[openrtm-commit:00760] r523 - in branches/work/OpenRTM-aist-Python/OpenRTM_aist: . test
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2012年 3月 12日 (月) 21:51:44 JST
Author: kurihara
Date: 2012-03-12 21:51:44 +0900 (Mon, 12 Mar 2012)
New Revision: 523
Added:
branches/work/OpenRTM-aist-Python/OpenRTM_aist/ExecutionContextProfile.py
branches/work/OpenRTM-aist-Python/OpenRTM_aist/test/test_ExecutionContextProfile.py
Log:
[incompatible] ExecutionContextProfile.py have been added. refs #2384
Added: branches/work/OpenRTM-aist-Python/OpenRTM_aist/ExecutionContextProfile.py
===================================================================
--- branches/work/OpenRTM-aist-Python/OpenRTM_aist/ExecutionContextProfile.py (rev 0)
+++ branches/work/OpenRTM-aist-Python/OpenRTM_aist/ExecutionContextProfile.py 2012-03-12 12:51:44 UTC (rev 523)
@@ -0,0 +1,654 @@
+#!/usr/bin/env python
+# -*- coding: euc-jp -*-
+
+##
+# @file ExecutionContextProfile.py
+# @brief ExecutionContextProfile class
+# @date $Date$
+# @author Noriaki Ando <n-ando at aist.go.jp> and Shinji Kurihara
+#
+# Copyright (C) 2011
+# Noriaki Ando
+# Intelligent Systems Research Institute,
+# National Institute of
+# Advanced Industrial Science and Technology (AIST), Japan
+# All rights reserved.
+#
+# $Id$
+#
+
+import threading
+from omniORB import CORBA, PortableServer
+
+import OpenRTM_aist
+import RTC
+
+DEFAULT_PERIOD = 0.000001
+
+##
+# @if jp
+# @class ExecutionContextProfile
+# @brief ExecutionContextProfile クラス
+#
+# @since 1.2.0
+#
+# @else
+# @class ExecutionContextProfile
+# @brief ExecutionContextProfile class
+#
+# @since 1.2.0
+#
+# @endif
+class ExecutionContextProfile:
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief デフォルトコンストラクタ
+ #
+ # デフォルトコンストラクタ
+ # プロファイルに以下の項目を設定する。
+ # - kind : PERIODIC
+ # - rate : 0.0
+ #
+ # @else
+ # @brief Default Constructor
+ #
+ # Default Constructor
+ # Set the following items to profile.
+ # - kind : PERIODIC
+ # - rate : 0.0
+ #
+ # @endif
+ # ExecutionContextProfile(RTC::ExecutionKind kind = RTC::PERIODIC);
+ def __init__(self, kind = RTC.PERIODIC):
+ global DEFAULT_PERIOD
+ self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("periodic_ecprofile")
+ self._period = OpenRTM_aist.TimeValue(DEFAULT_PERIOD)
+ self._rtcout.RTC_TRACE("ExecutionContextProfile.__init__()")
+ self._rtcout.RTC_DEBUG("Actual rate: %d [sec], %d [usec]",
+ (self._period.sec(), self._period.usec()))
+ self._profileMutex = threading.RLock()
+ self._ref = None
+ self._profile = RTC.ExecutionContextProfile(RTC.PERIODIC,
+ (1.0/self._period.toDouble()),
+ None, [], [])
+ return
+
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # デストラクタ
+ #
+ # @else
+ # @brief Destructor
+ #
+ # Destructor
+ #
+ # @endif
+ def __del__(self):
+ self._rtcout.RTC_TRACE("ExecutionContextProfile.__del__()")
+
+ # cleanup EC's profile
+ self._profile.owner = None
+ self._profile.participants = []
+ self._profile.properties = []
+ self._ref = None
+ return
+
+
+ ##
+ # @if jp
+ # @brief CORBA オブジェクト参照をセット
+ #
+ # ExecutioncontextService としての CORBA オブジェ
+ # クト参照をセットする。
+ #
+ # @param ec_ptr CORBA オブジェクト参照
+ #
+ # @else
+ # @brief Set the reference to the CORBA object
+ #
+ # Set the reference to the CORBA object as
+ # ExecutioncontextService of this object.
+ #
+ # @param ec_ptr The reference to CORBA object
+ #
+ # @endif
+ # void setObjRef(RTC::ExecutionContextService_ptr ec_ptr);
+ def setObjRef(self, ec_ptr):
+ self._rtcout.RTC_TRACE("setObjRef()")
+ assert(not CORBA.is_nil(ec_ptr))
+ guard = OpenRTM_aist.ScopedLock(self._profileMutex)
+ self._ref = ec_ptr
+ del guard
+ return
+
+
+ ##
+ # @if jp
+ # @brief CORBA オブジェクト参照の取得
+ #
+ # 本オブジェクトの ExecutioncontextService としての CORBA オブジェ
+ # クト参照を取得する。
+ #
+ # @return CORBA オブジェクト参照
+ #
+ # @else
+ # @brief Get the reference to the CORBA object
+ #
+ # Get the reference to the CORBA object as
+ # ExecutioncontextService of this object.
+ #
+ # @return The reference to CORBA object
+ #
+ # @endif
+ # RTC::ExecutionContextService_ptr getObjRef(void) const;
+ def getObjRef(self):
+ self._rtcout.RTC_TRACE("getObjRef()")
+ guard = OpenRTM_aist.ScopedLock(self._profileMutex)
+ return self._ref
+
+
+ ##
+ # @if jp
+ # @brief ExecutionContext の実行周期(Hz)を設定する
+ #
+ # Active 状態にてRTコンポーネントが実行される周期(単位:Hz)を設定す
+ # る。実行周期の変更は、DataFlowComponentAction の
+ # on_rate_changed によって各RTコンポーネントに伝達される。
+ #
+ # @param rate 処理周期(単位:Hz)
+ #
+ # @return ReturnCode_t 型のリターンコード
+ # RTC_OK: 正常終了
+ # BAD_PARAMETER: 設定値が負の値
+ #
+ # @else
+ #
+ # @brief Set execution rate(Hz) of ExecutionContext
+ #
+ # This operation shall set the rate (in hertz) at which this
+ # context’s Active participating RTCs are being called. If the
+ # execution kind of the context is PERIODIC, a rate change shall
+ # result in the invocation of on_rate_changed on any RTCs
+ # realizing DataFlowComponentAction that are registered with any
+ # RTCs participating in the context.
+ #
+ # @param rate Execution cycle(Unit:Hz)
+ #
+ # @return The return code of ReturnCode_t type
+ # RTC_OK: Succeed
+ # BAD_PARAMETER: Invalid value. The value might be negative.
+ #
+ # @endif
+ # RTC::ReturnCode_t setRate(double rate);
+ def setRate(self, rate):
+ self._rtcout.RTC_TRACE("setRate(%f)", rate)
+ if rate < 0.0:
+ return RTC.BAD_PARAMETER
+
+ guard = OpenRTM_aist.ScopedLock(self._profileMutex)
+ self._profile.rate = rate
+ self._period = OpenRTM_aist.TimeValue(1.0 / rate)
+ return RTC.RTC_OK
+
+
+ # RTC::ReturnCode_t setPeriod(double sec, coil::TimeValue tv);
+ def setPeriod(self, sec=None, tv=None):
+ if sec:
+ self._rtcout.RTC_TRACE("setPeriod(%f [sec])", sec)
+ if sec < 0.0:
+ return RTC.BAD_PARAMETER
+
+ guard = OpenRTM_aist.ScopedLock(self._profileMutex)
+ self._profile.rate = 1.0 / sec
+ self._period = OpenRTM_aist.TimeValue(sec)
+ del guard
+ return RTC.RTC_OK;
+ elif tv:
+ self._rtcout.RTC_TRACE("setPeriod(%f [sec])", tv.toDouble())
+ if tv.toDouble() < 0.0:
+ return RTC.BAD_PARAMETER
+
+ guard = OpenRTM_aist.ScopedLock(self._profileMutex)
+ self._profile.rate = 1.0 / tv.toDouble()
+ self._period = tv
+ del guard
+ return RTC.RTC_OK
+ return RTC.BAD_PARAMETER
+
+
+ ##
+ # @if jp
+ # @brief ExecutionContext の実行周期(Hz)を取得する
+ #
+ # Active 状態にてRTコンポーネントが実行される周期(単位:Hz)を取得す
+ # る。
+ #
+ # @return 処理周期(単位:Hz)
+ #
+ # @else
+ #
+ # @brief Get execution rate(Hz) of ExecutionContext
+ #
+ # This operation shall return the rate (in hertz) at which its
+ # Active participating RTCs are being invoked.
+ #
+ # @return Execution cycle(Unit:Hz)
+ #
+ # @endif
+ # double getRate(void) const;
+ def getRate(self):
+ guard = OpenRTM_aist.ScopedLock(self._profileMutex)
+ return self._profile.rate
+
+
+ # coil::TimeValue getPeriod(void) const;
+ def getPeriod(self):
+ guard = OpenRTM_aist.ScopedLock(self._profileMutex)
+ return self._period
+
+
+ ##
+ # @if jp
+ # @brief ExecutionKind を文字列化する
+ #
+ # RTC::ExecutionKind で定義されている PERIODIC, EVENT_DRIVEN,
+ # OTHER を文字列化する。
+ #
+ # @param kind ExecutionKind
+ # @return 文字列化されたExecutionKind
+ #
+ # @else
+ #
+ # @brief Converting ExecutionKind enum to string
+ #
+ # This function converts enumeration (PERIODIC, EVENT_DRIVEN,
+ # OTHER) defined in RTC::ExecutionKind to string.
+ #
+ # @param kind ExecutionKind
+ # @return String of ExecutionKind
+ #
+ # @endif
+ # const char* getKindString(RTC::ExecutionKind kind) const;
+ def getKindString(self, kind=None):
+ kinds_ = ["PERIODIC", "EVENT_DRIVEN", "OTHER"]
+ if not kind:
+ kind_ = self._profile.kind
+ else:
+ kind_ = kind
+
+ if kind_ < RTC.PERIODIC or kind_ > RTC.OTHER:
+ return ""
+
+ return kinds_[kind_._v]
+
+
+ ##
+ # @if jp
+ # @brief ExecutionKind を設定する
+ #
+ # この ExecutionContext の ExecutionKind を設定する
+ #
+ # @param kind ExecutionKind
+ #
+ # @else
+ #
+ # @brief Set the ExecutionKind
+ #
+ # This operation sets the kind of the execution context.
+ #
+ # @param kind ExecutionKind
+ #
+ # @endif
+ # RTC::ReturnCode_t setKind(RTC::ExecutionKind kind);
+ def setKind(self, kind):
+ if kind < RTC.PERIODIC or kind > RTC.OTHER:
+ self._rtcout.RTC_ERROR("Invalid kind is given. %d", kind._v)
+ return RTC.BAD_PARAMETER
+
+ self._rtcout.RTC_TRACE("setKind(%s)", self.getKindString(kind))
+ guard = OpenRTM_aist.ScopedLock(self._profileMutex)
+ self._profile.kind = kind
+ del guard
+ return RTC.RTC_OK
+
+
+ ##
+ # @if jp
+ # @brief ExecutionKind を取得する
+ #
+ # 本 ExecutionContext の ExecutionKind を取得する
+ #
+ # @return ExecutionKind
+ #
+ # @else
+ #
+ # @brief Get the ExecutionKind
+ #
+ # This operation shall report the execution kind of the execution
+ # context.
+ #
+ # @return ExecutionKind
+ #
+ # @endif
+ # RTC::ExecutionKind getKind(void) const;
+ def getKind(self):
+ guard = OpenRTM_aist.ScopedLock(self._profileMutex)
+ self._rtcout.RTC_TRACE("%s = getKind()", self.getKindString(self._profile.kind))
+ return self._profile.kind
+
+
+ ##
+ # @if jp
+ # @brief Ownerコンポーネントをセットする。
+ #
+ # このECのOwnerとなるRTCをセットする。
+ #
+ # @param comp OwnerとなるRTコンポーネント
+ # @return ReturnCode_t 型のリターンコード
+ # @else
+ # @brief Setting owner component of the execution context
+ #
+ # This function sets an RT-Component to be owner of the execution context.
+ #
+ # @param comp an owner RT-Component of this execution context
+ # @return The return code of ReturnCode_t type
+ # @endif
+ # RTC::ReturnCode_t setOwner(RTC::LightweightRTObject_ptr comp);
+ def setOwner(self, comp):
+ self._rtcout.RTC_TRACE("setOwner()")
+ assert(not CORBA.is_nil(comp))
+ rtobj_ = comp._narrow(RTC.RTObject)
+ if CORBA.is_nil(rtobj_):
+ self._rtcout.RTC_ERROR("Narrowing failed.")
+ return RTC.BAD_PARAMETER
+
+ guard = OpenRTM_aist.ScopedLock(self._profileMutex)
+ self._profile.owner = rtobj_
+ del guard
+ return RTC.RTC_OK
+
+
+ ##
+ # @if jp
+ # @brief Ownerコンポーネントの参照を取得する
+ #
+ # このECのOwnerであるRTCの参照を取得する。
+ #
+ # @return OwnerRTコンポーネントの参照
+ # @else
+ # @brief Getting a reference of the owner component
+ #
+ # This function returns a reference of the owner RT-Component of
+ # this execution context
+ #
+ # @return a reference of the owner RT-Component
+ # @endif
+ # const RTC::RTObject_ptr getOwner() const;
+ def getOwner(self):
+ self._rtcout.RTC_TRACE("getOwner()")
+ guard = OpenRTM_aist.ScopedLock(self._profileMutex)
+ return self._profile.owner
+
+
+ ##
+ # @if jp
+ # @brief RTコンポーネントを追加する
+ #
+ # 指定したRTコンポーネントを参加者リストに追加する。追加されたRTコ
+ # ンポーネントは attach_context が呼ばれ、Inactive 状態に遷移する。
+ # 指定されたRTコンポーネントがnullの場合は、BAD_PARAMETER が返され
+ # る。指定されたRTコンポーネントが DataFlowComponent 以外の場合は、
+ # BAD_PARAMETER が返される。
+ #
+ # @param comp 追加対象RTコンポーネント
+ #
+ # @return ReturnCode_t 型のリターンコード
+ #
+ # @else
+ #
+ # @brief Add an RT-component
+ #
+ # The operation causes the given RTC to begin participating in
+ # the execution context. The newly added RTC will receive a call
+ # to LightweightRTComponent::attach_context and then enter the
+ # Inactive state. BAD_PARAMETER will be invoked, if the given
+ # RT-Component is null or if the given RT-Component is other than
+ # DataFlowComponent.
+ #
+ # @param comp The target RT-Component for add
+ #
+ # @return The return code of ReturnCode_t type
+ #
+ # @endif
+ # RTC::ReturnCode_t addComponent(RTC::LightweightRTObject_ptr comp);
+ def addComponent(self, comp):
+ self._rtcout.RTC_TRACE("addComponent()")
+ if CORBA.is_nil(comp):
+ self._rtcout.RTC_ERROR("A nil reference was given.")
+ return RTC.BAD_PARAMETER
+
+ rtobj_ = comp._narrow(RTC.RTObject)
+ if CORBA.is_nil(rtobj_):
+ self._rtcout.RTC_ERROR("Narrowing was failed.")
+ return RTC.RTC_ERROR
+
+ guard = OpenRTM_aist.ScopedLock(self._profileMutex)
+ OpenRTM_aist.CORBA_SeqUtil.push_back(self._profile.participants,
+ rtobj_)
+ del guard
+ return RTC.RTC_OK
+
+
+ ##
+ # @if jp
+ # @brief RTコンポーネントを参加者リストから削除する
+ #
+ # 指定したRTコンポーネントを参加者リストから削除する。削除された
+ # RTコンポーネントは detach_context が呼ばれる。指定されたRTコンポー
+ # ネントが参加者リストに登録されていない場合は、BAD_PARAMETER が返
+ # される。
+ #
+ # @param comp 削除対象RTコンポーネント
+ #
+ # @return ReturnCode_t 型のリターンコード
+ #
+ # @else
+ #
+ # @brief Remove the RT-Component from participant list
+ #
+ # This operation causes a participant RTC to stop participating in the
+ # execution context.
+ # The removed RTC will receive a call to
+ # LightweightRTComponent::detach_context.
+ # BAD_PARAMETER will be returned, if the given RT-Component is not
+ # participating in the participant list.
+ #
+ # @param comp The target RT-Component for delete
+ #
+ # @return The return code of ReturnCode_t type
+ #
+ # @endif
+ # RTC::ReturnCode_t removeComponent(RTC::LightweightRTObject_ptr comp);
+ def removeComponent(self, comp):
+ self._rtcout.RTC_TRACE("removeComponent()")
+ if CORBA.is_nil(comp):
+ self._rtcout.RTC_ERROR("A nil reference was given.")
+ return RTC.BAD_PARAMETER
+
+ rtobj_ = comp._narrow(RTC.RTObject)
+ if CORBA.is_nil(rtobj_):
+ self._rtcout.RTC_ERROR("Narrowing was failed.")
+ return RTC.RTC_ERROR
+
+ guard = OpenRTM_aist.ScopedLock(self._profileMutex)
+
+ index_ = OpenRTM_aist.CORBA_SeqUtil.find(self._profile.participants,
+ self.find_participant(rtobj_))
+ if index_ < 0:
+ self._rtcout.RTC_ERROR("The given RTObject does not exist in the EC.")
+ return RTC.BAD_PARAMETER
+ OpenRTM_aist.CORBA_SeqUtil.erase(self._profile.participants, index_)
+ return RTC.RTC_OK
+
+
+ ##
+ # @if jp
+ # @brief RTコンポーネントの参加者リストを取得する
+ #
+ # 現在登録されている参加者RTCのリストを取得する。
+ #
+ # @return 参加者RTCのリスト
+ #
+ # @else
+ #
+ # @brief Getting participant RTC list
+ #
+ # This function returns a list of participant RTC of the execution context.
+ #
+ # @return Participants RTC list
+ #
+ # @endif
+ # const RTC::RTCList& getComponentList() const;
+ def getComponentList(self):
+ self._rtcout.RTC_TRACE("getComponentList(%d)", len(self._profile.participants))
+ return self._profile.participants
+
+
+ ##
+ # @if jp
+ # @brief Propertiesをセットする
+ #
+ # ExecutionContextProfile::properties をセットする。
+ #
+ # @param props ExecutionContextProfile::properties にセットするプ
+ # ロパティー
+ #
+ # @else
+ # @brief Setting Properties
+ #
+ # This function sets ExecutionContextProfile::properties by
+ # coil::Properties.
+ #
+ # @param props Properties to be set to
+ # ExecutionContextProfile::properties.
+ #
+ # @endif
+ # void setProperties(coil::Properties& props);
+ def setProperties(self, props):
+ self._rtcout.RTC_TRACE("setProperties()")
+ self._rtcout.RTC_DEBUG(props)
+ guard = OpenRTM_aist.ScopedLock(self._profileMutex)
+ OpenRTM_aist.NVUtil.copyFromProperties(self._profile.properties, props)
+ del guard
+ return
+
+
+ ##
+ # @if jp
+ # @brief Propertiesを取得する
+ #
+ # ExecutionContextProfile::properties を取得する。
+ #
+ # @return coil::Propertiesに変換された
+ # ExecutionContextProfile::properties
+ #
+ # @else
+ # @brief Setting Properties
+ #
+ # This function sets ExecutionContextProfile::properties by
+ # coil::Properties.
+ #
+ # @param props Properties to be set to ExecutionContextProfile::properties.
+ #
+ # @endif
+ # const coil::Properties getProperties() const;
+ def getProperties(self):
+ self._rtcout.RTC_TRACE("getProperties()")
+ guard = OpenRTM_aist.ScopedLock(self._profileMutex)
+ props_ = OpenRTM_aist.Properties()
+ OpenRTM_aist.NVUtil.copyToProperties(props_, self._profile.properties)
+ del guard
+ self._rtcout.RTC_DEBUG(props_)
+ return props_
+
+
+ ##
+ # @if jp
+ # @brief Profileを取得する
+ #
+ # RTC::ExecutionContextProfile を取得する。取得した
+ # ExecutionContextProfile の所有権は呼び出し側にある。取得されたオ
+ # ブジェクトが不要になった場合、呼び出し側が開放する責任を負う。
+ #
+ # @return RTC::ExecutionContextProfile
+ #
+ # @else
+ # @brief Getting Profile
+ #
+ # This function gets RTC::ExecutionContextProfile. The ownership
+ # of the obtained ExecutionContextProfile is given to caller. The
+ # caller should release obtained object when it is unneccessary
+ # anymore.
+ #
+ # @return RTC::ExecutionContextProfile
+ #
+ # @endif
+ # RTC::ExecutionContextProfile* getProfile(void);
+ def getProfile(self):
+ self._rtcout.RTC_TRACE("getProfile()")
+ guard = OpenRTM_aist.ScopedLock(self._profileMutex)
+ return self._profile
+
+
+ ##
+ # @if jp
+ # @brief ExecutionContextProfileをロックする
+ #
+ # このオブジェクトが管理する RTC::ExecutionContextProfile をロックする。
+ # ロックが不要になった際にはunlock()でロックを解除しなければならない。
+ #
+ # @else
+ # @brief Getting a lock of RTC::ExecutionContextProfile
+ #
+ # This function locks RTC::ExecutionContextProfile in the object.
+ # The lock should be released when the lock is unneccessary.
+ #
+ # @endif
+ # void lock() const;
+ def lock(self):
+ self._profileMutex.acquire()
+ return
+
+
+ ##
+ # @if jp
+ # @brief ExecutionContextProfileをアンロックする
+ #
+ # このオブジェクトが管理する RTC::ExecutionContextProfile をアンロッ
+ # クする。
+ #
+ # @else
+ # @brief Release a lock of the RTC::ExecutionContextProfile
+ #
+ # This function release the lock of RTC::ExecutionContextProfile
+ # in the object.
+ #
+ # @endif
+ # void unlock() const;
+ def unlock(self):
+ self._profileMutex.release()
+ return
+
+ class find_participant:
+ def __init__(self, comp):
+ self._comp = comp
+ return
+
+ def __call__(self, comp):
+ return self._comp._is_equivalent(comp)
Added: branches/work/OpenRTM-aist-Python/OpenRTM_aist/test/test_ExecutionContextProfile.py
===================================================================
--- branches/work/OpenRTM-aist-Python/OpenRTM_aist/test/test_ExecutionContextProfile.py (rev 0)
+++ branches/work/OpenRTM-aist-Python/OpenRTM_aist/test/test_ExecutionContextProfile.py 2012-03-12 12:51:44 UTC (rev 523)
@@ -0,0 +1,165 @@
+#!/usr/bin/env python
+# -*- coding: euc-jp -*-
+
+##
+# @file test_ExecutionContextProfile.py
+# @brief test for ExecutionContextProfile class
+# @date $Date$
+# @author Shinji Kurihara
+#
+# Copyright (C) 2011
+# Noriaki Ando
+# Intelligent Systems Research Institute,
+# National Institute of
+# Advanced Industrial Science and Technology (AIST), Japan
+# All rights reserved.
+#
+# $Id$
+#
+
+import sys
+sys.path.insert(1,"../")
+sys.path.insert(1,"../RTM_IDL")
+
+import unittest
+
+from ExecutionContextProfile import *
+import OpenRTM__POA, RTC
+import OpenRTM_aist
+
+
+testcomp_spec = ["implementation_id", "TestComp",
+ "type_name", "TestComp",
+ "description", "Test example component",
+ "version", "1.0",
+ "vendor", "Shinji Kurihara, AIST",
+ "category", "example",
+ "activity_type", "DataFlowComponent",
+ "max_instance", "10",
+ "language", "Python",
+ "lang_type", "compile",
+ ""]
+
+class TestComp(OpenRTM_aist.DataFlowComponentBase):
+ def __init_(self, manager):
+ OpenRTM_aist.DataFlowComponentBase.__init__(self, manager)
+
+
+def TestCompInit(manager):
+ global com
+ profile = OpenRTM_aist.Properties(defaults_str=configsample_spec)
+ manager.registerFactory(profile,
+ TestComp,
+ OpenRTM_aist.Delete)
+
+class MyEC(OpenRTM__POA.ExtTrigExecutionContextService):
+ def __init__(self):
+ self._ref = self._this()
+ return
+
+class TestExecutionContextProfile(unittest.TestCase):
+
+ def setUp(self):
+ self._ecprofile = ExecutionContextProfile()
+ return
+
+ def tearDown(self):
+ OpenRTM_aist.Manager.instance().shutdownManager()
+ return
+
+ def test_setGetObjRef(self):
+ ec_ = MyEC()
+ self._ecprofile.setObjRef(ec_._ref)
+ self.assertEqual(ec_._ref, self._ecprofile.getObjRef())
+ return
+
+ def test_setGetRate(self):
+ self._ecprofile.setRate(1000.0)
+ self.assertEqual(1000.0, self._ecprofile.getRate())
+ return
+
+ def test_setGetPeriod(self):
+ self.assertEqual(RTC.RTC_OK, self._ecprofile.setPeriod(0.1))
+ self.assertEqual(RTC.BAD_PARAMETER, self._ecprofile.setPeriod(-0.1))
+ self.assertEqual(0.1, self._ecprofile.getPeriod().toDouble())
+ tv_ = OpenRTM_aist.TimeValue(-0.01)
+ self.assertEqual(RTC.BAD_PARAMETER, self._ecprofile.setPeriod(tv=tv_))
+ tv_ = OpenRTM_aist.TimeValue(0.01)
+ self.assertEqual(RTC.RTC_OK, self._ecprofile.setPeriod(tv=tv_))
+ self.assertEqual(0.01, self._ecprofile.getPeriod().toDouble())
+ self.assertEqual(RTC.BAD_PARAMETER, self._ecprofile.setPeriod())
+ return
+
+
+ def test_getKindString(self):
+ self.assertEqual("PERIODIC", self._ecprofile.getKindString(RTC.PERIODIC))
+ self.assertEqual("EVENT_DRIVEN", self._ecprofile.getKindString(RTC.EVENT_DRIVEN))
+ self.assertEqual("OTHER", self._ecprofile.getKindString(RTC.OTHER))
+ self.assertEqual("", self._ecprofile.getKindString(RTC.UNSUPPORTED))
+ return
+
+ def test_setGetKind(self):
+ self.assertEqual(RTC.RTC_OK, self._ecprofile.setKind(RTC.PERIODIC))
+ self.assertEqual(RTC.PERIODIC, self._ecprofile.getKind())
+ self.assertEqual(RTC.RTC_OK, self._ecprofile.setKind(RTC.PERIODIC))
+ self.assertEqual("EVENT_DRIVEN", self._ecprofile.getKindString(RTC.EVENT_DRIVEN))
+ self.assertEqual("OTHER", self._ecprofile.getKindString(RTC.OTHER))
+ self.assertEqual("", self._ecprofile.getKindString(RTC.UNSUPPORTED))
+ return
+
+ def test_setOwner(self):
+ mgr_ = OpenRTM_aist.Manager.instance()
+ mgr_.activateManager()
+ profile = OpenRTM_aist.Properties(defaults_str=testcomp_spec)
+
+ mgr_.registerFactory(profile,
+ TestComp,
+ OpenRTM_aist.Delete)
+
+ comp = mgr_.createComponent("TestComp")
+ self.assertEqual(RTC.RTC_OK, self._ecprofile.setOwner(comp.getObjRef()))
+ self.assertEqual(comp.getObjRef(), self._ecprofile.getOwner())
+ return
+
+ def test_addRemoveComponent(self):
+ mgr_ = OpenRTM_aist.Manager.instance()
+ mgr_.activateManager()
+ profile = OpenRTM_aist.Properties(defaults_str=testcomp_spec)
+
+ mgr_.registerFactory(profile,
+ TestComp,
+ OpenRTM_aist.Delete)
+
+ comp = mgr_.createComponent("TestComp")
+ self.assertEqual(0, len(self._ecprofile.getComponentList()))
+ self.assertEqual(RTC.RTC_OK, self._ecprofile.addComponent(comp.getObjRef()))
+ self.assertEqual(RTC.BAD_PARAMETER, self._ecprofile.addComponent(None))
+ self.assertEqual(RTC.BAD_PARAMETER, self._ecprofile.removeComponent(None))
+ self.assertEqual(RTC.RTC_OK, self._ecprofile.removeComponent(comp.getObjRef()))
+ self.assertEqual(0, len(self._ecprofile.getComponentList()))
+ self.assertEqual(RTC.RTC_OK, self._ecprofile.addComponent(comp.getObjRef()))
+ self.assertEqual(RTC.RTC_OK, self._ecprofile.addComponent(comp.getObjRef()))
+ self.assertEqual(2, len(self._ecprofile.getComponentList()))
+ return
+
+
+ def test_setGetProperties(self):
+ prop_ = OpenRTM_aist.Properties()
+ prop_.setProperty("test", "test value")
+ self._ecprofile.setProperties(prop_)
+ self.assertEqual("test value", self._ecprofile.getProperties().getProperty("test"))
+ prop_ = OpenRTM_aist.Properties()
+ val_ = OpenRTM_aist.NVUtil.copyToProperties(prop_, self._ecprofile.getProfile().properties)
+ self.assertEqual("test value", prop_.getProperty("test"))
+ return
+
+
+ def test_lock_unlock(self):
+ self._ecprofile.lock()
+ self._ecprofile.unlock()
+ return
+
+
+############### test #################
+if __name__ == '__main__':
+ unittest.main()
openrtm-commit メーリングリストの案内