[openrtm-commit:01786] r780 - in trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC: src/jp/go/aist/rtm/RTC/util tests/src/jp/go/aist/rtm/RTC/util
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2016年 2月 28日 (日) 20:59:00 JST
Author: win-ei
Date: 2016-02-28 20:59:00 +0900 (Sun, 28 Feb 2016)
New Revision: 780
Modified:
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/util/RTShellUtil.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/tests/src/jp/go/aist/rtm/RTC/util/RTShellUtilTest.java
Log:
Fixed bugs.
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/util/RTShellUtil.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/util/RTShellUtil.java 2016-02-27 20:50:31 UTC (rev 779)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/util/RTShellUtil.java 2016-02-28 11:59:00 UTC (rev 780)
@@ -637,7 +637,15 @@
*
*/
public static double get_current_rate(RTObject rtc, int ec_id){
+ if(rtc == null)
+ {
+ return -1.0;
+ }
ExecutionContext ec = get_actual_ec(rtc, ec_id);
+ if(ec == null)
+ {
+ return -1.0;
+ }
return ec.get_rate();
}
/**
@@ -660,7 +668,15 @@
*/
public static ReturnCode_t set_current_rate(RTObject rtc,
int ec_id, double rate){
+ if(rtc == null)
+ {
+ return ReturnCode_t.BAD_PARAMETER;
+ }
ExecutionContext ec = get_actual_ec(rtc, ec_id);
+ if(ec == null)
+ {
+ return ReturnCode_t.BAD_PARAMETER;
+ }
return ec.set_rate(rate);
}
/**
@@ -685,6 +701,10 @@
*/
public static ReturnCode_t add_rtc_to_default_ec(RTObject localcomp,
RTObject othercomp){
+ if(othercomp == null)
+ {
+ return ReturnCode_t.RTC_ERROR;
+ }
ExecutionContext ec = get_actual_ec(localcomp);
if(ec==null){
return ReturnCode_t.RTC_ERROR;
@@ -693,7 +713,8 @@
}
/**
*
- * {@.ja 対象のRTCのデフォルトの実行コンテキストの指定のRTCへの関連付けを解除する}
+ * {@.ja 対象のRTCのデフォルトの実行コンテキストの指定のRTCへの関連付けを
+ * 解除する}
* {@.en Remove the RT-Component from participant list of ExecutionContext}
*
*
@@ -713,6 +734,10 @@
*/
public static ReturnCode_t remove_rtc_to_default_ec(RTObject localcomp,
RTObject othercomp){
+ if(othercomp == null)
+ {
+ return ReturnCode_t.RTC_ERROR;
+ }
ExecutionContext ec = get_actual_ec(localcomp);
if(ec==null){
return ReturnCode_t.RTC_ERROR;
@@ -721,7 +746,8 @@
}
/**
*
- * {@.ja RTCのデフォルトの実行コンテキストに参加しているRTCのリストを取得する}
+ * {@.ja RTCのデフォルトの実行コンテキストに参加しているRTCのリストを
+ * 取得する}
* {@.en Getting participant RTC list}
* <p>
* {@.ja 実行コンテキストがnilの場合は空のリストを返す}
@@ -1094,8 +1120,10 @@
* {@.en Target Port}
*
* @return
- * {@.ja RTC、ECのオブジェクトリファレンスがnilの場合はBAD_PARAMETERを返す
- * nilではない場合はport0.connect関数の戻り値を返す。RTC_OKの場合は接続が成功}
+ * {@.ja RTC、ECのオブジェクトリファレンスがnilの場合はBAD_PARAMETERを
+ * 返す
+ * nilではない場合はport0.connect関数の戻り値を返す。
+ * RTC_OKの場合は接続が成功}
* {@.en Return code}
*
* RTC::ReturnCode_t connect(const std::string name,const coil::Properties prop,const RTC::PortService_ptr port0,const RTC::PortService_ptr port1)
@@ -1111,6 +1139,9 @@
if(port0._is_equivalent(port1)){
return ReturnCode_t.BAD_PARAMETER;
}
+ if(prop == null){
+ prop = new Properties();
+ }
ConnectorProfileHolder profileholder = new ConnectorProfileHolder();
profileholder.value = create_connector(name, prop, port0, port1);
return port0.connect(profileholder);
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/tests/src/jp/go/aist/rtm/RTC/util/RTShellUtilTest.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/tests/src/jp/go/aist/rtm/RTC/util/RTShellUtilTest.java 2016-02-27 20:50:31 UTC (rev 779)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/tests/src/jp/go/aist/rtm/RTC/util/RTShellUtilTest.java 2016-02-28 11:59:00 UTC (rev 780)
@@ -35,9 +35,11 @@
import RTC.ConnectorProfile;
import RTC.ConnectorProfileHolder;
-import OpenRTM.DataFlowComponent;
import RTC.ExecutionContext;
import RTC.ExecutionContextListHolder;
+import RTC.ExecutionContextService;
+import RTC.ExecutionContextServiceHelper;
+import RTC.ExecutionContextProfile;
import RTC.LifeCycleState;
import RTC.PortService;
import RTC.PortServiceListHolder;
@@ -45,6 +47,7 @@
import RTC.RTObjectHolder;
import RTC.RTObjectHelper;
import RTC.ReturnCode_t;
+import OpenRTM.DataFlowComponent;
import _SDOPackage.NVListHolder;
import _SDOPackage.NameValue;
@@ -53,18 +56,40 @@
private ORB m_orb;
private CorbaConsumer<DataFlowComponent> m_conout =
new CorbaConsumer<DataFlowComponent>(DataFlowComponent.class);
+ private CorbaConsumer<DataFlowComponent> m_conin =
+ new CorbaConsumer<DataFlowComponent>(DataFlowComponent.class);
+ private CorbaConsumer<DataFlowComponent> m_sercon =
+ new CorbaConsumer<DataFlowComponent>(DataFlowComponent.class);
+
private RTObjectHolder m_conoutRef
= new RTObjectHolder();
+ private RTObjectHolder m_coninRef
+ = new RTObjectHolder();
+ private RTObjectHolder m_serconRef
+ = new RTObjectHolder();
//private RTObject m_conoutRef;
private ExecutionContextListHolder m_eclisto
= new ExecutionContextListHolder();
+ private ExecutionContextListHolder m_eclisti
+ = new ExecutionContextListHolder();
private ExecutionContextListHolder m_eclistseq
= new ExecutionContextListHolder();
private RTObject_impl m_out_impl;
- protected void setUp() throws Exception {
- super.setUp();
+ private RTObject_impl m_in_impl;
+ private RTObject_impl m_out_seq_impl;
+
+ public RTShellUtilTest(String name){
+ super(name);
+ m_eclisto = new ExecutionContextListHolder();
+ m_eclisti = new ExecutionContextListHolder();
+ m_eclistseq = new ExecutionContextListHolder();
+
+ m_conoutRef = new RTObjectHolder();
+ m_coninRef = new RTObjectHolder();
+ m_serconRef = new RTObjectHolder();
+
String[] args = new String[0];
//Manager manager = Manager.init(null);
Manager m_manager = Manager.init(null);
@@ -87,18 +112,21 @@
//
Properties prop_in = new Properties(ConsoleIn.component_conf);
m_manager.registerFactory(prop_in, new ConsoleIn(), new ConsoleIn());
- RTObject_impl in_impl = m_manager.createComponent("ConsoleIn");
- if(in_impl==null)
+ //RTObject_impl in_impl = m_manager.createComponent("ConsoleIn");
+ m_in_impl = m_manager.createComponent("ConsoleIn");
+ if(m_in_impl==null)
{
System.out.println("ConsoleIn is null.");
}
//
- Properties prop_out_seq = new Properties(MyServiceConsumer.component_conf);
+ Properties prop_out_seq
+ = new Properties(MyServiceConsumer.component_conf);
m_manager.registerFactory(prop_out_seq,
new MyServiceConsumer(), new MyServiceConsumer());
- RTObject_impl out_seq_impl
+ //RTObject_impl out_seq_impl
+ m_out_seq_impl
= m_manager.createComponent("MyServiceConsumer");
- if(out_seq_impl==null)
+ if(m_out_seq_impl==null)
{
System.out.println("MyServiceConsumer is null.");
}
@@ -112,26 +140,33 @@
//ExecutionContextListHolder eclisto = new ExecutionContextListHolder();
m_eclisto.value = new ExecutionContext[0];
m_eclisto.value = m_out_impl.get_owned_contexts();
- System.out.println( "m_eclisto.value.length : "
- + m_eclisto.value.length);
+ //System.out.println( "m_eclisto.value.length : "
+ // + m_eclisto.value.length);
//
- ExecutionContextListHolder eclisti = new ExecutionContextListHolder();
- eclisti.value = new ExecutionContext[0];
- eclisti.value = in_impl.get_owned_contexts();
- System.out.println( "eclisti.value.length : "+ eclisti.value.length);
+ //ExecutionContextListHolder eclisti = new ExecutionContextListHolder();
+ m_eclisti.value = new ExecutionContext[0];
+ m_eclisti.value = m_in_impl.get_owned_contexts();
+ //System.out.println( "m_eclisti.value.length : "+ m_eclisti.value.length);
//
//ExecutionContextListHolder eclistseq = new ExecutionContextListHolder();
m_eclistseq.value = new ExecutionContext[0];
- m_eclistseq.value = out_seq_impl.get_owned_contexts();
- System.out.println( "m_eclistseq.value.length : "+ m_eclistseq.value.length);
+ m_eclistseq.value = m_out_seq_impl.get_owned_contexts();
+ //System.out.println( "m_eclistseq.value.length : "+ m_eclistseq.value.length);
//
// bind
//
- m_out_impl.bindContext(eclisti.value[0]);
+ //System.out.println( "bind0 : "+ m_eclisto.value[0]);
+ //System.out.println( "bind1 : "+ m_eclisti.value[0]);
+ m_out_impl.bindContext(m_eclisti.value[0]);
m_eclisto.value = m_out_impl.get_owned_contexts();
- System.out.println( "m_eclisto.value.length : "
- + m_eclisto.value.length);
+ //System.out.println( "m_eclisto.value.length : "
+ // + m_eclisto.value.length);
+ //System.out.println( "bind2 : "+ m_eclisto.value[0]);
+ //System.out.println( "bind3 : "+ m_eclisto.value[1]);
+ //
+ //
+ //
//ORB orb = ORBUtil.getOrb();
m_orb = ORBUtil.getOrb();
CorbaNaming naming = null;
@@ -159,8 +194,40 @@
eclist.value = new ExecutionContext[0];
m_conoutRef.value = m_conout._ptr();
eclist.value = m_conoutRef.value.get_owned_contexts();
- System.out.println( "eclist.value.length : "+ eclist.value.length);
+ //System.out.println( "eclist.value.length : "+ eclist.value.length);
+
+ try {
+ m_conin.setObject(naming.resolve(".host_cxt/ConsoleIn0.rtc"));
+ } catch (NotFound e) {
+ e.printStackTrace();
+ } catch (CannotProceed e) {
+ e.printStackTrace();
+ } catch (InvalidName e) {
+ e.printStackTrace();
+ }
+
+ //
+ m_coninRef.value = m_conin._ptr();
+
+
+ try {
+ m_sercon.setObject(naming.resolve(".host_cxt/MyServiceConsumer0.rtc"));
+ } catch (NotFound e) {
+ e.printStackTrace();
+ } catch (CannotProceed e) {
+ e.printStackTrace();
+ } catch (InvalidName e) {
+ e.printStackTrace();
+ }
+
+ //
+ m_serconRef.value = m_sercon._ptr();
+ }
+
+
+ protected void setUp() throws Exception {
+ super.setUp();
try{
Thread.sleep(500);
}
@@ -170,6 +237,20 @@
protected void tearDown() throws Exception {
super.tearDown();
+ for(int ic=0;ic<m_eclisto.value.length;++ic){
+ m_eclisto.value[ic].stop();
+ }
+ for(int ic=0;ic<m_eclisti.value.length;++ic){
+ m_eclisti.value[ic].stop();
+ }
+ for(int ic=0;ic<m_eclistseq.value.length;++ic){
+ m_eclistseq.value[ic].stop();
+ }
+ if(m_manager!=null){
+ m_manager.shutdown();
+ m_manager = null;
+ }
+ Thread.sleep(300);
}
/**
@@ -177,60 +258,91 @@
*
*/
public void test_get_actual_ec() {
+ System.out.println( "test_get_actual_ec()" );
+ ExecutionContext[] list = m_conoutRef.value.get_owned_contexts();
ExecutionContext ec = RTShellUtil.get_actual_ec(m_conoutRef.value,0);
- assertTrue(ec._is_equivalent(m_eclisto.value[0]));
+ {
+ //System.out.println( "m_conoutRef.value.get_owned_contexts()[0]: "
+ // +list[0]);
+ }
+ //System.out.println( "ec : " +ec);
+ //System.out.println( "m_eclisto.value[0] : " +m_eclisto.value[0]);
+ //assertTrue("test:id is 0",ec._is_equivalent(m_eclisto.value[0]));
+ assertTrue("test:id is 0",ec._is_equivalent(list[0]));
ec = RTShellUtil.get_actual_ec(m_conoutRef.value,1);
- assertTrue(ec._is_equivalent(m_eclisto.value[1]));
+ //assertTrue("test:id is 1",ec._is_equivalent(m_eclisto.value[1]));
+ assertTrue("test:id is 1",ec._is_equivalent(list[1]));
ec = RTShellUtil.get_actual_ec(m_conoutRef.value,2);
- assertTrue(ec == null);
+ assertTrue("test:id is out of range",ec == null);
ec = RTShellUtil.get_actual_ec(null,0);
- assertTrue(ec == null);
-
+ assertTrue("test:rtc is null",ec == null);
}
/**
*
*
*/
public void test_get_ec_id(){
- System.out.println( "110 : " );
+ System.out.println( "test_get_ec_id()" );
ExecutionContext[] list = m_conoutRef.value.get_owned_contexts();
+/*
System.out.println( "115 : " +list.length);
System.out.println( "116 : " +m_eclisto.value.length);
+ System.out.println( "117-0 : " +list[0]);
+ System.out.println( "117-1 : " +list[1]);
+ System.out.println( "118-0 : " +m_eclisto.value[0]);
+ System.out.println( "118-1 : " +m_eclisto.value[1]);
+ if(list[0]._is_equivalent(list[0])){
+ System.out.println( "119 : " );
+ }
if(list[0]._is_equivalent(m_eclisto.value[0])){
System.out.println( "120 : " );
}
if(list[0] == m_eclisto.value[0]){
System.out.println( "130 : " );
}
+ if(list[1]._is_equivalent(m_eclisto.value[0])){
+ System.out.println( "121 : " );
+ }
+ if(list[0]._is_equivalent(m_eclisto.value[1])){
+ System.out.println( "122 : " );
+ }
+ if(list[1]._is_equivalent(m_eclisto.value[1])){
+ System.out.println( "123 : " );
+ }
System.out.println( "140 : " );
- int id = RTShellUtil.get_ec_id(m_conoutRef.value, m_eclisto.value[0]);
- System.out.println( "id : " + id );
- assertTrue(id == 0);
+*/
+ //int id = RTShellUtil.get_ec_id(m_conoutRef.value, m_eclisto.value[0]);
+ int id = RTShellUtil.get_ec_id(m_conoutRef.value, list[0]);
+ //System.out.println( "id : " + id );
+ assertTrue("test:id is 0.",id == 0);
- id = RTShellUtil.get_ec_id(m_conoutRef.value, m_eclisto.value[1]);
- System.out.println( "id : " + id );
- assertTrue(id == 1);
+ //id = RTShellUtil.get_ec_id(m_conoutRef.value, m_eclisto.value[1]);
+ id = RTShellUtil.get_ec_id(m_conoutRef.value, list[1]);
+ //System.out.println( "id : " + id );
+ assertTrue("test:id is 1",id == 1);
id = RTShellUtil.get_ec_id(m_conoutRef.value, null);
- System.out.println( "id : " + id );
- assertTrue(id == -1);
+ //System.out.println( "id : " + id );
+ assertTrue("test:list is null",id == -1);
- id = RTShellUtil.get_ec_id(null, m_eclisto.value[1]);
- System.out.println( "id : " + id );
- assertTrue(id == -1);
+ //id = RTShellUtil.get_ec_id(null, m_eclisto.value[1]);
+ id = RTShellUtil.get_ec_id(null, list[0]);
+ //System.out.println( "id : " + id );
+ assertTrue("test:rtc is null",id == -1);
id = RTShellUtil.get_ec_id(m_conoutRef.value, m_eclistseq.value[0]);
- System.out.println( "id : " + id );
- assertTrue(id == -1);
+ //System.out.println( "id : " + id );
+ assertTrue("test:not foud",id == -1);
}
/**
*
*
*/
public void test_activate_deactivate(){
+ System.out.println( "test_activate_deactivate()" );
ReturnCode_t ret = RTShellUtil.activate(null, 0);
assertTrue(ret == ReturnCode_t.BAD_PARAMETER);
@@ -268,6 +380,332 @@
assertTrue(ret == ReturnCode_t.RTC_OK);
*/
}
+ /**
+ *
+ * get_state
+ *
+ */
+ public static String getStateString(LifeCycleState state) {
+ final String st[] = {
+ "CREATED_STATE",
+ "INACTIVE_STATE",
+ "ACTIVE_STATE",
+ "ERROR_STATE"
+ };
+ return st[state.value()];
+ }
+ public void test_get_state(){
+ LifeCycleState ret = RTShellUtil.get_state(m_conoutRef.value, 0);
+ String str_ret = getStateString(ret);
+ System.out.println(str_ret);
+ assertTrue("test:inactive_state",str_ret.equals("INACTIVE_STATE"));
+ //
+ RTShellUtil.activate(m_conoutRef.value, 0);
+ try{
+ Thread.sleep(500);
+ }
+ catch(InterruptedException e){
+ }
+ ret = RTShellUtil.get_state(m_conoutRef.value, 0);
+ str_ret = getStateString(ret);
+ System.out.println(str_ret);
+ assertTrue("test:active_state",str_ret.equals("ACTIVE_STATE"));
+ //
+ RTShellUtil.deactivate(m_conoutRef.value, 0);
+ try{
+ Thread.sleep(500);
+ }
+ catch(InterruptedException e){
+ }
+ ret = RTShellUtil.get_state(m_conoutRef.value, 0);
+ str_ret = getStateString(ret);
+ System.out.println(str_ret);
+ assertTrue("test:inactive_state",str_ret.equals("INACTIVE_STATE"));
+ //
+ ret = RTShellUtil.get_state(null, 0);
+ str_ret = getStateString(ret);
+ System.out.println(str_ret);
+ assertTrue("test:error_state",str_ret.equals("ERROR_STATE"));
+ //
+ ret = RTShellUtil.get_state(m_conoutRef.value, 3);
+ str_ret = getStateString(ret);
+ System.out.println(str_ret);
+ assertTrue("test:error_state",str_ret.equals("ERROR_STATE"));
+ }
+ /**
+ *
+ * is_in_active
+ *
+ */
+ public void test_is_in_active(){
+ boolean ret;
+ ret = RTShellUtil.is_in_active(m_conoutRef.value, 0);
+ assertTrue("test:is",!ret);
+ //
+ RTShellUtil.activate(m_conoutRef.value, 0);
+ try{
+ Thread.sleep(500);
+ }
+ catch(InterruptedException e){
+ }
+ ret = RTShellUtil.is_in_active(m_conoutRef.value, 0);
+ assertTrue("test:is",ret);
+ //
+ RTShellUtil.deactivate(m_conoutRef.value, 0);
+ try{
+ Thread.sleep(500);
+ }
+ catch(InterruptedException e){
+ }
+ ret = RTShellUtil.is_in_active(m_conoutRef.value, 0);
+ assertTrue("test:is",!ret);
+ //
+ ret = RTShellUtil.is_in_active(null, 0);
+ assertTrue("test:is",!ret);
+ ret = RTShellUtil.is_in_active(m_conoutRef.value, 3);
+ assertTrue("test:is",!ret);
+ }
+ /**
+ *
+ * get_default_rate/set_default_rate
+ *
+ */
+ public void test_get_default_rate_set_default_rate(){
+
+ double ret = RTShellUtil.get_default_rate(m_conoutRef.value);
+ assertTrue("test:get_default_rate 1000.0 get value="+ret,ret == 1000.0);
+ RTShellUtil.set_default_rate(m_conoutRef.value, 500.0);
+ ret = RTShellUtil.get_default_rate(m_conoutRef.value);
+ assertTrue("test:get_default_rate 500.0",ret == 500.0);
+ //
+ //
+ //
+ ret = RTShellUtil.get_default_rate(null);
+ ReturnCode_t code = RTShellUtil.set_default_rate(null, 500.0);
+ assertTrue("test:set_default_rate",code == ReturnCode_t.BAD_PARAMETER);
+ //
+ }
+ /**
+ *
+ * get_current_rate/set_current_rate
+ *
+ */
+ public void test_get_current_rate_set_current_rate(){
+ RTShellUtil.set_default_rate(m_conoutRef.value, 1000.0);
+ double ret = RTShellUtil.get_current_rate(m_conoutRef.value,0);
+ assertTrue("test:get_rate 1000.0 get value="+ret,ret == 1000.0);
+ ret = RTShellUtil.get_current_rate(m_conoutRef.value,1);
+ assertTrue("test:get_rate 1000.0",ret == 1000.0);
+ //
+ RTShellUtil.set_current_rate(m_conoutRef.value,0,500.0);
+ ret = RTShellUtil.get_current_rate(m_conoutRef.value,0);
+ assertTrue("test:get_rate 500.0",ret == 500.0);
+ RTShellUtil.set_current_rate(m_conoutRef.value,1,500.0);
+ ret = RTShellUtil.get_current_rate(m_conoutRef.value,1);
+ assertTrue("test:get_rate 500.0",ret == 500.0);
+ //
+ //
+ //
+ ret = RTShellUtil.get_current_rate(null,0);
+ assertTrue("test:",ret == -1.0);
+ ret = RTShellUtil.get_current_rate(null,1);
+ assertTrue("test:",ret == -1.0);
+ ReturnCode_t code;
+ code = RTShellUtil.set_current_rate(null, 0, 500.0);
+ assertTrue("test:set_rate",code == ReturnCode_t.BAD_PARAMETER);
+ code = RTShellUtil.set_current_rate(null, 1, 500.0);
+ assertTrue("test:set_rate",code == ReturnCode_t.BAD_PARAMETER);
+ //
+ ret = RTShellUtil.get_current_rate(m_conoutRef.value,2);
+ code = RTShellUtil.set_current_rate(m_conoutRef.value, 2, 500.0);
+ assertTrue("test:set_rate",code == ReturnCode_t.BAD_PARAMETER);
+
+ RTShellUtil.set_current_rate(m_conoutRef.value,0,1000.0);
+ RTShellUtil.set_current_rate(m_conoutRef.value,1,1000.0);
+ }
+ /**
+ *
+ * add_rtc_to_default_ec
+ * remove_rtc_to_default_ec
+ * get_participants_rtc
+ *
+ */
+ public void test_rtc_to_default_ec(){
+ ReturnCode_t code;
+ code = RTShellUtil.add_rtc_to_default_ec(m_conoutRef.value,
+ m_serconRef.value);
+ assertTrue("test:add_rtc",code == ReturnCode_t.RTC_OK);
+
+ RTObject[] objs;
+ objs = RTShellUtil.get_participants_rtc(m_conoutRef.value);
+ //System.out.println( "length : "+ objs.length);
+ assertTrue("test:get_rtc",objs.length == 1);
+
+ code = RTShellUtil.remove_rtc_to_default_ec(m_conoutRef.value,
+ m_serconRef.value);
+ assertTrue("test:remove_rtc : "+code.value() ,code == ReturnCode_t.RTC_OK);
+
+ objs = RTShellUtil.get_participants_rtc(m_conoutRef.value);
+ //System.out.println( "length : "+ objs.length);
+ assertTrue("test:get_rtc",objs.length == 0);
+
+ //
+ //
+ //
+ code = RTShellUtil.add_rtc_to_default_ec(null, m_serconRef.value);
+ assertTrue("test:add_rtc",code == ReturnCode_t.RTC_ERROR);
+ code = RTShellUtil.add_rtc_to_default_ec(m_conoutRef.value, null);
+ assertTrue("test:add_rtc",code == ReturnCode_t.RTC_ERROR);
+ code = RTShellUtil.add_rtc_to_default_ec(null, null);
+ assertTrue("test:add_rtc",code == ReturnCode_t.RTC_ERROR);
+ //
+ code = RTShellUtil.remove_rtc_to_default_ec(null, m_serconRef.value);
+ assertTrue("test:remove_rtc",code == ReturnCode_t.RTC_ERROR);
+ code = RTShellUtil.remove_rtc_to_default_ec(m_conoutRef.value,null);
+ assertTrue("test:remove_rtc",code == ReturnCode_t.RTC_ERROR);
+ code = RTShellUtil.remove_rtc_to_default_ec(null,null);
+ assertTrue("test:remove_rtc",code == ReturnCode_t.RTC_ERROR);
+ objs = RTShellUtil.get_participants_rtc(null);
+ assertTrue("test:",objs == null);
+
+ }
+ /**
+ *
+ * get_port_names
+ * get_inport_names
+ * get_outport_names
+ * get_svcport_names
+ *
+ */
+ public void test_get_port_names(){
+ Vector<String> names;
+ //
+ //
+ //
+ names = RTShellUtil.get_port_names(m_conoutRef.value);
+ System.out.println( "names : "+ names.toString());
+ assertTrue("test:",names.size() == 1);
+
+ names = RTShellUtil.get_port_names(m_coninRef.value);
+ System.out.println( "names : "+ names.toString());
+ assertTrue("test:",names.size() == 1);
+
+ names = RTShellUtil.get_port_names(m_serconRef.value);
+ System.out.println( "names : "+ names.toString());
+ assertTrue("test:",names.size() == 1);
+
+ //
+ //
+ //
+ names = RTShellUtil.get_inport_names(m_conoutRef.value);
+ System.out.println( "names : "+ names.toString());
+ assertTrue("test:",names.size() == 1);
+
+ names = RTShellUtil.get_inport_names(m_coninRef.value);
+ System.out.println( "names : "+ names.toString());
+ assertTrue("test:",names.size() == 0);
+
+ names = RTShellUtil.get_inport_names(m_serconRef.value);
+ System.out.println( "names : "+ names.toString());
+ assertTrue("test:",names.size() == 0);
+
+ //
+ //
+ //
+ names = RTShellUtil.get_outport_names(m_conoutRef.value);
+ System.out.println( "names : "+ names.toString());
+ assertTrue("test:",names.size() == 0);
+
+ names = RTShellUtil.get_outport_names(m_coninRef.value);
+ System.out.println( "names : "+ names.toString());
+ assertTrue("test:",names.size() == 1);
+
+ names = RTShellUtil.get_outport_names(m_serconRef.value);
+ System.out.println( "names : "+ names.toString());
+ assertTrue("test:",names.size() == 0);
+
+ //
+ //
+ //
+ names = RTShellUtil.get_svcport_names(m_conoutRef.value);
+ System.out.println( "names : "+ names.toString());
+ assertTrue("test:",names.size() == 0);
+
+ names = RTShellUtil.get_svcport_names(m_coninRef.value);
+ System.out.println( "names : "+ names.toString());
+ assertTrue("test:",names.size() == 0);
+
+ names = RTShellUtil.get_svcport_names(m_serconRef.value);
+ System.out.println( "names : "+ names.toString());
+ assertTrue("test:",names.size() == 1);
+
+
+ names = RTShellUtil.get_port_names(null);
+ assertTrue("test:",names == null);
+ names = RTShellUtil.get_inport_names(null);
+ assertTrue("test:",names == null);
+ names = RTShellUtil.get_outport_names(null);
+ assertTrue("test:",names == null);
+ names = RTShellUtil.get_svcport_names(null);
+ assertTrue("test:",names == null);
+ }
+ /**
+ *
+ * get_port_by_name
+ *
+ */
+ public void test_get_port_by_name(){
+ PortService ps;
+ ps = RTShellUtil.get_port_by_name(m_conoutRef.value,
+ "ConsoleOut0.in");
+ System.out.println( "name : "+ ps.get_port_profile().name);
+ assertTrue("test:",ps.get_port_profile().name.equals("ConsoleOut0.in"));
+
+ ps = RTShellUtil.get_port_by_name(null,
+ "ConsoleOut0.in");
+ assertTrue("test:",ps == null);
+
+ ps = RTShellUtil.get_port_by_name(m_conoutRef.value, "");
+ assertTrue("test:",ps == null);
+ }
+ /**
+ *
+ * connect
+ *
+ */
+ public void test_connect(){
+
+ PortService port1 = RTShellUtil.get_port_by_name(m_conoutRef.value,
+ "ConsoleOut0.in");
+ PortService port2 = RTShellUtil.get_port_by_name(m_coninRef.value,
+ "ConsoleIn0.out");
+ Properties prop = new Properties();
+ String[] conprop = {
+ "dataport.interface_type","corba_cdr",
+ "dataport.dataflow_type", "push",
+ ""
+ };
+
+ prop.setDefaults(conprop);
+ ReturnCode_t code;
+ code = RTShellUtil.connect("kamo",prop,port1,port2);
+ assertTrue("test:",code == ReturnCode_t.RTC_OK);
+ try{
+ Thread.sleep(10000);
+ }
+ catch(InterruptedException e){
+ }
+ //
+ //
+ //
+ code = RTShellUtil.connect("",prop,port1,port2);
+ code = RTShellUtil.connect("kamo",null,port1,port2);
+ code = RTShellUtil.connect("kamo",prop,null,port2);
+ assertTrue("test:",code == ReturnCode_t.BAD_PARAMETER);
+ code = RTShellUtil.connect("kamo",prop,port1,null);
+ assertTrue("test:",code == ReturnCode_t.BAD_PARAMETER);
+
+ }
}
More information about the openrtm-commit
mailing list