest_example_list_t". Message number n should be populated as
follows, for n from 0 to 99:
.n = n
.examples[i] = { (i = 0 ... n-1)
.i8 = -(i % 100)
.i16 = -(i * 10)
.i64 = -(i * 10000)
.position[0] = -i
.position[1] = -i
.position[2] = -i
.orientation[0] = -i
.orientation[1] = -i
.orientation[2] = -i
.orientation[3] = -i
.num_ranges = i
.ranges[j] = -j (j = 0 ... i-1)
.name = <string representation of -i>
.enabled = i % 2
}
The server should reply to each message with an lcmtest.example_list_t message on
channel "test_lcmtest_example_list_t_reply". The reply should be populated as
follows:
.n = n + 1
.examples[i] = { (i = 0 ... n)
.i8 = -(i % 100)
.i16 = -(i * 10)
.i64 = -(i * 10000)
.timestamp = -i
.position[0] = -i
.position[1] = -i
.position[2] = -i
.orientation[0] = -i
.orientation[1] = -i
.orientation[2] = -i
.orientation[3] = -i
.num_ranges = i
.ranges[j] = -j (j = 0 ... i-1)
.name = <string representation of -i>
.enabled = i % 2
}
4. node_t
=========
This tests recursive data types.
Client publishes 7 lcmtest.node_t messages to channel "test_lcmtest_node_t".
Message number n should be populated as follows, for n from 0 to 6:
.num_children = n
.children[i] = { (i = 0 ... n-1)
.num_children = n - 1
.children[j] = { (j = 0 ... n-2)
.num_children = n-2
.children[k] = { (k = 0 ... n-3)
.
.
.
.children[m] = {
.num_children = 0
}
}
}
}
Thus, the client message is a tree of height n, where the root node has n
children, and each node has one fewer child than its parent.
The server should reply to each message with an lcmtest.node_t message on
channel "test_lcmtest_node_t_reply". The reply should be similar to
the client message, but with a tree height of (n+1).
5. multidim_array_t
===================
This tests multidimensional arrays.
Client publishes 5 lcmtest.multidim_array_t messages to channel
"test_lcmtest_multidim_array_t". Message number n should be populated as
follows, for n from 0 to 4:
.size_a = n
.size_b = n
.size_c = n
.data[i][j][k] = i*n*n + j*n + k (i, j, k = 0 .. n-1)
.strarray[p][q] = <string repreesentation of p*n + q>
(p = { 0, 1 }, q = 0 .. n-1)
The server should reply to each message with an lcmtest.multidim_array_t
message on channel "test_lcmtest_multidim_array_t_reply". The reply should be
similar to the client message, but with as if the client was on message (n+1).
5. cross_package_t
===================
This tests nested datatypes crossing package boundaries.
Client publishes 1000 lcmtest2.cross_package_t messages to channel
"test_lcmtest2_cross_package_t". Message number n should be populated as follows for
n from 0 to 999:
.primitives.i8 = n % 100
.primitives.i16 = n * 10
.primitives.i64 = n * 10000
.primitives.position[0] = n
.primitives.position[1] = n
.primitives.position[2] = n
.primitives.orientation[0] = n
.primitives.orientation[1] = n
.primitives.orientation[2] = n
.primitives.orientation[3] = n
.primitives.num_ranges = n
.primitives.ranges[i] = i (i = 0 ... n-1)
.primitives.name = <string representation of n>
.primitives.enabled = n % 2
.another.val = n
The server should reply to each message with an lcmtest2.cross_package_t message on
channel "test_lcmtest2_cross_package_t". The reply should be populated as
follows:
.primitives.i8 = (n + 1) % 100
.primitives.i16 = (n + 1) * 10
.primitives.i64 = (n + 1) * 10000
.primitives.position[0] = n + 1
.primitives.position[1] = n + 1
.primitives.position[2] = n + 1
.primitives.orientation[0] = n + 1
.primitives.orientation[1] = n + 1
.primitives.orientation[2] = n + 1
.primitives.orientation[3] = n + 1
.primitives.num_ranges = n + 1
.primitives.ranges[i] = i (i = 0 ... n-1)
.primitives.name = <string representation of n+1>
.primitives.enabled = (n+1) % 2
.another.val = n + 1
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