[tests-solver] updates wrt SOFA changes

SofaDefrost · Mar 18, 2024 · b38f29f · b38f29f
1 parent 2eeab8d
commit b38f29f
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Showing 7 changed files with 16 additions and 40 deletions.
diff --git a/src/SoftRobots.Inverse/component/solver/QPInverseProblemSolver.cpp b/src/SoftRobots.Inverse/component/solver/QPInverseProblemSolver.cpp
@@ -42,14 +42,12 @@
 #include <sofa/simulation/mechanicalvisitor/MechanicalVOpVisitor.h>
 #include <sofa/simulation/mechanicalvisitor/MechanicalProjectJacobianMatrixVisitor.h>
 #include <sofa/simulation/DefaultTaskScheduler.h>
+#include <sofa/simulation/MainTaskSchedulerFactory.h>
 #include <sofa/helper/AdvancedTimer.h>
 #include <sofa/helper/ScopedAdvancedTimer.h>
 #include <sofa/helper/map.h>
 #include <sofa/helper/system/thread/CTime.h>
 
-#include <math.h>
-#include <iomanip>
-
 #include <SoftRobots.Inverse/component/solver/QPInverseProblemSolver.h>
 #include <SoftRobots.Inverse/component/solver/modules/QPMechanicalSetConstraint.h>
 #include <SoftRobots.Inverse/component/solver/modules/QPMechanicalAccumulateConstraint.h>
@@ -174,9 +172,6 @@ void QPInverseProblemSolver::deleteProblems()
 QPInverseProblemSolver::~QPInverseProblemSolver()
 {
     deleteProblems();
-
-    if(d_multithreading.getValue())
-        sofa::simulation::TaskScheduler::getInstance()->stop();
 }
 
 void QPInverseProblemSolver::init()
@@ -208,7 +203,7 @@ void QPInverseProblemSolver::init()
     }
 
     if(d_multithreading.getValue())
-        sofa::simulation::TaskScheduler::getInstance()->init();
+        sofa::simulation::MainTaskSchedulerFactory::createInRegistry()->init();
 }
 
 void QPInverseProblemSolver::reinit()
@@ -355,7 +350,7 @@ inline void QPInverseProblemSolver::buildCompliance(const ConstraintParams *cPar
 
     if(d_multithreading.getValue()){
 
-        sofa::simulation::TaskScheduler* taskScheduler = sofa::simulation::TaskScheduler::getInstance();
+        sofa::simulation::TaskScheduler* taskScheduler = sofa::simulation::MainTaskSchedulerFactory::createInRegistry();
         sofa::simulation::CpuTask::Status status;
 
         sofa::type::vector<QPInverseProblemSolver::ComputeComplianceTask> tasks;

diff --git a/tests/component/constraint/CableActuatorTest.cpp b/tests/component/constraint/CableActuatorTest.cpp
@@ -22,7 +22,6 @@ using sofa::simulation::Simulation ;
 
 #include <sofa/simulation/Node.h>
 using sofa::simulation::Node ;
-using sofa::simulation::setSimulation ;
 using sofa::core::objectmodel::New ;
 using sofa::core::objectmodel::BaseData ;
 using sofa::component::statecontainer::MechanicalObject ;
@@ -112,8 +111,7 @@ struct CableActuatorTest : public BaseTest,
 
 
     void normalTests(){
-        Simulation* simu;
-        setSimulation(simu = new sofa::simulation::graph::DAGSimulation());
+        auto simu = sofa::simulation::getSimulation();
 
         Node::SPtr node = simu->createNewGraph("root");
         typename MechanicalObject<DataTypes>::SPtr mecaobject = New<MechanicalObject<DataTypes> >() ;

diff --git a/tests/component/constraint/ForcePointActuatorTest.cpp b/tests/component/constraint/ForcePointActuatorTest.cpp
@@ -19,7 +19,6 @@ using sofa::simulation::SceneLoaderXML ;
 using sofa::simulation::Simulation ;
 #include <sofa/simulation/Node.h>
 using sofa::simulation::Node ;
-using sofa::simulation::setSimulation ;
 using sofa::core::objectmodel::New ;
 using sofa::core::objectmodel::BaseData ;
 using sofa::component::statecontainer::MechanicalObject ;
@@ -67,8 +66,7 @@ struct ForcePointActuatorTest : public BaseTest, ForcePointActuator<_DataTypes>
 
 
     void normalTests(){
-        Simulation* simu;
-        setSimulation(simu = new sofa::simulation::graph::DAGSimulation());
+        auto simu = sofa::simulation::getSimulation();
 
         Node::SPtr node = simu->createNewGraph("root");
         typename MechanicalObject<DataTypes>::SPtr mecaobject = New<MechanicalObject<DataTypes> >() ;
@@ -101,8 +99,7 @@ struct ForcePointActuatorTest : public BaseTest, ForcePointActuator<_DataTypes>
 
 
     void limitsTests(){
-        Simulation* simu;
-        setSimulation(simu = new sofa::simulation::graph::DAGSimulation());
+        auto simu = sofa::simulation::getSimulation();
 
         Node::SPtr node = simu->createNewGraph("root");
         typename MechanicalObject<DataTypes>::SPtr mecaobject = New<MechanicalObject<DataTypes> >() ;
@@ -162,8 +159,7 @@ struct ForcePointActuatorTest : public BaseTest, ForcePointActuator<_DataTypes>
 
 
     bool buildMatrixTests(){
-        Simulation* simu;
-        setSimulation(simu = new sofa::simulation::graph::DAGSimulation());
+        auto simu = sofa::simulation::getSimulation();
 
         Node::SPtr node = simu->createNewGraph("root");
         typename MechanicalObject<DataTypes>::SPtr mecaobject = New<MechanicalObject<DataTypes> >() ;

diff --git a/tests/component/constraint/PositionEffectorTest.cpp b/tests/component/constraint/PositionEffectorTest.cpp
@@ -22,7 +22,6 @@ using sofa::simulation::graph::DAGSimulation;
 using sofa::simulation::Simulation ;
 #include <sofa/simulation/Node.h>
 using sofa::simulation::Node ;
-using sofa::simulation::setSimulation ;
 using sofa::core::objectmodel::New ;
 using sofa::core::objectmodel::BaseData ;
 using sofa::component::statecontainer::MechanicalObject ;
@@ -58,8 +57,7 @@ struct PositionEffectorTest : public BaseTest, PositionEffector<_DataTypes>
 
 
     void normalBehaviorTests(){
-        Simulation* simu;
-        setSimulation(simu = new DAGSimulation());
+        auto simu = sofa::simulation::getSimulation();
 
         Node::SPtr node = simu->createNewGraph("root");
         typename MechanicalObject<DataTypes>::SPtr mecaObject = New<MechanicalObject<DataTypes> >() ;
@@ -95,8 +93,7 @@ struct PositionEffectorTest : public BaseTest, PositionEffector<_DataTypes>
 
 
     void defaultValuesTest(){
-        Simulation* simu;
-        setSimulation(simu = new DAGSimulation());
+        auto simu = sofa::simulation::getSimulation();
 
         Node::SPtr node = simu->createNewGraph("root");
         typename MechanicalObject<DataTypes>::SPtr mecaObject = New<MechanicalObject<DataTypes> >() ;
@@ -113,8 +110,7 @@ struct PositionEffectorTest : public BaseTest, PositionEffector<_DataTypes>
 
 
     void initTests(){
-        Simulation* simu;
-        setSimulation(simu = new DAGSimulation());
+        auto simu = sofa::simulation::getSimulation();
 
         Node::SPtr node = simu->createNewGraph("root");
         typename MechanicalObject<DataTypes>::SPtr mecaObject = New<MechanicalObject<DataTypes> >() ;
@@ -145,8 +141,7 @@ struct PositionEffectorTest : public BaseTest, PositionEffector<_DataTypes>
     template <>
     void PositionEffectorTest<Rigid3Types>::defaultValuesTest()
     {
-        Simulation* simu;
-        setSimulation(simu = new DAGSimulation());
+        auto simu = sofa::simulation::getSimulation();
 
         Node::SPtr node = simu->createNewGraph("root");
         typename MechanicalObject<DataTypes>::SPtr mecaObject = New<MechanicalObject<DataTypes> >() ;
@@ -164,8 +159,7 @@ struct PositionEffectorTest : public BaseTest, PositionEffector<_DataTypes>
 
     template <>
     void PositionEffectorTest<Rigid3Types>::initTests(){
-        Simulation* simu;
-        setSimulation(simu = new DAGSimulation());
+        auto simu = sofa::simulation::getSimulation();
 
         Node::SPtr node = simu->createNewGraph("root");
         typename MechanicalObject<DataTypes>::SPtr mecaObject = New<MechanicalObject<DataTypes> >() ;

diff --git a/tests/component/constraint/SlidingActuatorTest.cpp b/tests/component/constraint/SlidingActuatorTest.cpp
@@ -24,7 +24,6 @@ using sofa::defaulttype::Vec3Types ;
 using sofa::simulation::SceneLoaderXML ;
 using sofa::simulation::Simulation ;
 using sofa::simulation::Node ;
-using sofa::simulation::setSimulation ;
 using sofa::core::objectmodel::New ;
 using softrobotsinverse::constraint::SlidingActuator ;
 using sofa::core::objectmodel::ComponentState;
@@ -80,8 +79,7 @@ struct SlidingActuatorTest : public BaseTest,
 
     void normalTests()
     {
-        Simulation* simu;
-        setSimulation(simu = new sofa::simulation::graph::DAGSimulation());
+        auto simu = sofa::simulation::getSimulation();
 
         Node::SPtr node = simu->createNewGraph("root");
         typename MechanicalObject<DataTypes>::SPtr mecaobject = New<MechanicalObject<DataTypes> >() ;

diff --git a/tests/component/constraint/SurfacePressureActuatorTest.cpp b/tests/component/constraint/SurfacePressureActuatorTest.cpp
@@ -21,7 +21,6 @@ using sofa::simulation::SceneLoaderXML ;
 using sofa::simulation::Simulation ;
 #include <sofa/simulation/Node.h>
 using sofa::simulation::Node ;
-using sofa::simulation::setSimulation ;
 using sofa::core::objectmodel::New ;
 using sofa::core::objectmodel::BaseData ;
 using sofa::component::statecontainer::MechanicalObject ;
@@ -49,8 +48,7 @@ namespace softrobotsinverse {
 
 
         void normalTests(){
-            Simulation* simu;
-            setSimulation(simu = new sofa::simulation::graph::DAGSimulation());
+            auto simu = sofa::simulation::getSimulation();
 
             Node::SPtr node = simu->createNewGraph("root");
             typename MechanicalObject<DataTypes>::SPtr mecaobject = New<MechanicalObject<DataTypes> >() ;
@@ -69,8 +67,7 @@ namespace softrobotsinverse {
         }
 
         void stressTests(){
-            Simulation* simu;
-            setSimulation(simu = new sofa::simulation::graph::DAGSimulation());
+            auto simu = sofa::simulation::getSimulation();
 
             Node::SPtr node = simu->createNewGraph("root");
             typename MechanicalObject<DataTypes>::SPtr mecaobject = New<MechanicalObject<DataTypes> >() ;

diff --git a/tests/component/constraint/YoungModulusActuatorTest.cpp b/tests/component/constraint/YoungModulusActuatorTest.cpp
@@ -17,7 +17,6 @@ using sofa::simulation::SceneLoaderXML ;
 using sofa::simulation::Simulation ;
 #include <sofa/simulation/Node.h>
 using sofa::simulation::Node ;
-using sofa::simulation::setSimulation ;
 using sofa::core::objectmodel::New ;
 using sofa::core::objectmodel::BaseData ;
 using sofa::core::topology::BaseMeshTopology ;
@@ -55,8 +54,7 @@ struct YoungModulusActuatorTest : public BaseTest,
     }
 
     void normalBehavior(){
-        Simulation* simu;
-        setSimulation(simu = new sofa::simulation::graph::DAGSimulation());
+        auto simu = sofa::simulation::getSimulation();
 
         Node::SPtr node = simu->createNewGraph("root");