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import sys
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sys.path.insert(1,"../")
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try:
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import unittest2 as unittest
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except (ImportError):
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import unittest
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import time
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import OpenRTM_aist
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import RTC, RTC__POA
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import multiprocessing
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import OpenRTM, OpenRTM__POA
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testcomp1_spec = ["implementation_id", "TestComp1",
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"type_name", "TestComp1",
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"description", "Test example component",
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"version", "1.0",
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"vendor", "Nobuhiko Myiyamoto",
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"category", "example",
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"activity_type", "DataFlowComponent",
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"max_instance", "10",
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"language", "C++",
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"lang_type", "compile",
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"conf.default.test1", "0",
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""]
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testcomp2_spec = ["implementation_id", "TestComp2",
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"type_name", "TestComp2",
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"description", "Test example component",
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"version", "1.0",
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"vendor", "Nobuhiko Myiyamoto",
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"category", "example",
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"activity_type", "DataFlowComponent",
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"max_instance", "10",
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"language", "C++",
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"lang_type", "compile",
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""]
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class Test_i(OpenRTM__POA.InPortCdr):
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def __init__(self):
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pass
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def put(self, data):
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return OpenRTM.PORT_OK
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class TestComp1(OpenRTM_aist.DataFlowComponentBase):
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def __init__(self, manager):
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OpenRTM_aist.DataFlowComponentBase.__init__(self, manager)
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self._d_out = RTC.TimedLong(RTC.Time(0,0),0)
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self._outOut = OpenRTM_aist.OutPort("out", self._d_out)
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self._d_in = RTC.TimedLong(RTC.Time(0,0),0)
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self._inIn = OpenRTM_aist.InPort("in", self._d_in)
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self._servicePort_provided = OpenRTM_aist.CorbaPort("service")
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self._testService_provided = Test_i()
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def onInitialize(self):
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self.addOutPort("out",self._outOut)
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self.addInPort("in",self._inIn)
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self._servicePort_provided.registerProvider("service", "TestService", self._testService_provided)
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self.addPort(self._servicePort_provided)
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return RTC.RTC_OK
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class TestComp2(OpenRTM_aist.DataFlowComponentBase):
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def __init__(self, manager):
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OpenRTM_aist.DataFlowComponentBase.__init__(self, manager)
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self._d_out = RTC.TimedLong(RTC.Time(0,0),0)
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self._outOut = OpenRTM_aist.OutPort("out", self._d_out)
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self._d_in = RTC.TimedLong(RTC.Time(0,0),0)
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self._inIn = OpenRTM_aist.InPort("in", self._d_in)
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self._servicePort_required = OpenRTM_aist.CorbaPort("service")
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self._testService_required = OpenRTM_aist.CorbaConsumer(interfaceType=OpenRTM.InPortCdr)
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return
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def onInitialize(self):
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self.addOutPort("out",self._outOut)
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self.addInPort("in",self._inIn)
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self._servicePort_required.registerConsumer("service", "TestService", self._testService_required)
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self.addPort(self._servicePort_required)
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return RTC.RTC_OK
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def TestComp1Init(manager):
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profile = OpenRTM_aist.Properties(defaults_str=testcomp1_spec)
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manager.registerFactory(profile,
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TestComp1,
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OpenRTM_aist.Delete)
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def TestComp2Init(manager):
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profile = OpenRTM_aist.Properties(defaults_str=testcomp2_spec)
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manager.registerFactory(profile,
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TestComp2,
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OpenRTM_aist.Delete)
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def TestComp1ModuleInit(manager):
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TestComp1Init(manager)
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com = manager.createComponent("TestComp1")
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def TestComp2ModuleInit(manager):
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TestComp2Init(manager)
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com = manager.createComponent("TestComp2")
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def runTestComp2(q):
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argv = [""]
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argv.extend(['-d'])
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argv.extend(['-o','naming.type:corba,manager'])
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argv.extend(['-o','naming.formats:test.host_cxt/%n.rtc'])
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manager = OpenRTM_aist.Manager.init(argv)
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manager.setModuleInitProc(TestComp2ModuleInit)
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manager.activateManager()
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q.get()
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manager.shutdownManager()
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class test_Manager_new2(unittest.TestCase):
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def setUp(self):
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self.queue = multiprocessing.Queue()
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self.outport_process = multiprocessing.Process(target=runTestComp2, args=(self.queue,))
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self.outport_process.start()
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time.sleep(1)
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sys.argv.extend(['-o','naming.type:corba,manager'])
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sys.argv.extend(['-o','naming.formats:test.host_cxt/%n.rtc'])
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RTC2_URL = "rtcloc://localhost:2810/example/TestComp20"
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self.dataPortConnectorName = RTC2_URL+".in"+"^TestComp10.out()"
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self.servicePortConnectorName = "TestComp10.service^"+RTC2_URL+".service()"
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sys.argv.extend(['-o', 'manager.components.preconnect:'+self.dataPortConnectorName+","+self.servicePortConnectorName])
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sys.argv.extend(['-o', 'manager.components.preactivate:'+RTC2_URL])
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self.manager = OpenRTM_aist.Manager.init(sys.argv)
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self.manager.setModuleInitProc(TestComp1ModuleInit)
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self.manager.activateManager()
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self.comp1 = self.manager.getComponent("TestComp10").getObjRef()
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self.comp2 = self.manager._namingManager.string_to_component(RTC2_URL)[0]
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def tearDown(self):
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self.manager.shutdownManager()
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self.queue.put("")
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time.sleep(0.1)
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def test_PreActivation(self):
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state = OpenRTM_aist.is_in_active(self.comp2)
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self.assertTrue(state)
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def test_PreConnection(self):
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inport = OpenRTM_aist.get_port_by_name(self.comp2, "TestComp20.in")
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outport = OpenRTM_aist.get_port_by_name(self.comp1, "TestComp10.out")
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ans = OpenRTM_aist.already_connected(inport, outport)
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self.assertTrue(ans)
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if __name__ == '__main__':
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unittest.main()
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