1
|
|
2
|
|
3
|
|
4
|
|
5
|
|
6
|
|
7
|
|
8
|
|
9
|
|
10
|
|
11
|
|
12
|
import sys
|
13
|
sys.path.insert(1,"../")
|
14
|
|
15
|
try:
|
16
|
import unittest2 as unittest
|
17
|
except (ImportError):
|
18
|
import unittest
|
19
|
|
20
|
import time
|
21
|
|
22
|
|
23
|
import OpenRTM_aist
|
24
|
import RTC, RTC__POA
|
25
|
import OpenRTM, OpenRTM__POA
|
26
|
|
27
|
testcomp1_spec = ["implementation_id", "TestComp1",
|
28
|
"type_name", "TestComp1",
|
29
|
"description", "Test example component",
|
30
|
"version", "1.0",
|
31
|
"vendor", "Nobuhiko Myiyamoto",
|
32
|
"category", "example",
|
33
|
"activity_type", "DataFlowComponent",
|
34
|
"max_instance", "10",
|
35
|
"language", "C++",
|
36
|
"lang_type", "compile",
|
37
|
""]
|
38
|
|
39
|
testcomp2_spec = ["implementation_id", "TestComp2",
|
40
|
"type_name", "TestComp2",
|
41
|
"description", "Test example component",
|
42
|
"version", "1.0",
|
43
|
"vendor", "Nobuhiko Myiyamoto",
|
44
|
"category", "example",
|
45
|
"activity_type", "DataFlowComponent",
|
46
|
"max_instance", "10",
|
47
|
"language", "C++",
|
48
|
"lang_type", "compile",
|
49
|
""]
|
50
|
|
51
|
class Test_i(OpenRTM__POA.InPortCdr):
|
52
|
def __init__(self):
|
53
|
pass
|
54
|
def put(self, data):
|
55
|
return OpenRTM.PORT_OK
|
56
|
|
57
|
|
58
|
class TestComp1(OpenRTM_aist.DataFlowComponentBase):
|
59
|
def __init__(self, manager):
|
60
|
OpenRTM_aist.DataFlowComponentBase.__init__(self, manager)
|
61
|
self._d_out = RTC.TimedLong(RTC.Time(0,0),0)
|
62
|
self._outOut = OpenRTM_aist.OutPort("out", self._d_out)
|
63
|
|
64
|
self._d_in = RTC.TimedLong(RTC.Time(0,0),0)
|
65
|
self._inIn = OpenRTM_aist.InPort("in", self._d_in)
|
66
|
|
67
|
self._servicePort_provided = OpenRTM_aist.CorbaPort("service")
|
68
|
self._testService_provided = Test_i()
|
69
|
|
70
|
self._d_topic_out = RTC.TimedLong(RTC.Time(0,0),0)
|
71
|
self._topic_outOut = OpenRTM_aist.OutPort("topic_out", self._d_topic_out)
|
72
|
|
73
|
self._topic_servicePort_provided = OpenRTM_aist.CorbaPort("topic_service")
|
74
|
self._topic_Service_provided = Test_i()
|
75
|
|
76
|
def onInitialize(self):
|
77
|
self.addOutPort("out",self._outOut)
|
78
|
self.addInPort("in",self._inIn)
|
79
|
|
80
|
self._servicePort_provided.registerProvider("service", "TestService", self._testService_provided)
|
81
|
self.addPort(self._servicePort_provided)
|
82
|
|
83
|
|
84
|
|
85
|
self.addOutPort("topic_out",self._topic_outOut)
|
86
|
self._topic_outOut.appendProperty("publish_topic","test")
|
87
|
|
88
|
self._topic_servicePort_provided.registerProvider("service", "TestService", self._topic_Service_provided)
|
89
|
self.addPort(self._topic_servicePort_provided)
|
90
|
self._topic_servicePort_provided.appendProperty("publish_topic","test")
|
91
|
|
92
|
|
93
|
return RTC.RTC_OK
|
94
|
|
95
|
class TestComp2(OpenRTM_aist.DataFlowComponentBase):
|
96
|
def __init__(self, manager):
|
97
|
OpenRTM_aist.DataFlowComponentBase.__init__(self, manager)
|
98
|
self._d_out = RTC.TimedLong(RTC.Time(0,0),0)
|
99
|
self._outOut = OpenRTM_aist.OutPort("out", self._d_out)
|
100
|
|
101
|
self._d_in = RTC.TimedLong(RTC.Time(0,0),0)
|
102
|
self._inIn = OpenRTM_aist.InPort("in", self._d_in)
|
103
|
|
104
|
|
105
|
|
106
|
|
107
|
self._servicePort_required = OpenRTM_aist.CorbaPort("service")
|
108
|
self._testService_required = OpenRTM_aist.CorbaConsumer(interfaceType=OpenRTM.InPortCdr)
|
109
|
|
110
|
|
111
|
self._d_topic_in = RTC.TimedLong(RTC.Time(0,0),0)
|
112
|
self._topic_inIn = OpenRTM_aist.InPort("topic_in", self._d_topic_in)
|
113
|
|
114
|
|
115
|
|
116
|
self._topic_servicePort_required = OpenRTM_aist.CorbaPort("topic_service")
|
117
|
self._topic_Service_required = OpenRTM_aist.CorbaConsumer(interfaceType=OpenRTM.InPortCdr)
|
118
|
|
119
|
return
|
120
|
|
121
|
def onInitialize(self):
|
122
|
self.addOutPort("out",self._outOut)
|
123
|
self.addInPort("in",self._inIn)
|
124
|
|
125
|
|
126
|
|
127
|
|
128
|
self._servicePort_required.registerConsumer("service", "TestService", self._testService_required)
|
129
|
self.addPort(self._servicePort_required)
|
130
|
|
131
|
self.addInPort("topic_in",self._topic_inIn)
|
132
|
self._topic_inIn.appendProperty("publish_topic","test")
|
133
|
|
134
|
|
135
|
self._topic_servicePort_required.registerConsumer("service", "TestService", self._topic_Service_required)
|
136
|
self.addPort(self._topic_servicePort_required)
|
137
|
self._topic_servicePort_required.appendProperty("publish_topic","test")
|
138
|
|
139
|
return RTC.RTC_OK
|
140
|
|
141
|
|
142
|
|
143
|
|
144
|
def TestComp1Init(manager):
|
145
|
profile = OpenRTM_aist.Properties(defaults_str=testcomp1_spec)
|
146
|
manager.registerFactory(profile,
|
147
|
TestComp1,
|
148
|
OpenRTM_aist.Delete)
|
149
|
|
150
|
|
151
|
|
152
|
def TestComp2Init(manager):
|
153
|
profile = OpenRTM_aist.Properties(defaults_str=testcomp2_spec)
|
154
|
manager.registerFactory(profile,
|
155
|
TestComp2,
|
156
|
OpenRTM_aist.Delete)
|
157
|
|
158
|
|
159
|
def MyModuleInit(manager):
|
160
|
TestComp1Init(manager)
|
161
|
TestComp2Init(manager)
|
162
|
com = manager.createComponent("TestComp1")
|
163
|
com = manager.createComponent("TestComp2")
|
164
|
|
165
|
|
166
|
|
167
|
|
168
|
|
169
|
class TestManager(unittest.TestCase):
|
170
|
|
171
|
def setUp(self):
|
172
|
self.dataPortConnectorName = "TestComp20.in:TestComp10.out(interface_type=direct)"
|
173
|
self.servicePortConnectorName = "TestComp10.service:TestComp20.service()"
|
174
|
sys.argv.extend(['-o', 'manager.components.preconnect:'+self.dataPortConnectorName+","+self.servicePortConnectorName])
|
175
|
sys.argv.extend(['-o', 'manager.components.preactivate:TestComp10'])
|
176
|
self.manager = OpenRTM_aist.Manager.init(sys.argv)
|
177
|
self.manager.setModuleInitProc(MyModuleInit)
|
178
|
self.manager.activateManager()
|
179
|
self.comp1 = self.manager.getComponent("TestComp10").getObjRef()
|
180
|
self.comp2 = self.manager.getComponent("TestComp20").getObjRef()
|
181
|
|
182
|
|
183
|
|
184
|
def tearDown(self):
|
185
|
self.manager.shutdownManager()
|
186
|
time.sleep(0.1)
|
187
|
|
188
|
def test_Topic(self):
|
189
|
|
190
|
inport = OpenRTM_aist.get_port_by_name(self.comp2, "TestComp20.topic_in")
|
191
|
outport = OpenRTM_aist.get_port_by_name(self.comp1, "TestComp10.topic_out")
|
192
|
ans = OpenRTM_aist.already_connected(inport, outport)
|
193
|
self.assertTrue(ans)
|
194
|
|
195
|
|
196
|
|
197
|
|
198
|
provided = OpenRTM_aist.get_port_by_name(self.comp1, "TestComp10.topic_service")
|
199
|
required = OpenRTM_aist.get_port_by_name(self.comp2, "TestComp20.topic_service")
|
200
|
ans = OpenRTM_aist.already_connected(provided, required)
|
201
|
self.assertTrue(ans)
|
202
|
|
203
|
|
204
|
def test_PreActivation(self):
|
205
|
|
206
|
state = OpenRTM_aist.is_in_active(self.comp1)
|
207
|
self.assertTrue(state)
|
208
|
|
209
|
|
210
|
def test_PreConnection(self):
|
211
|
|
212
|
inport = OpenRTM_aist.get_port_by_name(self.comp2, "TestComp20.in")
|
213
|
outport = OpenRTM_aist.get_port_by_name(self.comp1, "TestComp10.out")
|
214
|
ans = OpenRTM_aist.already_connected(inport, outport)
|
215
|
self.assertTrue(ans)
|
216
|
|
217
|
|
218
|
profile = inport.get_connector_profiles()[0]
|
219
|
prop = OpenRTM_aist.Properties()
|
220
|
OpenRTM_aist.NVUtil.copyToProperties(prop, profile.properties)
|
221
|
self.assertEqual(prop.getProperty("dataport.interface_type"),"direct")
|
222
|
|
223
|
|
224
|
provided = OpenRTM_aist.get_port_by_name(self.comp1, "TestComp10.service")
|
225
|
required = OpenRTM_aist.get_port_by_name(self.comp2, "TestComp20.service")
|
226
|
ans = OpenRTM_aist.already_connected(provided, required)
|
227
|
self.assertTrue(ans)
|
228
|
|
229
|
|
230
|
|
231
|
|
232
|
|
233
|
|
234
|
|
235
|
if __name__ == '__main__':
|
236
|
unittest.main()
|