test_mem.h

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//_/_/ AERA
//_/_/ Autocatalytic Endogenous Reflective Architecture
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//_/_/ Copyright (c) 2018-2025 Jeff Thompson
//_/_/ Copyright (c) 2018-2025 Kristinn R. Thorisson
//_/_/ Copyright (c) 2018-2025 Icelandic Institute for Intelligent Machines
//_/_/ Copyright (c) 2021 Arash Sheikhlar
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//_/_/ Copyright (c) 2010-2012 Eric Nivel
//_/_/ Center for Analysis and Design of Intelligent Agents
//_/_/ Reykjavik University, Menntavegur 1, 102 Reykjavik, Iceland
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//_/_/ Part of this software was developed by Eric Nivel
//_/_/ in the HUMANOBS EU research project, which included
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//_/_/ Autonomous Systems Laboratory
//_/_/ Technical University of Madrid, Spain
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//_/_/ Communicative Machines
//_/_/ Edinburgh, United Kingdom
//_/_/ http://www.cmlabs.com/
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//_/_/ Istituto Dalle Molle di Studi sull'Intelligenza Artificiale
//_/_/ University of Lugano and SUPSI, Switzerland
//_/_/ http://www.idsia.ch/
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//_/_/ Institute of Cognitive Sciences and Technologies
//_/_/ Consiglio Nazionale delle Ricerche, Italy
//_/_/ http://www.istc.cnr.it/
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//_/_/ Dipartimento di Ingegneria Informatica
//_/_/ University of Palermo, Italy
//_/_/ http://diid.unipa.it/roboticslab/
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#ifndef test_mem_h
#define test_mem_h
 
#include "../r_exec/mem.h"
 
template<class O, class S> class TestMem :
  public r_exec::MemExec<O, S> {
public:
  TestMem();
 
  ~TestMem();
 
  bool load(const std::vector<r_code::Code *> *objects, uint32 stdin_oid, uint32 stdout_oid, uint32 self_oid) override;
 
  r_code::Code* eject(r_code::Code *command) override;
 
  void on_diagnostic_time_tick() override { on_time_tick(); }
 
protected:
  class _Thread : public Thread {
  };
 
  void on_time_tick();
 
  void startTimeTickThread();
 
  static thread_ret thread_function_call timeTickRun(void *args);
  std::ofstream ofs;
 
  Thread* timeTickThread_;
  Timestamp lastInjectTime_;
  float velocity_y_;
  float position_y_;
  float force_y_;
  float next_velocity_y_;
  float next_position_y_;
  float next_theta_y_;
  float next_omega_y_;
  r_code::Code* position_y_obj_;
  r_code::Code* cart_position_y_obj_;
  r_code::Code* position_property_;
  r_code::Code* position_y_property_;
  r_code::Code* velocity_y_property_;
  r_code::Code* force_y_property_;
  r_code::Code* theta_y_property_;
  r_code::Code* omega_y_property_;
  r_code::Code* primary_group_;
  uint16 ready_opcode_;
  uint16 set_velocity_y_opcode_;
  uint16 set_force_y_opcode_;
  uint16 move_y_plus_opcode_;
  uint16 move_y_minus_opcode_;
  Timestamp lastCommandTime_;
 
  r_code::Code* yEnt_[10];
  r_code::Code* discretePositionObj_;
  r_code::Code* discretePosition_;
  r_code::Code* nextDiscretePosition_;
  int babbleState_;
};
 
#endif