[openrtm-commit:02180] r889 - 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 17日 (土) 21:20:49 JST
Author: win-ei
Date: 2016-12-17 21:20:49 +0900 (Sat, 17 Dec 2016)
New Revision: 889
Modified:
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/tests/src/jp/go/aist/rtm/RTC/RTC/ComponentObserverConsumerTest.java
Log:
Fixed test programs.
Modified: 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 2016-12-17 06:05:50 UTC (rev 888)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/tests/src/jp/go/aist/rtm/RTC/RTC/ComponentObserverConsumerTest.java 2016-12-17 12:20:49 UTC (rev 889)
@@ -3,7 +3,11 @@
import junit.framework.TestCase;
import jp.go.aist.rtm.RTC.Manager;
+import jp.go.aist.rtm.RTC.DataFlowComponentBase;
import jp.go.aist.rtm.RTC.RTObject_impl;
+import jp.go.aist.rtm.RTC.ModuleInitProc;
+import jp.go.aist.rtm.RTC.RtcNewFunc;
+import jp.go.aist.rtm.RTC.RtcDeleteFunc;
import jp.go.aist.rtm.RTC.util.Properties;
import jp.go.aist.rtm.RTC.util.POAUtil;
@@ -17,7 +21,10 @@
import RTC.ComponentObserverHelper;
import RTC.StatusKind;
import RTC.StatusKindHolder;
+import RTC.ReturnCode_t;
+import RTC.ExecutionContextListHolder;
+
import org.omg.CORBA.ORB;
import org.omg.PortableServer.POA;
import org.omg.PortableServer.POAHelper;
@@ -38,6 +45,117 @@
private ORB m_pORB;
private POA m_pPOA;
+ // sample code
+ public class SampleComponent extends DataFlowComponentBase {
+ @Override
+ protected ReturnCode_t onAborting(int ec_id) {
+ System.out.println("Sample:onAborting");
+ return super.onAborting(ec_id);
+ }
+
+ @Override
+ protected ReturnCode_t onActivated(int ec_id) {
+ System.out.println("Sample:onActivated");
+ return super.onActivated(ec_id);
+ }
+
+ @Override
+ protected ReturnCode_t onDeactivated(int ec_id) {
+ System.out.println("Sample:onDeactivated");
+ return super.onDeactivated(ec_id);
+ }
+
+ @Override
+ protected ReturnCode_t onError(int ec_id) {
+ System.out.println("Sample:onError");
+ return super.onError(ec_id);
+ }
+
+ @Override
+ protected ReturnCode_t onExecute(int ec_id) {
+ System.out.println("Sample:onExecute");
+ return super.onExecute(ec_id);
+ }
+
+ @Override
+ protected ReturnCode_t onFinalize() {
+ System.out.println("Sample:onFinalize");
+ return super.onFinalize();
+ }
+
+ @Override
+ protected ReturnCode_t onInitialize() {
+ System.out.println("Sample:onInitialize");
+ return super.onInitialize();
+ }
+
+ @Override
+ protected ReturnCode_t onRateChanged(int ec_id) {
+ System.out.println("Sample:onRateChanged");
+ return super.onRateChanged(ec_id);
+ }
+
+ @Override
+ protected ReturnCode_t onReset(int ec_id) {
+ System.out.println("Sample:onReset");
+ return super.onReset(ec_id);
+ }
+
+ @Override
+ protected ReturnCode_t onShutdown(int ec_id) {
+ System.out.println("Sample:onShutdown");
+ return super.onShutdown(ec_id);
+ }
+
+ @Override
+ protected ReturnCode_t onStartup(int ec_id) {
+ System.out.println("Sample:onStartup");
+ return super.onStartup(ec_id);
+ }
+
+ @Override
+ protected ReturnCode_t onStateUpdate(int ec_id) {
+ System.out.println("Sample:onStateUpdate");
+ return super.onStateUpdate(ec_id);
+ }
+
+ public SampleComponent(Manager manager) {
+ super(manager);
+ }
+ }
+
+ public class SampleComponentNew implements RtcNewFunc {
+ public DataFlowComponentBase createRtc(Manager mgr) {
+ return new SampleComponent(mgr);
+ }
+ }
+
+ public class SampleComponentDelete implements RtcDeleteFunc {
+ public void deleteRtc(RTObject_impl rtcBase) {
+ rtcBase = null;
+ }
+ }
+
+ public class loadSample implements ModuleInitProc {
+ private int m_counter = 0;
+ private int m_counter2 = 0;
+
+ public void SampleMethod() {
+ System.out.println("Sample Method invoked.");
+ }
+ public void myModuleInit(Manager mgr) {
+ m_counter++;
+ }
+ public int getInitProcCount() {
+ return m_counter;
+ }
+ public void resetInitProcCount() {
+ m_counter = 0;
+ }
+ public void addInitProcCount() {
+ m_counter++;
+ }
+ }
private class ComponentObserverProviderMock extends RTC.ComponentObserverPOA {
org.omg.CORBA.Object m_ref;
private jp.go.aist.rtm.RTC.Manager m_mgr;
@@ -46,8 +164,6 @@
*
*/
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];
@@ -68,7 +184,7 @@
String ior;
ior = orb.object_to_string(m_objref);
- System.out.println("IOR information: "+ior);
+ //System.out.println("IOR information: "+ior);
}
catch (Exception ex) {
System.out.println("Exception:"+ex.getMessage());
@@ -104,10 +220,10 @@
}
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();
+ //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 {
@@ -158,7 +274,17 @@
ServiceProfile sprof = new ServiceProfile(uuid,id,value,SDOServiceHelper.narrow(obs.getRef()));
- RTObject_impl rtobj = new RTObject_impl(m_mgr);
+ Manager mgr = Manager.init(null);
+ try {
+ POA pPOA = mgr.getPOA();
+ pPOA.the_POAManager().activate();
+ }
+ catch (Exception ex) {
+ System.out.println("Exception:"+ex.getMessage());
+ }
+
+
+ RTObject_impl rtobj = new RTObject_impl(mgr);
ComponentObserverConsumerMock coc = new ComponentObserverConsumerMock();
coc.init(rtobj,sprof);
@@ -190,5 +316,104 @@
}
System.out.println("....");
}
+ /**
+ *<pre>
+ *</pre>
+ */
+ public void test_test002() {
+ System.out.println("test_test002");
+ String[] args = new String[0];
+ java.util.Properties jprop = new java.util.Properties();
+ jprop.put("org.omg.PortableInterceptor.ORBInitializerClass.jp.go.aist.rtm.RTC.InterceptorInitializer","");
+
+ ORB orb = ORB.init(args, jprop);
+ String id = ComponentObserverHelper.id();
+ String uuid = UUID.randomUUID().toString();
+
+ NameValue[] value = new NameValue[5];
+
+ org.omg.CORBA.Any any0 = orb.create_any();
+ any0.insert_string("NO");
+ value[0] = new NameValue("heartbeat.enable",any0);
+
+ org.omg.CORBA.Any any1 = orb.create_any();
+ any1.insert_string("1.0");
+ value[1] = new NameValue("heartbeat.interval",any1);
+
+ org.omg.CORBA.Any any2 = orb.create_any();
+ any2.insert_string("ALL");
+ value[2] = new NameValue("observed_status",any2);
+
+ org.omg.CORBA.Any any3 = orb.create_any();
+ any3.insert_string("NO");
+ value[3] = new NameValue("ec_heartbeat.enable",any3);
+
+ org.omg.CORBA.Any any4 = orb.create_any();
+ any4.insert_string("2.0");
+ value[4] = new NameValue("ec_heartbeat.interval",any4);
+
+ ComponentObserverProviderMock obs = new ComponentObserverProviderMock();
+ ServiceProfile sprof = new ServiceProfile(uuid,id,value,SDOServiceHelper.narrow(obs.getRef()));
+
+ Manager manager = null;
+ java.io.File fileCurrent = new java.io.File(".");
+ String rootPath = fileCurrent.getAbsolutePath();
+ rootPath = rootPath.substring(0,rootPath.length()-1);
+ String testPath = rootPath + "tests/src/jp/go/aist/rtm/RTC/sample/rtc.conf";
+ String param[] = {"-f", testPath };
+ try {
+ manager = Manager.init(param);
+ } catch (Exception e) {
+ e.printStackTrace();
+ fail();
+ }
+ manager.activateManager();
+ //manager.clearModulesFactories();
+ ///manager.clearModules();
+ String component_conf[] = {
+ "implementation_id", "Sample",
+ "type_name", "",
+ "description", "",
+ "version", "",
+ "vendor", "",
+ "category", "",
+ "activity_type", "",
+ "max_instance", "",
+ "language", "",
+ "lang_type", "",
+ "conf", "",
+ ""
+ };
+ Properties prop = new Properties(component_conf);
+ manager.registerFactory(prop, new SampleComponentNew(), new SampleComponentDelete());
+ //Vector<String> complist = manager.getModulesFactories();
+ RTObject_impl rtobj = manager.createComponent("Sample");
+
+
+
+ ComponentObserverConsumer coc = new ComponentObserverConsumer();
+ coc.init(rtobj,sprof);
+
+ ExecutionContextListHolder ecs = new ExecutionContextListHolder();
+ ecs.value = rtobj.get_owned_contexts();
+ ecs.value[0].activate_component(rtobj.getObjRef());
+
+ System.out.println("wait");
+ try{
+ Thread.sleep(5);
+ }
+ catch(InterruptedException ex){
+ //do nothing
+ }
+ ecs.value[0].deactivate_component(rtobj.getObjRef());
+ try{
+ Thread.sleep(100);
+ }
+ catch(InterruptedException ex){
+ //do nothing
+ }
+ System.out.println("....");
+ }
+
}
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