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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 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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self._test1 = [0]
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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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self.bindParameter("test1", self._test1, "0")
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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.addInPort("in",self._inIn)
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self.addOutPort("out",self._outOut)
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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 MyModuleInit(manager):
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TestComp1Init(manager)
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TestComp2Init(manager)
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com = manager.createComponent("TestComp1")
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com = manager.createComponent("TestComp2")
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class test_CORBA_RTCUtil(unittest.TestCase):
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def setUp(self):
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sys.argv.extend(['-o', 'exec_cxt.periodic.rate:1000'])
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self.manager = OpenRTM_aist.Manager.init(sys.argv)
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self.manager.setModuleInitProc(MyModuleInit)
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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.getComponent("TestComp20").getObjRef()
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def tearDown(self):
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self.manager.shutdownManager()
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time.sleep(0.1)
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def test_Component(self):
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compProf = OpenRTM_aist.get_component_profile(self.comp1)
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self.assertEqual(compProf.getProperty("implementation_id"), "TestComp1")
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ret = OpenRTM_aist.is_existing(self.comp1)
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self.assertFalse(ret)
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def test_EC(self):
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ec = OpenRTM_aist.get_actual_ec(self.comp1,0)
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ec_id = OpenRTM_aist.get_ec_id(self.comp1, ec)
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self.assertEqual(ec_id, 0)
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rate = OpenRTM_aist.get_default_rate(ec)
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self.assertEqual(int(rate), 1000)
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ret = OpenRTM_aist.set_current_rate(ec, 100)
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self.assertEqual(ret, RTC.RTC_OK)
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rate = OpenRTM_aist.get_current_rate(ec)
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self.assertEqual(int(rate), 100)
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ret = OpenRTM_aist.activate(self.comp1,0)
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self.assertEqual(ret, RTC.RTC_OK)
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state = OpenRTM_aist.is_in_active(self.comp1, 0)
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self.assertTrue(state)
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ret = OpenRTM_aist.deactivate(self.comp1,0)
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self.assertEqual(ret, RTC.RTC_OK)
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state = OpenRTM_aist.is_in_inactive(self.comp1, 0)
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self.assertTrue(state)
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ret = [None]
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ans = OpenRTM_aist.get_state(self.comp1, 0, ret)
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self.assertEqual(ret[0], RTC.INACTIVE_STATE)
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def test_Port(self):
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port_names = OpenRTM_aist.get_port_names(self.comp1)
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self.assertTrue("TestComp10.out" in port_names)
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inport_names = OpenRTM_aist.get_inport_names(self.comp2)
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self.assertTrue("TestComp20.in" in inport_names)
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outport_names = OpenRTM_aist.get_outport_names(self.comp1)
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self.assertTrue("TestComp10.out" in outport_names)
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svcport_names = OpenRTM_aist.get_svcport_names(self.comp1)
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self.assertTrue("TestComp10.service" in svcport_names)
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rtc1_port_out = OpenRTM_aist.get_port_by_name(self.comp1,"TestComp10.out")
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rtc2_port_out = OpenRTM_aist.get_port_by_name(self.comp2,"TestComp20.out")
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rtc2_port_in = OpenRTM_aist.get_port_by_name(self.comp2,"TestComp20.in")
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rtc1_port_in = OpenRTM_aist.get_port_by_name(self.comp1,"TestComp10.in")
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pp = rtc1_port_out.get_port_profile()
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self.assertEqual(pp.name, "TestComp10.out")
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prop = OpenRTM_aist.Properties()
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connect_profile = OpenRTM_aist.create_connector("con1",prop,rtc1_port_out,rtc2_port_in)
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ret = OpenRTM_aist.connect("con1",prop,rtc1_port_out,rtc2_port_in)
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self.assertEqual(ret, RTC.RTC_OK)
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con_names = OpenRTM_aist.get_connector_names(rtc1_port_out)
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self.assertTrue("con1" in con_names)
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con_ids = OpenRTM_aist.get_connector_ids(rtc1_port_out)
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ret = OpenRTM_aist.already_connected(rtc1_port_out,rtc2_port_in)
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self.assertTrue(ret)
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ret = OpenRTM_aist.disconnect(rtc1_port_out.get_connector_profiles()[0])
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self.assertEqual(ret, RTC.RTC_OK)
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ret = OpenRTM_aist.already_connected(rtc1_port_out,rtc2_port_in)
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self.assertFalse(ret)
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ret = OpenRTM_aist.connect_multi("con2",prop,rtc1_port_out,[rtc1_port_in,rtc2_port_in])
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self.assertEqual(ret, RTC.RTC_OK)
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ret = OpenRTM_aist.already_connected(rtc1_port_out,rtc1_port_in)
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self.assertTrue(ret)
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ret = OpenRTM_aist.already_connected(rtc1_port_out,rtc2_port_in)
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self.assertTrue(ret)
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rtc1_port_out.disconnect_all()
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ret = OpenRTM_aist.connect_by_name("con3",prop,self.comp1,"TestComp10.out",self.comp2,"TestComp20.in")
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self.assertEqual(ret, RTC.RTC_OK)
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ret = OpenRTM_aist.already_connected(rtc1_port_out,rtc2_port_in)
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self.assertTrue(ret)
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ret = OpenRTM_aist.disconnect_by_connector_name(rtc1_port_out, "con3")
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self.assertEqual(ret, RTC.RTC_OK)
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ret = OpenRTM_aist.already_connected(rtc1_port_out,rtc2_port_in)
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self.assertFalse(ret)
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ret = OpenRTM_aist.connect("con1",prop,rtc1_port_out,rtc2_port_in)
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ret = OpenRTM_aist.disconnect_by_connector_id(rtc1_port_out,rtc1_port_out.get_connector_profiles()[0].connector_id)
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self.assertEqual(ret, RTC.RTC_OK)
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ret = OpenRTM_aist.already_connected(rtc1_port_out,rtc2_port_in)
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self.assertFalse(ret)
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ret = OpenRTM_aist.connect("con1",prop,rtc1_port_out,rtc2_port_in)
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ret = OpenRTM_aist.disconnect_by_port_name(rtc1_port_out,"TestComp20.in")
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self.assertEqual(ret, RTC.RTC_OK)
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ret = OpenRTM_aist.already_connected(rtc1_port_out,rtc2_port_in)
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self.assertFalse(ret)
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def test_configuration(self):
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conf = OpenRTM_aist.get_configuration(self.comp1)
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ret = OpenRTM_aist.get_parameter_by_key(self.comp1,"default","test1")
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self.assertEqual(ret,"0")
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ret = OpenRTM_aist.get_active_configuration(self.comp1)
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ret = OpenRTM_aist.set_configuration(self.comp1,"default","test1","1")
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self.assertTrue(ret)
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ret = OpenRTM_aist.get_parameter_by_key(self.comp1,"default","test1")
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self.assertEqual(ret,"1")
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293
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295
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if __name__ == '__main__':
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unittest.main()
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