[openrtm-commit:02176] r885 - in trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/tests/src/jp/go/aist/rtm/RTC: . RTC
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2016年 12月 16日 (金) 22:30:37 JST
Author: win-ei
Date: 2016-12-16 22:30:37 +0900 (Fri, 16 Dec 2016)
New Revision: 885
Added:
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/tests/src/jp/go/aist/rtm/RTC/RTC/
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/tests/src/jp/go/aist/rtm/RTC/RTC/ComponentObserverConsumerTest.java
Log:
Added tests for ComponentObserverConsumer.
Added: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/tests/src/jp/go/aist/rtm/RTC/RTC/ComponentObserverConsumerTest.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/tests/src/jp/go/aist/rtm/RTC/RTC/ComponentObserverConsumerTest.java (rev 0)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/tests/src/jp/go/aist/rtm/RTC/RTC/ComponentObserverConsumerTest.java 2016-12-16 13:30:37 UTC (rev 885)
@@ -0,0 +1,672 @@
+package jp.go.aist.rtm.RTC.RTC;
+
+import junit.framework.TestCase;
+
+import jp.go.aist.rtm.RTC.Manager;
+import jp.go.aist.rtm.RTC.RTObject_impl;
+
+import jp.go.aist.rtm.RTC.util.Properties;
+import jp.go.aist.rtm.RTC.util.POAUtil;
+
+import _SDOPackage.ServiceProfile;
+import _SDOPackage.NameValue;
+import _SDOPackage.SDOServiceHelper;
+
+import RTC.ComponentObserver;
+import RTC.ComponentObserverPOA;
+import RTC.ComponentObserverHelper;
+import RTC.StatusKind;
+import RTC.StatusKindHolder;
+
+import org.omg.CORBA.ORB;
+import org.omg.PortableServer.POA;
+import org.omg.PortableServer.POAHelper;
+
+import java.util.UUID;
+/**
+*
+*
+*/
+public class ComponentObserverConsumerTest extends TestCase {
+
+
+ private Manager m_mgr;
+ private ORB m_pORB;
+ private POA m_pPOA;
+
+ private class ComponentObserverProviderMock extends RTC.ComponentObserverPOA {
+ org.omg.CORBA.Object m_ref;
+ private jp.go.aist.rtm.RTC.Manager m_mgr;
+ private RTC.ComponentObserver m_objref;
+ /**
+ *
+ */
+ public ComponentObserverProviderMock() {
+ //m_mgr = jp.go.aist.rtm.RTC.Manager.instance();
+ //m_mgr.getPOA().activate_object( this );
+
+ System.out.println("ComponentObserverProviderMock");
+ String[] args = new String[0];
+ java.util.Properties prop = new java.util.Properties();
+ prop.put("org.omg.PortableInterceptor.ORBInitializerClass.jp.go.aist.rtm.RTC.InterceptorInitializer","");
+
+ ORB orb = ORB.init(args, prop);
+ try {
+
+ org.omg.CORBA.Object obj = orb.resolve_initial_references("RootPOA");
+ POA poa = POAHelper.narrow(obj);
+ poa.the_POAManager().activate();
+
+ byte[] id = poa.activate_object(this);
+ m_ref = poa.id_to_reference(id);
+
+ m_objref = ComponentObserverHelper.narrow(m_ref);
+
+ String ior;
+ ior = orb.object_to_string(m_objref);
+ System.out.println("IOR information: "+ior);
+ }
+ catch (Exception ex) {
+ System.out.println("Exception:"+ex.getMessage());
+ }
+
+ }
+
+ /**
+ *
+ */
+ public void update_status (StatusKind status_kind, String hint) {
+ StatusKindHolder holder = new StatusKindHolder(status_kind);
+ String kind = "";
+ try {
+ kind = holder._type().member_name(status_kind.value());
+ }
+ catch(Exception e){
+ }
+ System.out.println("kind:"+kind);
+ System.out.println("hint:"+hint);
+ }
+ /**
+ *
+ */
+ public org.omg.CORBA.Object getRef() {
+ return m_ref;
+ }
+ }
+
+ private class ComponentObserverConsumerMock extends ComponentObserverConsumer {
+ }
+ protected void setUp() throws Exception {
+ super.setUp();
+ m_mgr = Manager.init(null);
+ m_pORB = m_mgr.getORB();
+ m_pPOA = m_mgr.getPOA();
+ m_pPOA.the_POAManager().activate();
+ }
+
+ protected void tearDown() throws Exception {
+ super.tearDown();
+ m_mgr = null;
+ }
+
+ /**
+ *<pre>
+ *</pre>
+ */
+ public void test_Init() {
+// Manager manager = Manager.instance();
+// ComponentObserverConsumer.ComponentObserverConsumerInit();
+/*
+ try {
+ m_id = m_p01.get_organization_id();
+ } catch (InvalidParameter e) {
+ e.printStackTrace();
+ fail();
+ } catch (NotAvailable e) {
+ e.printStackTrace();
+ fail();
+ } catch (InternalError e) {
+ e.printStackTrace();
+ fail();
+ }
+*/
+ }
+
+ /**
+ *<pre>
+ *</pre>
+ */
+ public void test_init() {
+ System.out.println("test_init");
+ ComponentObserverProviderMock obs = new ComponentObserverProviderMock();
+
+ String[] args = new String[0];
+ java.util.Properties prop = new java.util.Properties();
+ prop.put("org.omg.PortableInterceptor.ORBInitializerClass.jp.go.aist.rtm.RTC.InterceptorInitializer","");
+
+ ORB orb = ORB.init(args, prop);
+ String id = ComponentObserverHelper.id();
+ String uuid = UUID.randomUUID().toString();
+ NameValue value[] = new NameValue[3];
+ org.omg.CORBA.Any any = orb.create_any();
+ any.insert_string("YES");
+ value[0] = new NameValue("heartbeat.enable",any);
+ any.insert_string("1.0");
+ value[1] = new NameValue("heartbeat.interval",any);
+ any.insert_string("ALL");
+ value[2] = new NameValue("observed_status",any);
+
+
+ ServiceProfile sprof = new ServiceProfile(uuid,id,value,SDOServiceHelper.narrow(obs.getRef()));
+
+
+ RTObject_impl rtobj = new RTObject_impl(m_mgr);
+ ComponentObserverConsumerMock coc = new ComponentObserverConsumerMock();
+ coc.init(rtobj,sprof);
+
+ coc.updateStatus(StatusKind.from_int(StatusKind._COMPONENT_PROFILE), "COMPONENT_PROFILE");
+ String[] strs = {
+ "_COMPONENT_PROFILE",
+ "_RTC_STATUS",
+ "_EC_STATUS",
+ "_PORT_PROFILE",
+ "_CONFIGURATION",
+ "_RTC_HEARTBEAT",
+ "_EC_HEARTBEAT",
+ "_FSM_PROFILE",
+ "_FSM_STATUS",
+ "_FSM_STRUCTURE",
+ "_USER_DEFINED",
+ "_STATUS_KIND_NUM",
+ };
+ for(int ic=0;ic<12;++ic) {
+ coc.updateStatus(StatusKind.from_int(ic), strs[ic]);
+ }
+/*
+ for(;;) {
+ }
+*/
+
+/*
+ OrganizationProperty get_prop;
+ OrganizationProperty set_prop = new OrganizationProperty();
+ boolean ret;
+ short st;
+ int lg;
+ float ft;
+ double db;
+ String strg;
+
+ short rst;
+ int rlg;
+ float rft;
+ double rdb;
+ String rstrg;
+
+ NVListHolder nvList = new NVListHolder();
+ NameValue nv = new NameValue();
+ String str;
+
+ try {
+ // プロパティの取得 未設定の場合nullが返される。
+ get_prop = m_p01.get_organization_property();
+ assertNull(get_prop);
+
+ // 空のOrganizationPropertyをセットする。 OK.
+ // プロパティの中身はNULL
+ ret = m_p01.set_organization_property(set_prop);
+ get_prop = m_p01.get_organization_property();
+ assertNull(get_prop.properties);
+
+ nv.name = "hoge";
+ ft = 11.111F;
+ Any anyValue = ORBUtil.getOrb().create_any();
+ anyValue.insert_float(ft);
+ nv.value = anyValue;
+
+ nvList.value = new NameValue[1];
+ nvList.value[0] = nv;
+
+ set_prop.properties = nvList.value;
+ // プロパティのセット
+ ret = m_p01.set_organization_property(set_prop);
+
+ // プロパティの取得 length 1のプロパティリストを持つOrganizationPropertyが返される。
+ get_prop = m_p01.get_organization_property();
+ assertEquals(1, get_prop.properties.length);
+
+ str = get_prop.properties[0].name;
+ rft = get_prop.properties[0].value.extract_float();
+ assertEquals(str, "hoge");
+ assertEquals(Float.valueOf(rft), Float.valueOf(ft));
+
+ nv.name = "hogehoge";
+ ft = 22.2F;
+ nv.value.insert_float(ft);
+
+ nvList.value = new NameValue[1];
+ nvList.value[0] = nv;
+
+ set_prop.properties = nvList.value;
+ // プロパティのセット
+ ret = m_p01.set_organization_property(set_prop);
+
+ // プロパティの取得
+ get_prop = m_p01.get_organization_property();
+ assertEquals(1, get_prop.properties.length);
+
+ str = get_prop.properties[0].name;
+ rft = get_prop.properties[0].value.extract_float();
+ assertEquals(str, "hogehoge");
+ assertEquals(Float.valueOf(rft), Float.valueOf(ft));
+
+ nvList.value = new NameValue[4];
+
+ nv.name = "short";
+ st = 1;
+ nv.value.insert_short(st);
+ nvList.value[0] = nv;
+
+ NameValue nv1 = new NameValue();
+ nv1.name = "long";
+ lg = 2222;
+ anyValue = ORBUtil.getOrb().create_any();
+ anyValue.insert_long(lg);
+ nv1.value = anyValue;
+ nvList.value[1] = nv1;
+
+ NameValue nv2 = new NameValue();
+ nv2.name = "float";
+ ft = 33.3F;
+ anyValue = ORBUtil.getOrb().create_any();
+ anyValue.insert_float(ft);
+ nv2.value = anyValue;
+ nvList.value[2] = nv2;
+
+ NameValue nv3 = new NameValue();
+ nv3.name = "double";
+ db = 3.3;
+ anyValue = ORBUtil.getOrb().create_any();
+ anyValue.insert_double(db);
+ nv3.value = anyValue;
+ nvList.value[3] = nv3;
+
+ set_prop.properties = nvList.value;
+
+ ret = m_p01.set_organization_property(set_prop);
+
+ get_prop = m_p01.get_organization_property();
+ assertEquals(4, get_prop.properties.length);
+
+ str = get_prop.properties[0].name;
+ rst = get_prop.properties[0].value.extract_short();
+ assertEquals(str, "short");
+ assertEquals(rst, st);
+
+ str = get_prop.properties[1].name;
+ rlg = get_prop.properties[1].value.extract_long();
+ assertEquals(str, "long");
+ assertEquals(rlg, lg);
+
+ str = get_prop.properties[2].name;
+ rft = get_prop.properties[2].value.extract_float();
+ assertEquals(str, "float");
+ assertEquals(Float.valueOf(rft), Float.valueOf(ft));
+
+ str = get_prop.properties[3].name;
+ rdb = get_prop.properties[3].value.extract_double();
+ assertEquals(str, "double");
+ assertEquals(Double.valueOf(rdb), Double.valueOf(db));
+ } catch (NotAvailable na) {
+ na.getStackTrace();
+ fail();
+ } catch (InternalError ip) {
+ ip.getStackTrace();
+ fail();
+ } catch (Exception ex) {
+ ex.getStackTrace();
+ fail();
+ }
+*/
+ }
+
+ /**
+ *<pre>
+ * Organization Property の個別値 設定/取得
+ * ・単一Propertyの個別に、設定値が取得できるか？
+ * ・単一Propertyの場合に、既存のPropertyに個別値が設定できるか？
+ * ・単一Propertyの場合に、新規Propertyに個別値が設定できるか？
+ *</pre>
+ */
+ public void test_set_get_organization_property_value() {
+/*
+ OrganizationProperty set_prop = new OrganizationProperty();
+ boolean ret;
+ short st;
+ int lg;
+ float ft;
+ double db;
+ NVListHolder nvList = new NVListHolder();
+ NameValue nv = new NameValue();
+ String str;
+//
+// // ※ OrganizationPropertyのpropertiesが複数の要素を持つ場合,正しいvalueが返ってこない。
+// // propertiesの要素が一つの場合は問題ない。
+// // nvList.length(4);
+// // nvList.length(1);
+//
+// /*
+ nvList.value = new NameValue[4];
+ nv.name = "short";
+ st = 123;
+ Any anyValue = ORBUtil.getOrb().create_any();
+ anyValue.insert_short(st);
+ nv.value = anyValue;
+ nvList.value[0] = nv;
+
+ NameValue nv1 = new NameValue();
+ nv1.name = "long";
+ lg = 12345;
+ anyValue = ORBUtil.getOrb().create_any();
+ anyValue.insert_long(lg);
+ nv1.value = anyValue;
+ nvList.value[1] = nv1;
+// // nvList[0] = nv;
+// // set_prop.properties = nvList;
+// // ret = m_pOi->set_organization_property(set_prop);
+//
+ NameValue nv2 = new NameValue();
+ nv2.name = "float";
+ ft = 33.3F;
+ anyValue = ORBUtil.getOrb().create_any();
+ anyValue.insert_float(ft);
+ nv2.value = anyValue;
+ nvList.value[2] = nv;
+
+ NameValue nv3 = new NameValue();
+ nv3.name = "double";
+ db = 3.3;
+ anyValue = ORBUtil.getOrb().create_any();
+ anyValue.insert_double(db);
+ nv3.value = anyValue;
+ nvList.value[3] = nv3;
+
+ set_prop.properties = nvList.value;
+
+ try {
+ ret = m_p01.set_organization_property(set_prop);
+
+ Any any = m_p01.get_organization_property_value("double");
+ double rdb = any.extract_double();
+ assertEquals(Double.valueOf(rdb), Double.valueOf(db));
+
+ any = m_p01.get_organization_property_value("long");
+ int rlg = any.extract_long();
+ assertEquals(rlg, lg);
+
+ try {
+ any = m_p01.get_organization_property_value("char");
+ fail();
+ } catch(Exception ex) {
+ }
+
+ NameValue nv4 = new NameValue();
+ db = 6.3;
+ anyValue = ORBUtil.getOrb().create_any();
+ anyValue.insert_double(db);
+ m_p01.set_organization_property_value("double",anyValue);
+ any = m_p01.get_organization_property_value("double");
+ double rdb2 = any.extract_double();
+ assertEquals(Double.valueOf(6.3), Double.valueOf(rdb2));
+
+ NameValue nv5 = new NameValue();
+ db = 7.5;
+ anyValue = ORBUtil.getOrb().create_any();
+ anyValue.insert_double(db);
+ m_p01.set_organization_property_value("double2",anyValue);
+ any = m_p01.get_organization_property_value("double2");
+ double rdb3 = any.extract_double();
+ assertEquals(Double.valueOf(7.5), Double.valueOf(rdb3));
+ // OrganizationPropertyをセットしていない状況でset_organization_property_value()を呼び、
+ // get_organization_property_value()を呼ぶとabortする。
+ Any setval;
+ boolean result;
+ int relong;
+ lg = 12345;
+ setval = ORBUtil.getOrb().create_any();
+ setval.insert_long(lg);
+ result = m_p01.set_organization_property_value("long", setval);
+
+ any = m_p01.get_organization_property_value("long");
+ rlg = any.extract_long();
+ assertEquals(rlg, lg);
+ } catch (NotAvailable na) {
+ na.getStackTrace();
+ fail();
+ } catch (InternalError ip) {
+ ip.getStackTrace();
+ fail();
+ } catch (Exception ex) {
+ ex.getStackTrace();
+ fail();
+ }
+*/
+ }
+
+ /**
+ *<pre>
+ * Organization Property の個別値 設定/取得
+ * ・複数Propertyの場合に、個別値が取得できるか？
+ * (同一名称のPropertyが存在する場合，後に追加したものを取得できるか？)
+ *</pre>
+ */
+ public void test_set_get_organization_property_value_multi() {
+/*
+ OrganizationProperty set_prop = new OrganizationProperty();
+ boolean ret;
+ short st;
+ int lg;
+ float ft;
+ double db;
+ NVListHolder nvList = new NVListHolder();
+ String str;
+// /*
+ nvList.value = new NameValue[3];
+ NameValue nv0 = new NameValue();
+ nv0.name = "short";
+ st = 123;
+ Any anyValue = ORBUtil.getOrb().create_any();
+ anyValue.insert_short(st);
+ nv0.value = anyValue;
+ nvList.value[0] = nv0;
+ //
+ NameValue nv1 = new NameValue();
+ nv1.name = "long";
+ lg = 12345;
+ anyValue = ORBUtil.getOrb().create_any();
+ anyValue.insert_long(lg);
+ nv1.value = anyValue;
+ nvList.value[1] = nv1;
+ //
+ NameValue nv2 = new NameValue();
+ nv2.name = "float";
+ ft = 33.3F;
+ anyValue = ORBUtil.getOrb().create_any();
+ anyValue.insert_float(ft);
+ nv2.value = anyValue;
+ nvList.value[2] = nv2;
+
+ set_prop.properties = nvList.value;
+ try {
+ ret = m_p01.set_organization_property(set_prop);
+
+ OrganizationProperty set_prop2 = new OrganizationProperty();
+ NVListHolder nvList2 = new NVListHolder();
+ nvList2.value = new NameValue[3];
+
+ NameValue nv20 = new NameValue();
+ nv20.name = "short";
+ st = 456;
+ Any anyValue2 = ORBUtil.getOrb().create_any();
+ anyValue2.insert_short(st);
+ nv20.value = anyValue2;
+ nvList2.value[0] = nv20;
+ //
+ NameValue nv21 = new NameValue();
+ nv21.name = "long";
+ lg = 67890;
+ anyValue = ORBUtil.getOrb().create_any();
+ anyValue.insert_long(lg);
+ nv21.value = anyValue;
+ nvList2.value[1] = nv21;
+ //
+ NameValue nv22 = new NameValue();
+ nv22.name = "float";
+ ft = 66.9F;
+ anyValue = ORBUtil.getOrb().create_any();
+ anyValue.insert_float(ft);
+ nv22.value = anyValue;
+ nvList2.value[2] = nv22;
+
+ set_prop2.properties = nvList2.value;
+
+ ret = m_p01.set_organization_property(set_prop2);
+
+ Any any;
+ any = m_p01.get_organization_property_value("float");
+ float rft = any.extract_float();
+ assertEquals(Float.valueOf(66.9F), Float.valueOf(rft));
+
+ any = m_p01.get_organization_property_value("long");
+ int rlg = any.extract_long();
+ assertEquals(67890, rlg);
+
+ } catch (InvalidParameter e) {
+ e.printStackTrace();
+ fail();
+ } catch (NotAvailable e) {
+ e.printStackTrace();
+ fail();
+ } catch (InternalError e) {
+ e.printStackTrace();
+ fail();
+ }
+*/
+ }
+ /**
+ *<pre>
+ * Organization Property の削除
+ * ・指定したPropertyを削除できるか？
+ *</pre>
+ */
+ public void test_remove_organization_property() {
+/*
+ boolean ret;
+ NVListHolder nvList = new NVListHolder();
+ OrganizationProperty get_prop;
+ nvList.value = new NameValue[4];
+
+ NameValue nv = new NameValue();
+ nv.name = "short";
+ short st = 123;
+ Any anyValue = ORBUtil.getOrb().create_any();
+ anyValue.insert_short(st);
+ nv.value = anyValue;
+ nvList.value[0] = nv;
+
+ NameValue nv1 = new NameValue();
+ nv1.name = "long";
+ int lg = 12345;
+ anyValue = ORBUtil.getOrb().create_any();
+ anyValue.insert_long(lg);
+ nv1.value = anyValue;
+ nvList.value[1] = nv1;
+
+ NameValue nv2 = new NameValue();
+ nv2.name = "float";
+ float ft = 33.3F;
+ anyValue = ORBUtil.getOrb().create_any();
+ anyValue.insert_float(ft);
+ nv2.value = anyValue;
+ nvList.value[2] = nv2;
+
+ NameValue nv3 = new NameValue();
+ nv3.name = "double";
+ double db = 3.3;
+ anyValue = ORBUtil.getOrb().create_any();
+ anyValue.insert_double(db);
+ nv3.value = anyValue;
+ nvList.value[3] = nv3;
+
+ OrganizationProperty set_prop = new OrganizationProperty();
+ set_prop.properties = nvList.value;
+
+ try {
+ ret = m_p01.set_organization_property(set_prop);
+ m_p01.remove_organization_property("short");
+ get_prop = m_p01.get_organization_property();
+ assertEquals(3, get_prop.properties.length);
+ assertEquals("long", get_prop.properties[0].name);
+ assertEquals(12345, get_prop.properties[0].value.extract_long());
+ assertEquals("float", get_prop.properties[1].name);
+ assertEquals(Float.valueOf(33.3F), Float.valueOf(get_prop.properties[1].value.extract_float()));
+ assertEquals("double", get_prop.properties[2].name);
+ assertEquals(Double.valueOf(3.3), Double.valueOf(get_prop.properties[2].value.extract_double()));
+ } catch (NotAvailable na) {
+ na.getStackTrace();
+ fail();
+ } catch (InternalError ip) {
+ ip.getStackTrace();
+ fail();
+ } catch (Exception ex) {
+ ex.getStackTrace();
+ fail();
+ }
+*/
+ }
+
+ /**
+ *<pre>
+ * Organization のオーナーの設定/取得
+ * ※SDO部分が未実装のため、未テスト
+ *</pre>
+ */
+ public void test_set_get_owner() {
+ }
+
+ /**
+ *<pre>
+ * Organization のメンバーの設定/取得
+ * ※SDO部分が未実装のため、未テスト
+ *</pre>
+ */
+ public void test_set_get_members() {
+ }
+
+ /**
+ *<pre>
+ * Organization のメンバーの追加
+ * ※SDO部分が未実装のため、未テスト
+ *</pre>
+ */
+ public void test_add_members() {
+ }
+
+ /**
+ *<pre>
+ * Organization のメンバーの削除
+ * ※SDO部分が未実装ため、未テスト
+ *</pre>
+ */
+ public void test_remove_member() {
+ }
+
+ /**
+ *<pre>
+ * Organization のDependencyTypeの設定/取得
+ * ※SDO部分が未実装のため、未テスト
+ *</pre>
+ */
+ public void test_set_get_dependency() {
+ }
+}
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