From b38f29f2f62efa136beb75b9f44e56f4be09d75d Mon Sep 17 00:00:00 2001 From: Eulalie Coevoet Date: Mon, 18 Mar 2024 21:07:23 +0100 Subject: [PATCH] [tests-solver] updates wrt SOFA changes --- .../component/solver/QPInverseProblemSolver.cpp | 11 +++-------- tests/component/constraint/CableActuatorTest.cpp | 4 +--- .../constraint/ForcePointActuatorTest.cpp | 10 +++------- .../constraint/PositionEffectorTest.cpp | 16 +++++----------- .../component/constraint/SlidingActuatorTest.cpp | 4 +--- .../constraint/SurfacePressureActuatorTest.cpp | 7 ++----- .../constraint/YoungModulusActuatorTest.cpp | 4 +--- 7 files changed, 16 insertions(+), 40 deletions(-) diff --git a/src/SoftRobots.Inverse/component/solver/QPInverseProblemSolver.cpp b/src/SoftRobots.Inverse/component/solver/QPInverseProblemSolver.cpp index f197fee..35456d9 100644 --- a/src/SoftRobots.Inverse/component/solver/QPInverseProblemSolver.cpp +++ b/src/SoftRobots.Inverse/component/solver/QPInverseProblemSolver.cpp @@ -42,14 +42,12 @@ #include #include #include +#include #include #include #include #include -#include -#include - #include #include #include @@ -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 tasks; diff --git a/tests/component/constraint/CableActuatorTest.cpp b/tests/component/constraint/CableActuatorTest.cpp index 118eaa8..c8696ed 100644 --- a/tests/component/constraint/CableActuatorTest.cpp +++ b/tests/component/constraint/CableActuatorTest.cpp @@ -22,7 +22,6 @@ using sofa::simulation::Simulation ; #include 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::SPtr mecaobject = New >() ; diff --git a/tests/component/constraint/ForcePointActuatorTest.cpp b/tests/component/constraint/ForcePointActuatorTest.cpp index fd21840..47c513c 100644 --- 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 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::SPtr mecaobject = New >() ; @@ -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::SPtr mecaobject = New >() ; @@ -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::SPtr mecaobject = New >() ; diff --git a/tests/component/constraint/PositionEffectorTest.cpp b/tests/component/constraint/PositionEffectorTest.cpp index 03be096..f1a1658 100644 --- 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 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::SPtr mecaObject = New >() ; @@ -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::SPtr mecaObject = New >() ; @@ -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::SPtr mecaObject = New >() ; @@ -145,8 +141,7 @@ struct PositionEffectorTest : public BaseTest, PositionEffector<_DataTypes> template <> void PositionEffectorTest::defaultValuesTest() { - Simulation* simu; - setSimulation(simu = new DAGSimulation()); + auto simu = sofa::simulation::getSimulation(); Node::SPtr node = simu->createNewGraph("root"); typename MechanicalObject::SPtr mecaObject = New >() ; @@ -164,8 +159,7 @@ struct PositionEffectorTest : public BaseTest, PositionEffector<_DataTypes> template <> void PositionEffectorTest::initTests(){ - Simulation* simu; - setSimulation(simu = new DAGSimulation()); + auto simu = sofa::simulation::getSimulation(); Node::SPtr node = simu->createNewGraph("root"); typename MechanicalObject::SPtr mecaObject = New >() ; diff --git a/tests/component/constraint/SlidingActuatorTest.cpp b/tests/component/constraint/SlidingActuatorTest.cpp index 54b9fc9..426b213 100644 --- 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::SPtr mecaobject = New >() ; diff --git a/tests/component/constraint/SurfacePressureActuatorTest.cpp b/tests/component/constraint/SurfacePressureActuatorTest.cpp index e4cc4cd..9d59099 100644 --- 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 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::SPtr mecaobject = New >() ; @@ -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::SPtr mecaobject = New >() ; diff --git a/tests/component/constraint/YoungModulusActuatorTest.cpp b/tests/component/constraint/YoungModulusActuatorTest.cpp index 8cc2d17..4887a27 100644 --- 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 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");