add tests for reading binary array

irteus/demo/sample-camera-model.l

@@ -1,8 +1,8 @@
 ;; create camera and camera viewer
 (setq *camera-model*
-      (make-camera-from-param :pwidth 640 :pheight 360
+      (make-camera-from-param :pwidth 640 :pheight 640
                               :fx 400 :fy 400
-                              :cx 319.5 :cy 179.5 :name "camtest"
+                              :cx 319.5 :cy 319.5 :name "camtest"
                               :create-viewer t))
 ;; move camera
 (send *camera-model* :translate #f(0 100 0) :world)

irteus/irtsensor.l

@@ -220,15 +220,15 @@
      ;; glview define view-directoin to oppsite direction
      (setq viewtarget
            (v- viewpoint (send self :viewing :view-direction) ))
-     (pprint (list viewpoint viewtarget (v- (send self :viewing :view-up))))
      (gl::gluLookAtfv (concatenate vector viewpoint viewtarget
                                    (v- (send self :viewing :view-up))))
      (gl::glMatrixMode gl::GL_MODELVIEW)
 
      (send vwr :viewsurface :clear)
      (setq pcolor (send vwr :viewsurface :color))
      (send vwr :viewsurface :color pcolor)
-
+     (gl::glEnable gl::GL_LIGHTING)
+     (gl::glDisable gl::GL_BLEND)
      (dolist (abody draw-things)
       ;; draw body
       (cond

irteus/test/binary-reader.l

@@ -0,0 +1,40 @@
+(require :unittest "lib/llib/unittest.l")
+
+(init-unit-test)
+
+(deftest binary-reader
+  (let (sv iv lv fv f32v dv)
+    ;; integer
+    (setq sv #g((4) :short   "CgBkAOgDECc="))
+    (assert (v= sv #i(10 100 1000 10000)))
+    (setq iv #g((4) :integer "FAAAAMgAAADQBwAAIE4AAA==" ))
+    (assert (v= iv #i(20 200 2000 20000)))
+    (setq lv #g((4) :long    "HgAAAAAAAAAsAQAAAAAAALgLAAAAAAAAMHUAAAAAAAA="))
+    (assert (v= lv #i(30 300 3000 30000)))
+    ;; float
+    (setq fv #g((4) :float "bxKDOgrXIzzNzMw9AACAPw=="))
+    (assert (eps-v= fv #f(0.001 0.01 0.1 1.0)))
+    (setq f32v #g((4) :float "bxKDOgrXIzzNzMw9AACAPw=="))
+    (assert (eps-v= f32v #f(0.001 0.01 0.1 1.0)))
+    (setq dv #g((4) :double "/Knx0k1iYD97FK5H4XqUP5qZmZmZmck/MzMzMzMz8z8="))
+    (assert (eps-v= dv #f(0.002 0.02 0.2 1.2)))
+    )
+  (let (im fm fmm)
+    (setq im #g((3 3) :integer "CgAAABQAAAAeAAAAZAAAAMgAAAAsAQAA6AMAANAHAAC4CwAA"))
+    (assert (equal (array-dimensions im) (list 3 3)))
+    (assert
+     (v= (array-entity im) #i(10 20 30 100 200 300 1000 2000 3000)))
+    (setq fm  #g((3 3) :float "bxKDOm8SAzumm0Q7CtcjPArXozyPwvU8zczMPc3MTD6amZk+"))
+    (assert (equal (array-dimensions fm) (list 3 3)))
+    (assert
+     (eps-v= (array-entity fm) #f(0.001 0.002 0.003 0.01 0.02 0.03 0.1 0.2 0.3)))
+    (setq fmm #g((2 2 2) :float "bxKDOm8SAzsK1yM8CtejPM3MzD3NzEw+zcyMP5qZmT8="))
+    (assert (equal (array-dimensions fmm) (list 2 2 2)))
+    (assert
+     (eps-v= (array-entity fmm) #f(0.001 0.002 0.01 0.02 0.1 0.2 1.1 1.2)))
+    )
+  ;;(setq note #g((4) :notexistingtype "")) ;; error
+  )
+
+(run-all-tests)
+(exit)