do not run test code on compile, but run when load

irteus/test/all-robots-objects.l

@@ -26,5 +26,6 @@
  '("robots" "objects" "scenes")
  '(make-all-robots make-all-objects make-all-scenes))
 
-(run-all-tests)
-(exit)
+(eval-when (load eval)
+  (run-all-tests)
+  (exit))

irteus/test/coords.l

@@ -19,5 +19,7 @@
     (format *error-output* "~A gc:~A, vmrss:~A -> ~A~%" j (sys::gc) vmrss-orig vmrss)
     (assert (< vmrss (* 2 vmrss-orig)) "make-coords quaternion2matrix")))
 
-(run-all-tests)
-(exit)
+
+(eval-when (load eval)
+  (run-all-tests)
+  (exit))

irteus/test/geo.l

@@ -79,6 +79,7 @@
            -0.2))
   )
 
-(run-all-tests)
-(exit)
+(eval-when (load eval)
+  (run-all-tests)
+  (exit))
 

irteus/test/graph.l

@@ -33,12 +33,16 @@
 	    "(send directed-graph :clear-nodes) success")
     ))
 
-
+(defclass costed-node
+  :super node)
+(defmethod costed-node
+  (:cost () 0))
 (deftest test-graph ()
-  (defmethod node
-    (:cost () 0))
+  ;; re-define method within defun is not working with compile
+  ;; (defmethod node
+  ;;   (:cost () 0))
   (let ((gr (instance graph :init)) ar
-	(a (instance node :init 'a)) (b (instance node :init 'b)))
+	(a (instance costed-node :init 'a)) (b (instance costed-node :init 'b)))
     (send gr :add-node a)
     (send gr :add-node b)
     (setq ar (send gr :add-arc-from-to a b))
@@ -119,6 +123,6 @@
     ))
 
 
-(run-all-tests)
-
-(exit)
+(eval-when (load eval)
+  (run-all-tests)
+  (exit))

irteus/test/interpolator.l

@@ -127,5 +127,6 @@
 (print (length r2))
 |#
 
-(run-all-tests)
-(exit)
+(eval-when (load eval)
+  (run-all-tests)
+  (exit))

irteus/test/irteus-demo.l

@@ -146,5 +146,6 @@
   (assert
    (look-at-ik-all)))
 
-(run-all-tests)
-(exit)
+(eval-when (load eval)
+  (run-all-tests)
+  (exit))

irteus/test/joint.l

@@ -289,5 +289,6 @@
 (deftest test-make-joint-min-max-table-margin-5deg
   (assert (test-make-joint-min-max-table-common :margin 5)))
 
-(run-all-tests)
-(exit)
+(eval-when (load eval)
+  (run-all-tests)
+  (exit))

irteus/test/mathtest.l

@@ -87,5 +87,6 @@
     (assert (eps-matrix= (m* m6 vec) (m* vec (diagonal val))) "ql-decompose")
     ))
 
-(run-all-tests)
-(exit)
+(eval-when (load eval)
+  (run-all-tests)
+  (exit))

irteus/test/matrix.l

@@ -139,5 +139,6 @@
                   (apply #'concatenate-matrix-column-naive-impl mats))))
     ))
 
-(run-all-tests)
-(exit)
+(eval-when (load eval)
+  (run-all-tests)
+  (exit))

irteus/test/read-img.l

@@ -34,6 +34,7 @@
 	))
     ))
 
-(run-all-tests)
-(exit)
+(eval-when (load eval)
+  (run-all-tests)
+  (exit))
 

irteus/test/rendering.l

@@ -20,6 +20,7 @@
           "image transposed twice must be the same as original image")
 )
 
-(run-all-tests)
-(exit)
+(eval-when (load eval)
+  (run-all-tests)
+  (exit))
 

irteus/test/robot-model-usage.l

@@ -167,5 +167,6 @@
     ))
 
 
-(run-all-tests)
-(exit)
+(eval-when (load eval)
+  (run-all-tests)
+  (exit))

irteus/test/test-irt-motion.l

@@ -922,6 +922,7 @@
   (assert (every #'identity
                  (mapcar #'(lambda (dc) (test-load-ik-debug-information-log-common dc)) '(t :always :always-with-debug-log nil)))))
 
+(eval-when (eval) ;; redefine method within class is not run for compiled code)
 (deftest test-all-for-arm-robot-static-1
   (assert
    (test-all-for-sample-multidof-arm-robot :static-p t :fix-pos #f(0 0 0))))
@@ -934,6 +935,7 @@
 (deftest test-all-for-sample-robot-static-2
   (assert
    (test-all-for-sample-robot :static-p t :fix-pos #f(100 200 300))))
+)
 
 (deftest test-self-collision-check-IK-test
   (assert
@@ -1135,6 +1137,7 @@
   )
 
 ;; Check :cog-translation-axis dimension bug
+(eval-when (eval) ;; redefine method within class is not run for compiled code)
 (deftest test-cog-translation-axis-dim
   (unwind-protect
       (progn
@@ -1175,6 +1178,8 @@
        (dif-pos dif-rot &rest args &key ik-args &allow-other-keys)
        (send* self :inverse-kinematics-loop-org dif-pos dif-rot :ik-args ik-args args)))
     ))
+)
 
-(run-all-tests)
-(exit 0)
+(eval-when (load eval)
+  (run-all-tests)
+  (exit 0))

irteus/test/test-pointcloud.l

@@ -294,5 +294,6 @@
   (move-origin-to-check)
   )
 
-(run-all-tests)
-(exit)
+(eval-when (load eval)
+  (run-all-tests)
+  (exit))

irteus/test/transparent.l

@@ -33,5 +33,6 @@
       (assert (< vmrss (* 4 vmrss-orig)) "check memory leak")
       )))
 
-(run-all-tests)
-(exit)
+(eval-when (load eval)
+  (run-all-tests)
+  (exit))