OpenRTM-aist » OpenRTM-aist (Python)

#!/usr/bin/env python

# -*- coding: euc-jp -*-

#

# \file test_Manager_12.py

# \brief 

# \date $Date: $

# \author Nobuhiko Miyamoto

#

import sys

sys.path.insert(1,"../")

try:

    import unittest2 as unittest

except (ImportError):

    import unittest

import time

#from Manager import *

import OpenRTM_aist

import RTC, RTC__POA

import multiprocessing

import OpenRTM, OpenRTM__POA

testcomp1_spec = ["implementation_id", "TestComp1",

                 "type_name",         "TestComp1",

                 "description",       "Test example component",

                 "version",           "1.0",

                 "vendor",            "Nobuhiko Myiyamoto",

                 "category",          "example",

                 "activity_type",     "DataFlowComponent",

                 "max_instance",      "10",

                 "language",          "C++",

                 "lang_type",         "compile",

                 "conf.default.test1", "0",

                 ""]

testcomp2_spec = ["implementation_id", "TestComp2",

                 "type_name",         "TestComp2",

                 "description",       "Test example component",

                 "version",           "1.0",

                 "vendor",            "Nobuhiko Myiyamoto",

                 "category",          "example",

                 "activity_type",     "DataFlowComponent",

                 "max_instance",      "10",

                 "language",          "C++",

                 "lang_type",         "compile",

                 ""]

class Test_i(OpenRTM__POA.InPortCdr):

  def __init__(self):

    pass

  def put(self, data):

    return OpenRTM.PORT_OK

class TestComp1(OpenRTM_aist.DataFlowComponentBase):

  def __init__(self, manager):

    OpenRTM_aist.DataFlowComponentBase.__init__(self, manager)

    self._d_out = RTC.TimedLong(RTC.Time(0,0),0)

    self._outOut = OpenRTM_aist.OutPort("out", self._d_out)

    self._d_in = RTC.TimedLong(RTC.Time(0,0),0)

    self._inIn = OpenRTM_aist.InPort("in", self._d_in)

    self._servicePort_provided = OpenRTM_aist.CorbaPort("service")

    self._testService_provided = Test_i()

  def onInitialize(self):

    self.addOutPort("out",self._outOut)

    self.addInPort("in",self._inIn)

    self._servicePort_provided.registerProvider("service", "TestService", self._testService_provided)

    self.addPort(self._servicePort_provided)

    return RTC.RTC_OK

class TestComp2(OpenRTM_aist.DataFlowComponentBase):

  def __init__(self, manager):

    OpenRTM_aist.DataFlowComponentBase.__init__(self, manager)

    self._d_out = RTC.TimedLong(RTC.Time(0,0),0)

    self._outOut = OpenRTM_aist.OutPort("out", self._d_out)

    self._d_in = RTC.TimedLong(RTC.Time(0,0),0)

    self._inIn = OpenRTM_aist.InPort("in", self._d_in)

    self._servicePort_required = OpenRTM_aist.CorbaPort("service")

    self._testService_required = OpenRTM_aist.CorbaConsumer(interfaceType=OpenRTM.InPortCdr)

    return

  def onInitialize(self):

    self.addOutPort("out",self._outOut)

    self.addInPort("in",self._inIn)

    self._servicePort_required.registerConsumer("service", "TestService", self._testService_required)

    self.addPort(self._servicePort_required)

    return RTC.RTC_OK

def TestComp1Init(manager):

  profile = OpenRTM_aist.Properties(defaults_str=testcomp1_spec)

  manager.registerFactory(profile,

                          TestComp1,

                          OpenRTM_aist.Delete)

def TestComp2Init(manager):

  profile = OpenRTM_aist.Properties(defaults_str=testcomp2_spec)

  manager.registerFactory(profile,

                          TestComp2,

                          OpenRTM_aist.Delete)

def TestComp1ModuleInit(manager):

  TestComp1Init(manager)

  com = manager.createComponent("TestComp1")

def TestComp2ModuleInit(manager):

  TestComp2Init(manager)

  com = manager.createComponent("TestComp2")

def runTestComp2(q):

    argv = [""]

    argv.extend(['-d'])

    argv.extend(['-o','naming.type:corba,manager'])

    argv.extend(['-o','naming.formats:test.host_cxt/%n.rtc'])

    manager = OpenRTM_aist.Manager.init(argv)

    manager.setModuleInitProc(TestComp2ModuleInit)

    manager.activateManager()

    q.get()

    manager.shutdownManager()

class test_Manager_new2(unittest.TestCase):

  def setUp(self):

    self.queue = multiprocessing.Queue()

    self.outport_process = multiprocessing.Process(target=runTestComp2, args=(self.queue,))

    self.outport_process.start()

    time.sleep(1)

    sys.argv.extend(['-o','naming.type:corba,manager'])

    sys.argv.extend(['-o','naming.formats:test.host_cxt/%n.rtc'])

    RTC2_URL = "rtcloc://localhost:2810/example/TestComp20"

    self.dataPortConnectorName = RTC2_URL+".in"+"^TestComp10.out()"

    self.servicePortConnectorName = "TestComp10.service^"+RTC2_URL+".service()"

    sys.argv.extend(['-o', 'manager.components.preconnect:'+self.dataPortConnectorName+","+self.servicePortConnectorName])

    sys.argv.extend(['-o', 'manager.components.preactivate:'+RTC2_URL])

    self.manager = OpenRTM_aist.Manager.init(sys.argv)

    self.manager.setModuleInitProc(TestComp1ModuleInit)

    self.manager.activateManager()

    self.comp1 = self.manager.getComponent("TestComp10").getObjRef()

    self.comp2 = self.manager._namingManager.string_to_component(RTC2_URL)[0]

  def tearDown(self):

    self.manager.shutdownManager()

    self.queue.put("")

    time.sleep(0.1)

  def test_PreActivation(self):

    state = OpenRTM_aist.is_in_active(self.comp2)

    self.assertTrue(state)

  def test_PreConnection(self):

    inport = OpenRTM_aist.get_port_by_name(self.comp2, "TestComp20.in")

    outport = OpenRTM_aist.get_port_by_name(self.comp1, "TestComp10.out")

    ans = OpenRTM_aist.already_connected(inport, outport)

    self.assertTrue(ans)

############### test #################

if __name__ == '__main__':

        unittest.main()