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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
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class TestDirectPort(unittest.TestCase):
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def setUp(self):
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self.manager = OpenRTM_aist.Manager.init(sys.argv)
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self.manager.activateManager()
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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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prop = OpenRTM_aist.Properties()
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self._inIn.init(prop)
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self.inport_obj = self._inIn.getPortRef()
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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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prop = OpenRTM_aist.Properties()
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self._outOut.init(prop)
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self.outport_obj = self._outOut.getPortRef()
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def tearDown(self):
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self.manager.shutdownManager()
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def test_Push(self):
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prop = OpenRTM_aist.Properties()
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prop.setProperty("dataport.interface_type","direct")
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prop.setProperty("dataport.dataflow_type","push")
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ret = OpenRTM_aist.connect("con1",prop,self.inport_obj,self.outport_obj)
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self._d_out.data = 100
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self._outOut.write()
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ret = self._inIn.isNew()
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self.assertTrue(ret)
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data = self._inIn.read()
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self.assertEqual(data.data, 100)
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self.assertTrue(data is self._d_out)
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self.outport_obj.disconnect_all()
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def test_Pull(self):
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prop = OpenRTM_aist.Properties()
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prop.setProperty("dataport.interface_type","direct")
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prop.setProperty("dataport.dataflow_type","pull")
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ret = OpenRTM_aist.connect("con1",prop,self.inport_obj,self.outport_obj)
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self._d_out.data = 100
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self._outOut.write()
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data = self._inIn.read()
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self.assertEqual(data.data, 100)
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self.assertTrue(data is self._d_out)
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self.outport_obj.disconnect_all()
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if __name__ == '__main__':
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unittest.main()
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