[openrtm-commit:01836] r2708 - in trunk/OpenRTM-aist/src/lib/rtm: . tests/RTObject
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2016年 3月 10日 (木) 11:34:11 JST
Author: irie
Date: 2016-03-10 11:34:11 +0900 (Thu, 10 Mar 2016)
New Revision: 2708
Added:
trunk/OpenRTM-aist/src/lib/rtm/tests/RTObject/RTObjectTests.idl
Modified:
trunk/OpenRTM-aist/src/lib/rtm/RTObject.cpp
trunk/OpenRTM-aist/src/lib/rtm/tests/RTObject/Makefile.am
trunk/OpenRTM-aist/src/lib/rtm/tests/RTObject/RTObjectTests.cpp
Log:
[compat,test] Debug core-dump, Change consumer and provider tests. refs #3235
Modified: trunk/OpenRTM-aist/src/lib/rtm/RTObject.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/RTObject.cpp 2016-02-18 07:28:21 UTC (rev 2707)
+++ trunk/OpenRTM-aist/src/lib/rtm/RTObject.cpp 2016-03-10 02:34:11 UTC (rev 2708)
@@ -2164,7 +2164,7 @@
// never throws exception
RTC_ERROR(("Unknown exception caught."));
}
- delete m_eclist[i];
+ RTC::ExecutionContextFactory::instance().deleteObject(m_eclist[i]); /////
}
if (!m_eclist.empty())
{
Modified: trunk/OpenRTM-aist/src/lib/rtm/tests/RTObject/Makefile.am
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/tests/RTObject/Makefile.am 2016-02-18 07:28:21 UTC (rev 2707)
+++ trunk/OpenRTM-aist/src/lib/rtm/tests/RTObject/Makefile.am 2016-03-10 02:34:11 UTC (rev 2708)
@@ -37,13 +37,19 @@
-L$(top_builddir) \
-L$(top_builddir)/src/lib/coil/lib
+SUFFIXES = .idl Skel.cpp Stub.cpp Stub.o Skel.o
+.idlSkel.cpp:
+ $(top_srcdir)/build/makewrapper.py $< rtm/tests/RTObject/
+ $(IDLC) $(IDLFLAGS) $<
+
IDL_SOURCES = \
$(top_srcdir)/src/lib/rtm/idl/SDOPackage.idl \
$(top_srcdir)/src/lib/rtm/idl/RTC.idl \
$(top_srcdir)/src/lib/rtm/idl/OpenRTM.idl \
$(top_srcdir)/src/lib/rtm/idl/Manager.idl \
$(top_srcdir)/src/lib/rtm/idl/BasicDataType.idl \
- $(top_srcdir)/src/lib/rtm/idl/DataPort.idl
+ $(top_srcdir)/src/lib/rtm/idl/DataPort.idl \
+ RTObjectTests.idl
noinst_PROGRAMS = RTObjectTests
@@ -116,8 +122,10 @@
RTObjectTests_LDADD = -lcppunit -lcoil -luuid -lgcov
EXTRA_DIST = \
- RTObjectTests.cpp
+ RTObjectTests.cpp \
+ $(IDL_SOURCES)
+
# all
all: do-test do-coverage
@@ -147,5 +155,3 @@
*~ *core \
Makefile.old \
*.cc *.hh *.i *.a *.c *.inl
-
-
Modified: trunk/OpenRTM-aist/src/lib/rtm/tests/RTObject/RTObjectTests.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/tests/RTObject/RTObjectTests.cpp 2016-02-18 07:28:21 UTC (rev 2707)
+++ trunk/OpenRTM-aist/src/lib/rtm/tests/RTObject/RTObjectTests.cpp 2016-03-10 02:34:11 UTC (rev 2708)
@@ -27,6 +27,12 @@
#include <rtm/RTC.h>
#include <rtm/PeriodicExecutionContext.h>
#include <rtm/RTObject.h>
+#include <rtm/SdoServiceAdmin.h> ///
+#include <rtm/SdoServiceConsumerBase.h> ///
+#include <rtm/SdoServiceProviderBase.h> ///
+#include "RTObjectTestsSkel.h" ///
+#include <rtm/CorbaConsumer.h> ///
+#include <rtm/ExecutionContextBase.h> ///
/*!
* @class RTObjectTests class
@@ -233,7 +239,241 @@
public virtual PortableServer::RefCountServantBase
{
};
-
+
+ /////-----
+ class MyIncrementConsumer
+ : public RTC::SdoServiceConsumerBase
+ {
+ protected:
+ RTC::RTObject_impl* m_rtobj;
+ SDOPackage::ServiceProfile m_profile;
+ RTC::CorbaConsumer<TEST::IncrementCount> m_myconsumer;
+
+ public:
+ MyIncrementConsumer():m_rtobj(NULL)
+ {
+ }
+ ~MyIncrementConsumer()
+ {
+ }
+ bool init(RTC::RTObject_impl& rtobj, const SDOPackage::ServiceProfile& profile)
+ {
+ std::cerr << "\nMyIncrementConsumer(): init()" << std::endl;
+ if (!m_myconsumer.setObject(profile.service)){
+ std::cerr << "\nMyIncrementConsumer(): init(): setObject() return false" << std::endl;
+ return false;
+ }
+ std::cerr << "MyIncrementConsumer(): setObject() return true" << std::endl;
+ m_rtobj = &rtobj;
+ m_profile = profile;
+ coil::Properties prop;
+ NVUtil::copyToProperties(prop, profile.properties);
+ return true;
+ }
+
+ bool reinit(const SDOPackage::ServiceProfile& profile)
+ {
+ std::cerr << "\nMyIncrementConsumer(): reinit()" << std::endl;
+ if (!m_myconsumer._ptr()->_is_equivalent(profile.service))
+ {
+ RTC::CorbaConsumer<TEST::IncrementCount> tmp;
+ if (!tmp.setObject(profile.service))
+ {
+ return false;
+ }
+ m_myconsumer.releaseObject();
+ m_myconsumer.setObject(profile.service);
+ }
+ m_profile= profile;
+ coil::Properties prop;
+ NVUtil::copyToProperties(prop, profile.properties);
+ return true;
+ }
+ const SDOPackage::ServiceProfile& getProfile() const
+ {
+ std::cerr << "\nMyIncrementConsumer(): getProfile()" << std::endl;
+ return m_profile;
+ }
+ void finalize()
+ {
+ }
+ void consumerIncrementCount()
+ {
+ m_myconsumer->increment_count();
+ }
+ };
+
+ RTC::SdoServiceConsumerBase* testConsumer = NULL;
+ template <class AbstractClass, class ConcreteClass>
+ AbstractClass* Creator()
+ {
+ ConcreteClass* theInstance = new ConcreteClass();
+ testConsumer = (RTC::SdoServiceConsumerBase*) theInstance;
+ return theInstance;
+ };
+
+ class MyIncrementProvider
+ : public RTC::SdoServiceProviderBase,
+ public POA_TEST::IncrementCount
+ {
+ protected:
+ RTC::RTObject_impl* m_rtobj;
+ SDOPackage::ServiceProfile m_profile;
+ RTC::CorbaConsumer<TEST::IncrementCount> m_myprovider;
+ int m_invokedCount;
+
+ public:
+ MyIncrementProvider():m_rtobj(NULL), m_invokedCount(0)
+ {
+ }
+ ~MyIncrementProvider()
+ {
+ }
+ bool init(RTC::RTObject_impl& rtobj, const SDOPackage::ServiceProfile& profile)
+ {
+ std::cerr << "\nMyIncrementProvider(): init()" << std::endl;
+ if (m_myprovider.setObject(profile.service) == false){
+ std::cerr << "\nMyIncrementProvider(): init() return false" << std::endl;
+ return false;
+ }
+ m_rtobj = &rtobj;
+ m_profile = profile;
+ coil::Properties prop;
+ NVUtil::copyToProperties(prop, profile.properties);
+ return true;
+ }
+ bool reinit(const SDOPackage::ServiceProfile& profile)
+ {
+ std::cerr << "\nMyIncrementProvider(): reinit()" << std::endl;
+ m_profile= profile;
+ coil::Properties prop;
+ NVUtil::copyToProperties(prop, profile.properties);
+ return true;
+ }
+ const SDOPackage::ServiceProfile& getProfile() const
+ {
+ std::cerr << "\nMyIncrementProvider(): getProfile()" << std::endl;
+ return m_profile;
+ }
+ void finalize()
+ {
+ }
+
+ void increment_count()
+ {
+ ++m_invokedCount;
+ }
+
+ int get_invoked_count()
+ {
+ return m_invokedCount;
+ }
+ };
+
+ // class MySDOServiceConsumer
+ // : public RTC::SdoServiceConsumerBase
+ // {
+ // protected:
+ // RTC::RTObject_impl* m_rtobj;
+ // SDOPackage::ServiceProfile m_profile;
+ // ///NG// RTC::CorbaConsumer<RTC::ExecutionContext> m_myconsumer;
+ // RTC::CorbaConsumer<SDOPackage::SDOService> m_myconsumer;
+
+ // public:
+ // MySDOServiceConsumer():m_rtobj(NULL)
+ // {
+ // }
+ // ~MySDOServiceConsumer()
+ // {
+ // }
+ // bool init(RTC::RTObject_impl& rtobj, const SDOPackage::ServiceProfile& profile)
+ // {
+ // std::cerr << "\nMySDOServiceConsumer(): init()" << std::endl;
+ // if (!m_myconsumer.setObject(profile.service)){
+ // std::cerr << "\nMySDOServiceConsumer(): init(): setObject() return false" << std::endl;
+ // return false;
+ // }
+ // /*
+ // bool bRetn = m_myconsumer.setObject(profile.service);
+ // if (bRetn == false ) {
+ // std::cerr << "MySDOServiceConsumer(): setObject() return false" << std::endl;
+ // return false;
+ // } else {
+ // std::cerr << "MySDOServiceConsumer(): setObject() return true" << std::endl;
+ // }
+ // */
+ // std::cerr << "MySDOServiceConsumer(): setObject() return true" << std::endl;
+ // m_rtobj = &rtobj;
+ // m_profile = profile;
+ // coil::Properties prop;
+ // NVUtil::copyToProperties(prop, profile.properties);
+ // return true;
+ // }
+ // bool reinit(const SDOPackage::ServiceProfile& profile)
+ // {
+ // std::cerr << "\nMySDOServiceConsumer(): reinit()" << std::endl;
+ // m_profile= profile;
+ // coil::Properties prop;
+ // NVUtil::copyToProperties(prop, profile.properties);
+ // return true;
+ // }
+ // const SDOPackage::ServiceProfile& getProfile() const
+ // {
+ // std::cerr << "\nMySDOServiceConsumer(): getProfile()" << std::endl;
+ // return m_profile;
+ // }
+ // void finalize()
+ // {
+ // }
+ // };
+
+ class MySDOServiceProvider
+ : public RTC::SdoServiceProviderBase
+ {
+ public:
+ MySDOServiceProvider():m_rtobj(NULL)
+ {
+ }
+ ~MySDOServiceProvider()
+ {
+ }
+ bool init(RTC::RTObject_impl& rtobj, const SDOPackage::ServiceProfile& profile)
+ {
+ std::cerr << "\nMySDOServiceProvider(): init()" << std::endl;
+ if (m_myprovider.setObject(profile.service) == false){
+ std::cerr << "\nMySDOServiceProvider(): init() return false" << std::endl;
+ return false;
+ }
+ m_rtobj = &rtobj;
+ m_profile = profile;
+ coil::Properties prop;
+ NVUtil::copyToProperties(prop, profile.properties);
+ return true;
+ }
+ bool reinit(const SDOPackage::ServiceProfile& profile)
+ {
+ std::cerr << "\nMySDOServiceProvider(): reinit()" << std::endl;
+ m_profile= profile;
+ coil::Properties prop;
+ NVUtil::copyToProperties(prop, profile.properties);
+ return true;
+ }
+ const SDOPackage::ServiceProfile& getProfile() const
+ {
+ std::cerr << "\nMySDOServiceProvider(): getProfile()" << std::endl;
+ return m_profile;
+ }
+ void finalize()
+ {
+ }
+ protected:
+ RTC::RTObject_impl* m_rtobj;
+ SDOPackage::ServiceProfile m_profile;
+ ///NG// RTC::CorbaConsumer<RTC::ExecutionContext> m_myprovider;
+ RTC::CorbaConsumer<SDOPackage::SDOService> m_myprovider;
+ };
+ /////-----END
+
struct PortFinder
{
PortFinder(const RTC::PortService_ptr& port) : m_port(port) {}
@@ -370,44 +610,52 @@
{
CPPUNIT_TEST_SUITE(RTObjectTests);
- CPPUNIT_TEST(test_finalizeContexts);
- CPPUNIT_TEST(test_bindContext);
- CPPUNIT_TEST(test_add_removePort);
- CPPUNIT_TEST(test_readAll);
- CPPUNIT_TEST(test_writeAll);
- CPPUNIT_TEST(test_initialize_invoking_on_initialize);
- CPPUNIT_TEST(test_initialize_in_Alive);
- CPPUNIT_TEST(test_finalize_invoking_on_finalize);
- CPPUNIT_TEST(test_finalize_participating_in_execution_context);
- CPPUNIT_TEST(test_finalize_in_Created);
+ CPPUNIT_TEST(test_finalizeContexts);//OK
+ CPPUNIT_TEST(test_bindContext);//OK
+ CPPUNIT_TEST(test_add_removePort);//OK
+ CPPUNIT_TEST(test_readAll);//OK
+ CPPUNIT_TEST(test_writeAll);//OK
+ CPPUNIT_TEST(test_initialize_invoking_on_initialize);//OK
+ CPPUNIT_TEST(test_initialize_in_Alive);//OK
+ CPPUNIT_TEST(test_finalize_invoking_on_finalize);//OK
+ CPPUNIT_TEST(test_finalize_participating_in_execution_context);//Modifed
+ CPPUNIT_TEST(test_finalize_in_Created);//OK
// CPPUNIT_TEST(test_is_alive);
- CPPUNIT_TEST(test_exit);
- CPPUNIT_TEST(test_exit_in_Created);
- CPPUNIT_TEST(test_detach_executioncontext);
- CPPUNIT_TEST(test_detach_executioncontext_with_illegal_id);
- CPPUNIT_TEST(test_get_context);
- CPPUNIT_TEST(test_get_contexts);
- CPPUNIT_TEST(test_get_component_profile);
- CPPUNIT_TEST(test_get_ports);
+ CPPUNIT_TEST(test_exit);//Modifed
+ CPPUNIT_TEST(test_exit_in_Created);//OK
+ CPPUNIT_TEST(test_detach_executioncontext);//OK
+ CPPUNIT_TEST(test_detach_executioncontext_with_illegal_id);//OK
+ CPPUNIT_TEST(test_get_context);//OK
+ CPPUNIT_TEST(test_get_contexts);//OK
+ CPPUNIT_TEST(test_get_component_profile);//OK
+ CPPUNIT_TEST(test_get_ports);//OK
// CPPUNIT_TEST(test_get_execution_context_services);
// CPPUNIT_TEST(test_get_owned_organizations);
- CPPUNIT_TEST(test_get_sdo_id);
- CPPUNIT_TEST(test_get_sdo_type);
+ CPPUNIT_TEST(test_get_sdo_id);//OK
+ CPPUNIT_TEST(test_get_sdo_type);//OK
// CPPUNIT_TEST(test_get_device_profile);
// CPPUNIT_TEST(test_get_service_profile);
- CPPUNIT_TEST(test_get_service_profile_with_illegal_arguments);
- CPPUNIT_TEST(test_get_sdo_service);
- CPPUNIT_TEST(test_get_sdo_service_with_illegal_arguments);
- CPPUNIT_TEST(test_get_configuration_and_set_device_profile_and_get_device_profile);
- CPPUNIT_TEST(test_get_configuration_and_set_service_profile_and_get_service_profile);
- CPPUNIT_TEST(test_get_configuration_and_set_service_profile_and_get_service_profiles);
- CPPUNIT_TEST(test_get_configuration_and_set_service_profile_and_get_sdo_service);
- CPPUNIT_TEST(test_get_configuration_and_remove_service_profile);
- CPPUNIT_TEST(test_get_configuration_and_add_organization_and_get_organizations);
- CPPUNIT_TEST(test_get_configuration_and_remove_organization);
+ ///CPPUNIT_TEST(test_get_service_profile_with_illegal_arguments);
+ ///CPPUNIT_TEST(test_get_sdo_service);
+ ///CPPUNIT_TEST(test_get_sdo_service_with_illegal_arguments);
+ ///CPPUNIT_TEST(test_get_configuration_and_set_device_profile_and_get_device_profile);
+ ///CPPUNIT_TEST(test_get_configuration_and_set_service_profile_and_get_service_profile);
+ ///CPPUNIT_TEST(test_get_configuration_and_set_service_profile_and_get_service_profiles);
+ ///CPPUNIT_TEST(test_get_configuration_and_set_service_profile_and_get_sdo_service);
+ ///CPPUNIT_TEST(test_get_configuration_and_remove_service_profile);
+ CPPUNIT_TEST(test_consumer_add_service_profile_remove_it);///OK
+ CPPUNIT_TEST(test_consumer_add_service_profile_remove_it_with_illegal_arguments);///OK
+ CPPUNIT_TEST(test_provider_get_service_profile);///OK
+ CPPUNIT_TEST(test_provider_get_service_profile_with_illegal_arguments);///OK
+ CPPUNIT_TEST(test_provider_get_sdo_service);///OK
+ CPPUNIT_TEST(test_provider_get_sdo_service_with_illegal_arguments);///OK
+ CPPUNIT_TEST(test_provider_get_service_profiles);///OK
+
+ CPPUNIT_TEST(test_get_configuration_and_add_organization_and_get_organizations);//OK
+ CPPUNIT_TEST(test_get_configuration_and_remove_organization);//OK
// CPPUNIT_TEST(test_get_monitoring);
- CPPUNIT_TEST(test_get_status);
- CPPUNIT_TEST(test_get_status_list);
+ CPPUNIT_TEST(test_get_status);//OK
+ CPPUNIT_TEST(test_get_status_list);//OK
CPPUNIT_TEST_SUITE_END();
@@ -457,6 +705,14 @@
*/
void test_initialize_invoking_on_initialize()
{
+ std::cout << "\ntest_initialize_invoking_on_initialize()" << std::endl;
+
+ RTC::ExecutionContextFactory::instance().addFactory("PeriodicExecutionContext",
+ ::coil::Creator< ::RTC::ExecutionContextBase,
+ ::RTC_exp::PeriodicExecutionContext>,
+ ::coil::Destructor< ::RTC::ExecutionContextBase,
+ ::RTC_exp::PeriodicExecutionContext>); /////
+
RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA); // will be deleted automatically
// initialize()メソッド呼出により、on_initialize()コールバックが呼び出されるか？
@@ -467,7 +723,9 @@
rto->setProperties(prop);
CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, rto->initialize());
CPPUNIT_ASSERT_EQUAL(1, rto->countLog("on_initialize"));
- rto->exit();
+ RTC::ExecutionContextFactory::instance().removeFactory("PeriodicExecutionContext"); /////
+ ///rto->exit();//
+ CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, rto->exit());///OK
delete rto;
}
@@ -478,6 +736,14 @@
*/
void test_initialize_in_Alive()
{
+ std::cout << "\ntest_initialize_in_Alive()" << std::endl;
+
+ RTC::ExecutionContextFactory::instance().addFactory("PeriodicExecutionContext",
+ ::coil::Creator< ::RTC::ExecutionContextBase,
+ ::RTC_exp::PeriodicExecutionContext>,
+ ::coil::Destructor< ::RTC::ExecutionContextBase,
+ ::RTC_exp::PeriodicExecutionContext>); /////
+
RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA); // will be deleted automatically
// initialize()メソッド呼出しを行い、Alive状態に遷移させる
@@ -485,6 +751,7 @@
prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
prop.setProperty("exec_cxt.periodic.rate","1000");
rto->setProperties(prop);
+ std::cout << "\ntest_initialize_in_Alive() rto->initialize() 1" << std::endl;
CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, rto->initialize());
RTC::ExecutionContext_ptr ec;
@@ -492,8 +759,14 @@
CPPUNIT_ASSERT_EQUAL(true, rto->is_alive(ec));
// Alive状態でinitialize()メソッド呼出しを行った場合、正常に動作するか？
+ std::cout << "\ntest_initialize_in_Alive() rto->initialize() 2" << std::endl;
CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, rto->initialize());
- rto->exit();
+ RTC::ExecutionContextFactory::instance().removeFactory("PeriodicExecutionContext"); /////
+ ///std::cout << "\ntest_initialize_in_Alive() rto->finalizeContexts()" << std::endl;
+ ///rto->finalizeContexts();///
+ ///rto->exit();//
+ std::cout << "\ntest_initialize_in_Alive() rto->exit()" << std::endl;
+ CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, rto->exit());///NG
delete rto;
}
@@ -504,6 +777,14 @@
*/
void test_finalize_invoking_on_finalize()
{
+ std::cout << "\ntest_finalize_invoking_on_finalize()" << std::endl;
+
+ RTC::ExecutionContextFactory::instance().addFactory("PeriodicExecutionContext",
+ ::coil::Creator< ::RTC::ExecutionContextBase,
+ ::RTC_exp::PeriodicExecutionContext>,
+ ::coil::Destructor< ::RTC::ExecutionContextBase,
+ ::RTC_exp::PeriodicExecutionContext>); /////
+
RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA); // will be deleted automatically
// initialize()メソッド呼出しを行い、Alive状態に遷移させる
@@ -511,6 +792,7 @@
prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
prop.setProperty("exec_cxt.periodic.rate","1000");
rto->setProperties(prop);
+ std::cout << "\ntest_finalize_invoking_on_finalize() rto->initialize()" << std::endl;
CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, rto->initialize());
RTC::ExecutionContext_ptr ec;
ec = rto->get_context(0);
@@ -521,7 +803,14 @@
CPPUNIT_ASSERT_EQUAL(true, rto->is_alive(ec));
// exit()呼び出しで、finalize()が有効となり実行される
- rto->exit();
+ RTC::ExecutionContextFactory::instance().removeFactory("PeriodicExecutionContext"); /////
+
+ // std::cout << "\ntest_finalize_invoking_on_finalize() rto->finalizeContexts()" << std::endl;
+ // rto->finalizeContexts();
+
+ ///rto->exit();//
+ std::cout << "\ntest_finalize_invoking_on_finalize() rto->exit()" << std::endl;
+ CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, rto->exit());///
CPPUNIT_ASSERT_EQUAL(1, rto->countLog("on_finalize"));
delete rto;
}
@@ -533,27 +822,65 @@
*/
void test_finalize_participating_in_execution_context()
{
+ std::cout << "\ntest_finalize_participating_in_execution_context()" << std::endl;
+
+ RTC::ExecutionContextFactory::instance().addFactory("PeriodicExecutionContext",
+ ::coil::Creator< ::RTC::ExecutionContextBase,
+ ::RTC_exp::PeriodicExecutionContext>,
+ ::coil::Destructor< ::RTC::ExecutionContextBase,
+ ::RTC_exp::PeriodicExecutionContext>); /////
+
RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA); // will be deleted automatically
+ RTObjectMock* rtoOther = new RTObjectMock(m_pORB, m_pPOA); // will be deleted automatically
// initialize()メソッド呼出しを行い、Alive状態に遷移させる
coil::Properties prop;
prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
- prop.setProperty("exec_cxt.periodic.rate","1000");
+ prop.setProperty("exec_cxt.periodic.rate","1");
rto->setProperties(prop);
+ std::cout << "\ntest_finalize_participating_ rto->initialize()" << std::endl;
CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, rto->initialize());
RTC::ExecutionContext_ptr ec;
ec = rto->get_context(0);
+ std::cout << "\ntest_finalize_participating_ rto->is_alive(ec)" << std::endl;
CPPUNIT_ASSERT_EQUAL(true, rto->is_alive(ec));
// ExecutionContextに登録しておく
- CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
-
+ std::cout << "\ntest_finalize_participating_ ec->add_component(..)" << std::endl;
+ CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rtoOther->_this()));//
+ std::cout << "\ntest_finalize_participating_: ec->activate_component(rto->_this())" << std::endl;
+ CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));//
+
+ std::cout << "\ntest_finalize_participating_: coil::sleep(...)" << std::endl;
+ coil::sleep(2);//
+
// ExecutionContextに登録された状態でfinalize()を呼び出した場合、意図どおりのエラーを返すか？
- CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, rto->finalize());
+ std::cout << "\ntest_finalize_participating_ rto->finalize()" << std::endl;
+ CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, rto->finalize());//
- CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rto->_this()));
- rto->exit();
+ ///std::cout << "\ntest_finalize_participating_ rto->detach_context(ECOTHER_OFFSET + 0)" << std::endl;
+ ///CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, rto->detach_context(ECOTHER_OFFSET + 0));/////
+ ///CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, rto->detach_context(0));/////
+
+ std::cout << "\ntest_finalize_participating_: ec->deactivate_component(rto->_this())" << std::endl;
+ CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->deactivate_component(rto->_this()));//
+
+ std::cout << "\ntest_finalize_participating_: coil::sleep(...)2" << std::endl;
+ coil::sleep(2);//
+
+ std::cout << "\ntest_finalize_participating_ ec->remove_component(..)" << std::endl;
+ CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rtoOther->_this()));//
+
+ std::cout << "\ntest_finalize_participating_ removeFactory(..)" << std::endl;
+ RTC::ExecutionContextFactory::instance().removeFactory("PeriodicExecutionContext"); /////
+ ///rto->exit();//NG
+ std::cout << "\ntest_finalize_participating_ rto->exit()" << std::endl;
+ CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, rto->exit());
+
+ m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rtoOther));
+ delete rtoOther;
+ m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));
delete rto;
}
@@ -564,10 +891,19 @@
*/
void test_finalize_in_Created()
{
+ std::cout << "\ntest_finalize_in_Created()" << std::endl;
+
+ RTC::ExecutionContextFactory::instance().addFactory("PeriodicExecutionContext",
+ ::coil::Creator< ::RTC::ExecutionContextBase,
+ ::RTC_exp::PeriodicExecutionContext>,
+ ::coil::Destructor< ::RTC::ExecutionContextBase,
+ ::RTC_exp::PeriodicExecutionContext>); /////
+
RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA); // will be deleted automatically
// Created状態でfinalize()を呼出した場合、意図どおりのエラーで返るか？
CPPUNIT_ASSERT_EQUAL(RTC::PRECONDITION_NOT_MET, rto->finalize());
+ RTC::ExecutionContextFactory::instance().removeFactory("PeriodicExecutionContext"); /////
rto->shutdown();
delete rto;
}
@@ -588,39 +924,72 @@
*/
void test_exit()
{
+ std::cout << "\ntest_exit()" << std::endl;
+
+ RTC::ExecutionContextFactory::instance().addFactory("PeriodicExecutionContext2",
+ ::coil::Creator< ::RTC::ExecutionContextBase,
+ ::RTC_exp::PeriodicExecutionContext>,
+ ::coil::Destructor< ::RTC::ExecutionContextBase,
+ ::RTC_exp::PeriodicExecutionContext>); /////
+
RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA); // will be deleted automatically
+ RTObjectMock* rtoOther = new RTObjectMock(m_pORB, m_pPOA); // will be deleted automatically
rto->setObjRef(rto->_this());
+ CPPUNIT_ASSERT(! CORBA::is_nil(rto->getObjRef()));///
+ CPPUNIT_ASSERT(! CORBA::is_nil(rto->_this()));///
// initialize()メソッド呼出しを行い、Alive状態に遷移させる
coil::Properties prop;
- prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
- prop.setProperty("exec_cxt.periodic.rate","1000");
+ prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext2");
+ ///prop.setProperty("exec_cxt.periodic.rate","1000"); /// 1ms
+ prop.setProperty("exec_cxt.periodic.rate","2"); /// 500ms
rto->setProperties(prop);
+ std::cout << "\ntest_exit(): rto->initialize()" << std::endl;
CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, rto->initialize());
RTC::ExecutionContext_ptr ec;
+ std::cout << "\ntest_exit(): rto->get_context(0)" << std::endl;
ec = rto->get_context(0);
CPPUNIT_ASSERT_EQUAL(true, rto->is_alive(ec));
// コンポーネントをExecutionContextに登録してアクティブ化する
- CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rto->_this()));
- CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));
+ std::cout << "\ntest_exit(): ec->add_component(rto->_this())" << std::endl;
+ CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->add_component(rtoOther->_this()));//
+ //Call activate_component() for the state machine drive ???.
+ std::cout << "\ntest_exit(): ec->activate_component(rto->_this())" << std::endl;
+ CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->activate_component(rto->_this()));//
+
//Call start() for the state machine drive.
- ec->start();
- coil::sleep(1);
+ // std::cout << "\ntest_exit(): ec->start()" << std::endl;
+ // CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->start());///NG, because at initialize() m_ecMine[i]->start()
+
+ std::cout << "\ntest_exit(): coil::sleep(1)" << std::endl;
+ coil::sleep(1);//
// exit()呼出しにより、当該コンポーネントがfinalize()されるか？
// exit()呼出しにより、当該コンポーネントが終状態に遷移するか？
+ std::cout << "\ntest_exit(): rto->countLog() 0" << std::endl;
CPPUNIT_ASSERT_EQUAL(0, rto->countLog("on_finalize"));
+ std::cout << "\ntest_exit(): ec->get_component_state(rto->_this())" << std::endl;
CPPUNIT_ASSERT_EQUAL(RTC::ACTIVE_STATE, ec->get_component_state(rto->_this()));
- ec->stop();
- coil::sleep(1);
+ // std::cout << "\ntest_exit(): ec->stop()" << std::endl;
+ // CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->stop());//
+ // coil::sleep(1);//
+
//Call remove_component(),to cancel the registered component.
- ec->remove_component(rto->_this());
- CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, rto->exit());
+ std::cout << "\ntest_exit(): ec->remove_component(rtoOther->_this())" << std::endl;
+ CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, ec->remove_component(rtoOther->_this()));///
+ std::cout << "\ntest_exit(): rto->exit()" << std::endl;
+ CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, rto->exit());//
+ std::cout << "\ntest_exit(): rto->countLog() 1" << std::endl;
CPPUNIT_ASSERT_EQUAL(1, rto->countLog("on_finalize"));
+ std::cout << "\ntest_exit(): rto->is_alive()" << std::endl;
CPPUNIT_ASSERT_EQUAL(true, rto->is_alive(ec));
+ RTC::ExecutionContextFactory::instance().removeFactory("PeriodicExecutionContext2"); /////
+ m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rtoOther));///
+ delete rtoOther;
+ m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));///
delete rto;
}
@@ -815,6 +1184,8 @@
*/
void test_add_removePort()
{
+ std::cerr << "\n test_add_removePort()" << std::endl;
+
RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA); // will be deleted automatically
PortMock* port0 = new PortMock();
@@ -825,6 +1196,7 @@
// PortBase::updateConnectors()内、Guard guard(m_profile_mutex);でロックされ、
// 処理が戻ってこない。(デッドロック???)
// CPPUNIT_ASSERT_EQUAL(false, rto->addPort(*port0));
+ CPPUNIT_ASSERT_EQUAL(false, rto->addPort(*port0));/////
PortMock* port1 = new PortMock();
port1->setName("port1");
@@ -849,6 +1221,10 @@
// 処理が戻ってこない。(デッドロック???)
// CPPUNIT_ASSERT_EQUAL(false, rto->addInPort("in",*inport0));
// CPPUNIT_ASSERT_EQUAL(false, rto->addOutPort("out", *outport0));
+ std::cerr << "\n test_add_removePort() rto->addInPort(in,*inport0)" << std::endl;
+ CPPUNIT_ASSERT_EQUAL(false, rto->addInPort("in",*inport0));/////
+ std::cerr << "\n test_add_removePort() rto->addOutPort(out, *outport0)" << std::endl;
+ CPPUNIT_ASSERT_EQUAL(false, rto->addOutPort("out", *outport0));/////
// 登録したPort参照をすべて正しく取得できるか？
portList = rto->get_ports();
@@ -863,11 +1239,16 @@
CPPUNIT_ASSERT(portList != NULL);
CPPUNIT_ASSERT_EQUAL(CORBA::ULong(0), portList->length());
+ std::cerr << "\n test_add_removePort() delete outport0" << std::endl;
delete outport0;
+ std::cerr << "\n test_add_removePort() delete inport0" << std::endl;
delete inport0;
+ std::cerr << "\n test_add_removePort() delete port1" << std::endl;
delete port1;
+ std::cerr << "\n test_add_removePort() delete port0" << std::endl;
delete port0;
+ std::cerr << "\n test_add_removePort() rto->shutdown()" << std::endl;
rto->shutdown();
delete rto;
@@ -882,6 +1263,8 @@
*/
void test_readAll()
{
+ std::cerr << "\n test_readAll() " << std::endl;
+
RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA); // will be deleted automatically
InPortMock* inport0 = new InPortMock("in","TimedLong");
@@ -957,6 +1340,8 @@
*/
void test_writeAll()
{
+ std::cerr << "\n test_writeAll() " << std::endl;
+
RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA); // will be deleted automatically
OutPortMock* outport0 = new OutPortMock("out","TimedLong");
@@ -1176,10 +1561,525 @@
{
// test_get_configuration_and_set_service_profile_and_get_service_profileで兼ねる
}
-
+
+ /////--------
+ /////----consumer test----
/*!
+ * @brief add_service_profile(), remove_service_profile()メソッドのテスト
+ *
+ * - Configuration::add_service_profile()を通して、SDOServiceConsumerを正しく設定できるか？
+ * - remove_service_profile()を用いて、設定されているSDPServiceConsumerを正しく削除できるか？
+ */
+ void test_consumer_add_service_profile_remove_it()
+ {
+ std::cerr << "\n!!!-----test_consumer_add_service_profile_remove_it()" << std::endl;
+
+ CPPUNIT_ASSERT_EQUAL(true, testConsumer == NULL);
+
+ RTObjectMock *rto = new RTObjectMock(m_pORB, m_pPOA); // will be deleted automatically
+
+ // 1. プロバイダを作成する（Other's Provier）
+ // Consumerに割り当てるオブジェクトを生成する
+ MyIncrementProvider* svcPrv = new MyIncrementProvider();
+
+ // 2. コンシューマをファクトリに登録する
+ std::string prof_name("Test Consumer");
+
+ RTC::SdoServiceConsumerFactory& factory = RTC::SdoServiceConsumerFactory::instance();
+ factory.addFactory(prof_name.c_str(),
+ ::RTObject::Creator< ::RTC::SdoServiceConsumerBase,
+ ::RTObject::MyIncrementConsumer>,
+ ::coil::Destructor< ::RTC::SdoServiceConsumerBase,
+ ::RTObject::MyIncrementConsumer>);
+
+ // 3. プロファイルをRTCの1.でつくったサービスプロバイダのリファレンスとともにセットする
+ SDOPackage::ServiceProfile svcPrvProf;
+ svcPrvProf.id = prof_name.c_str();
+ svcPrvProf.interface_type = prof_name.c_str();
+ svcPrvProf.service = svcPrv->_this();
+ svcPrvProf.properties.length(1);
+ svcPrvProf.properties[0].name = "Provider PROPERTIES";
+ svcPrvProf.properties[0].value <<= "3.14159";
+
+ // 4. RTCの内部でファクトリからコンシューマのインスタンスが一つcreateされ、
+ // init()内で、CorbaConsumerに1.のプロバイダのリファレンスがセットされる。
+ //
+ // Configurationインタフェースを取得する
+ SDOPackage::Configuration_ptr cfg = rto->get_configuration();
+ CPPUNIT_ASSERT(! CORBA::is_nil(cfg));
+
+ // Configurationインタフェースに、ServiceProfileを設定する
+ // 生成したオブジェクトをConsumerにセットする
+ CPPUNIT_ASSERT_EQUAL(true, cfg->add_service_profile(svcPrvProf));
+
+ //
+ // 5. RTC内部でConsumerのoperationを呼ぶと、CorbaConsuemr経由で
+ // Providerの関数が呼ばれる。
+ // (これから、SdoServiceを継承し,operationをいくつか追加したSdoServiceを実装して、
+ // それを利用する想定でテストを書く)
+ CPPUNIT_ASSERT_EQUAL(true, testConsumer != NULL);
+ SDOPackage::ServiceProfile gotSvcPrvProf = testConsumer->getProfile();
+
+ CPPUNIT_ASSERT_EQUAL(prof_name, std::string(gotSvcPrvProf.id));
+ CPPUNIT_ASSERT_EQUAL(CORBA::ULong(1), gotSvcPrvProf.properties.length());
+ CPPUNIT_ASSERT_EQUAL(std::string("Provider PROPERTIES"),
+ std::string(gotSvcPrvProf.properties[0].name));
+ {
+ const char* value; gotSvcPrvProf.properties[0].value >>= value;
+ CPPUNIT_ASSERT_EQUAL(std::string("3.14159"), std::string(value));
+ }
+
+ CPPUNIT_ASSERT_EQUAL(0, svcPrv->get_invoked_count());
+ // Consumerに割り当てたオブジェクトのメソッドを正しく呼び出せるか？
+ ((MyIncrementConsumer* )testConsumer)->consumerIncrementCount();
+ CPPUNIT_ASSERT_EQUAL(1, svcPrv->get_invoked_count());
+
+ //
+ // 設定したうち、removeして、正しくremoveされたことを確認する
+ CPPUNIT_ASSERT_EQUAL(true, cfg->remove_service_profile(prof_name.c_str()));
+
+ m_pPOA->deactivate_object(*m_pPOA->servant_to_id(svcPrv));
+ rto->shutdown();
+ delete rto;
+ }
+
+ /*!
+ * @brief add_service_profile(), remove_service_profile()メソッドのテスト
+ *
+ * - Configuration::add_service_profile()を通して、SDOServiceConsumerを正しく設定できるか？
+ * - remove_service_profile()を用いて、"illegal_arguments"で、設定されている
+ * - SDPServiceConsumerを削除できないか？
+ */
+ void test_consumer_add_service_profile_remove_it_with_illegal_arguments()
+ {
+ std::cerr << "\ntest_consumer_add_service_profile_remove_it_with_illegal_arguments()" << std::endl;
+
+ RTObjectMock *rto = new RTObjectMock(m_pORB, m_pPOA); // will be deleted automatically
+
+ // 1. プロバイダを作成する（Other's Provier）
+ // Consumerに割り当てるオブジェクトを生成する
+ MyIncrementProvider* svcPrv = new MyIncrementProvider();
+
+ // 2. コンシューマをファクトリに登録する
+ std::string prof_name("Test Provider");
+
+ RTC::SdoServiceConsumerFactory& factory = RTC::SdoServiceConsumerFactory::instance();
+ factory.addFactory(prof_name.c_str(),
+ ::RTObject::Creator< ::RTC::SdoServiceConsumerBase,
+ ::RTObject::MyIncrementConsumer>,
+ ::coil::Destructor< ::RTC::SdoServiceConsumerBase,
+ ::RTObject::MyIncrementConsumer>);
+
+ // 3. プロファイルをRTCの1.でつくったサービスプロバイダのリファレンスとともにセットする
+ SDOPackage::ServiceProfile svcPrvProf;
+ svcPrvProf.id = prof_name.c_str();
+ svcPrvProf.interface_type = prof_name.c_str();
+ svcPrvProf.service = svcPrv->_this();
+ svcPrvProf.properties.length(1);
+ svcPrvProf.properties[0].name = "Provider PROPERTIES";
+ svcPrvProf.properties[0].value <<= "3.14159";
+
+ // 4. RTCの内部でファクトリからコンシューマのインスタンスが一つcreateされ、
+ // init()内で、CorbaConsumerに1.のプロバイダのリファレンスがセットされる。
+ //
+ // Configurationインタフェースを取得する
+ SDOPackage::Configuration_ptr cfg = rto->get_configuration();
+ CPPUNIT_ASSERT(! CORBA::is_nil(cfg));
+
+ // Configurationインタフェースに、ServiceProfileを設定する
+ // 生成したオブジェクトをConsumerにセットする
+ CPPUNIT_ASSERT_EQUAL(true, cfg->add_service_profile(svcPrvProf));
+
+ //
+ // 設定したうち、removeして、正しくremoveされたことを確認する
+ CPPUNIT_ASSERT_EQUAL(false, cfg->remove_service_profile("Test Provider NG"));
+ CPPUNIT_ASSERT_EQUAL(true, cfg->remove_service_profile(prof_name.c_str()));
+ try {
+ cfg->remove_service_profile(prof_name.c_str());
+ CPPUNIT_FAIL("Exception not thrown.");
+ }
+ catch(...){
+ // 意図どおりの例外をキャッチした
+ std::cout << "\nSDO Service Consumer is completely removed." << std::endl;
+ }
+
+ m_pPOA->deactivate_object(*m_pPOA->servant_to_id(svcPrv));
+ rto->shutdown();
+ delete rto;
+ }
+
+ /////----provider test----
+#define FACTORY_OK 0
+ /*!
* @brief get_service_profile()メソッドのテスト
*
+ * - get_service_profile()を用いてServiceProfileを取得して、正しく設定されたことを確認する
+ *
+ */
+ void test_provider_get_service_profile()
+ {
+ std::cerr << "\ntest_provider_get_service_profile():\n" << std::endl;
+
+ RTObjectMock *rto = new RTObjectMock(m_pORB, m_pPOA); // will be deleted automatically
+
+ // SDOServiceProviderのfactoryを準備する
+ std::string prof_name("Test Provider");
+ RTC::SdoServiceProviderFactory& factoryPrv = RTC::SdoServiceProviderFactory::instance();
+
+ factoryPrv.addFactory(prof_name.c_str(),
+ ::coil::Creator< ::RTC::SdoServiceProviderBase,
+ ::RTObject::MySDOServiceProvider>,
+ ::coil::Destructor< ::RTC::SdoServiceProviderBase,
+ ::RTObject::MySDOServiceProvider>);
+
+ // SDOServiceProviderのobjectを準備する
+ RTC::SdoServiceProviderBase* svcPrv = factoryPrv.createObject(prof_name);
+
+ // ServiceProfileを準備しておく
+ SDOPackage::ServiceProfile svcPrvProf;
+ svcPrvProf.id = CORBA::string_dup(prof_name.c_str());
+ svcPrvProf.interface_type = CORBA::string_dup(prof_name.c_str());
+ svcPrvProf.service = svcPrv->_this();
+ svcPrvProf.properties.length(1);
+ svcPrvProf.properties[0].name = "PROPERTIES NAME 1";
+ svcPrvProf.properties[0].value <<= "3.14159";
+
+ // SDOServiceProviderを初期化する
+ (RTObject::MySDOServiceProvider*)(svcPrv)->init((RTC::RTObject_impl& )rto, svcPrvProf);
+ ///svcPrv->init((RTC::RTObject_impl& )rto, svcPrvProf);
+
+ CORBA::Boolean retn = rto->addSdoServiceProvider(svcPrvProf, svcPrv);
+ CPPUNIT_ASSERT_EQUAL(true, retn);
+
+ // get_service_profile()を用いてServiceProfileを取得して、正しく設定されたことを確認する
+ SDOPackage::ServiceProfile* tmp_prof = rto->get_service_profile(prof_name.c_str());
+ ///std::cerr << "\n-----test_provider_get_service_profile():rto->get_service_profile() End\n" << std::endl;
+ CPPUNIT_ASSERT(tmp_prof != NULL);
+
+ CPPUNIT_ASSERT_EQUAL(prof_name, std::string(tmp_prof->id));
+ CPPUNIT_ASSERT_EQUAL(prof_name, std::string(tmp_prof->interface_type));
+ CPPUNIT_ASSERT_EQUAL(CORBA::ULong(1), tmp_prof->properties.length());
+ CPPUNIT_ASSERT_EQUAL(std::string("PROPERTIES NAME 1"),
+ std::string(tmp_prof->properties[0].name));
+ {
+ const char* value; tmp_prof->properties[0].value >>= value;
+ CPPUNIT_ASSERT_EQUAL(std::string("3.14159"), std::string(value));
+ }
+
+ // get_sdo_service()を用いてServiceを取得して、正しく設定されたことを確認する
+ SDOPackage::SDOService_ptr tmp_svcPtr = rto->get_sdo_service(prof_name.c_str());
+ CPPUNIT_ASSERT(tmp_svcPtr != NULL);
+ CPPUNIT_ASSERT_EQUAL(true, tmp_svcPtr == tmp_prof->service);
+ CPPUNIT_ASSERT_EQUAL(true, tmp_svcPtr == svcPrvProf.service);
+ ///std::cerr << "\n-----test_provider_get_service_profile():rto->get_sdo_service() End\n" << std::endl;
+
+ ///
+ m_pPOA->deactivate_object(*m_pPOA->servant_to_id(svcPrv));
+ retn = rto->removeSdoServiceProvider(prof_name.c_str());
+ CPPUNIT_ASSERT_EQUAL(true, retn);
+ CPPUNIT_ASSERT_EQUAL(true, FACTORY_OK == factoryPrv.removeFactory(prof_name.c_str()));
+
+ rto->shutdown();
+ delete rto;
+ }
+
+ /*!
+ * @brief get_service_profiles()メソッドのテスト
+ *
+ * - get_service_profiles()を用いてすべてのServiceProfileを取得して、正しく設定されたことを確認する
+ *
+ */
+ void test_provider_get_service_profiles()
+ {
+ std::cerr << "\ntest_provider_get_service_profiles():\n" << std::endl;
+
+ RTObjectMock *rto = new RTObjectMock(m_pORB, m_pPOA); // will be deleted automatically
+
+ // SDOServiceProviderのfactoryを準備する
+ std::string prof_name("Test Provider 1");
+ RTC::SdoServiceProviderFactory& factoryPrv = RTC::SdoServiceProviderFactory::instance();
+ factoryPrv.addFactory(prof_name.c_str(),
+ ::coil::Creator< ::RTC::SdoServiceProviderBase,
+ ::RTObject::MySDOServiceProvider>,
+ ::coil::Destructor< ::RTC::SdoServiceProviderBase,
+ ::RTObject::MySDOServiceProvider>);
+
+ // SDOServiceProviderのobjectを準備する
+ RTC::SdoServiceProviderBase* svcPrv = factoryPrv.createObject(prof_name);
+
+ // ServiceProfileを準備しておく
+ SDOPackage::ServiceProfile svcPrvProf;
+ svcPrvProf.id = CORBA::string_dup(prof_name.c_str());
+ svcPrvProf.interface_type = CORBA::string_dup(prof_name.c_str());
+ svcPrvProf.service = svcPrv->_this();
+ svcPrvProf.properties.length(1);
+ svcPrvProf.properties[0].name = "PROPERTIES NAME 1";
+ svcPrvProf.properties[0].value <<= "3.14159";
+
+ // SDOServiceProviderのfactoryの２を準備する
+ std::string prof_name2("Test Provider 2");
+ RTC::SdoServiceProviderFactory& factoryPrv2 = RTC::SdoServiceProviderFactory::instance();
+ factoryPrv2.addFactory(prof_name2.c_str(),
+ ::coil::Creator< ::RTC::SdoServiceProviderBase,
+ ::RTObject::MySDOServiceProvider>,
+ ::coil::Destructor< ::RTC::SdoServiceProviderBase,
+ ::RTObject::MySDOServiceProvider>);
+
+ // SDOServiceProviderのobjectを準備する
+ RTC::SdoServiceProviderBase* svcPrv2 = factoryPrv2.createObject(prof_name2);
+
+ // ServiceProfileを準備しておく
+ SDOPackage::ServiceProfile svcPrvProf2;
+ svcPrvProf2.id = CORBA::string_dup(prof_name2.c_str());
+ svcPrvProf2.interface_type = CORBA::string_dup(prof_name2.c_str());
+ svcPrvProf2.service = svcPrv2->_this();
+ svcPrvProf2.properties.length(1);
+ svcPrvProf2.properties[0].name = "PROPERTIES NAME 2";
+ svcPrvProf2.properties[0].value <<= "2.7182818";
+
+ // SDOServiceProviderを初期化する
+ (RTObject::MySDOServiceProvider*)(svcPrv)->init((RTC::RTObject_impl& )rto, svcPrvProf);
+ (RTObject::MySDOServiceProvider*)(svcPrv2)->init((RTC::RTObject_impl& )rto, svcPrvProf2);
+
+ CORBA::Boolean retn = rto->addSdoServiceProvider(svcPrvProf, svcPrv);
+ CPPUNIT_ASSERT_EQUAL(true, retn);
+ retn = rto->addSdoServiceProvider(svcPrvProf2, svcPrv2);
+ CPPUNIT_ASSERT_EQUAL(true, retn);
+
+ // get_service_profiles()を用いてすべてのServiceProfileを取得して、正しく設定されたことを確認する
+ SDOPackage::ServiceProfileList_var tmp_profiles = rto->get_service_profiles();
+ long int iCnt = tmp_profiles->length();
+ std::cerr << "\ntest_provider_get_service_profiles():tmp_profiles->length() = " << iCnt << std::endl;
+
+ int iCheckCnt = 0;
+ for(long int i = 0; i < iCnt; i++) {
+ if(prof_name == std::string(tmp_profiles[i].id)) {
+ CPPUNIT_ASSERT_EQUAL(prof_name, std::string(tmp_profiles[i].interface_type));
+ CPPUNIT_ASSERT_EQUAL(CORBA::ULong(1), tmp_profiles[i].properties.length());
+ CPPUNIT_ASSERT_EQUAL(std::string("PROPERTIES NAME 1"),
+ std::string(tmp_profiles[i].properties[0].name));
+ {
+ const char* value; tmp_profiles[i].properties[0].value >>= value;
+ CPPUNIT_ASSERT_EQUAL(std::string("3.14159"), std::string(value));
+ }
+ iCheckCnt++;
+ }
+ if(prof_name2 == std::string(tmp_profiles[i].id)) {
+ CPPUNIT_ASSERT_EQUAL(prof_name2, std::string(tmp_profiles[i].interface_type));
+ CPPUNIT_ASSERT_EQUAL(CORBA::ULong(1), tmp_profiles[i].properties.length());
+ CPPUNIT_ASSERT_EQUAL(std::string("PROPERTIES NAME 2"),
+ std::string(tmp_profiles[i].properties[0].name));
+ {
+ const char* value; tmp_profiles[i].properties[0].value >>= value;
+ CPPUNIT_ASSERT_EQUAL(std::string("2.7182818"), std::string(value));
+ }
+ iCheckCnt++;
+ }
+ }
+ CPPUNIT_ASSERT_EQUAL(2, iCheckCnt);
+
+ ///
+ m_pPOA->deactivate_object(*m_pPOA->servant_to_id(svcPrv));
+ m_pPOA->deactivate_object(*m_pPOA->servant_to_id(svcPrv2));
+
+ retn = rto->removeSdoServiceProvider(prof_name.c_str());
+ CPPUNIT_ASSERT_EQUAL(true, retn);
+ CPPUNIT_ASSERT_EQUAL(true, FACTORY_OK == factoryPrv.removeFactory(prof_name.c_str()));
+
+ retn = rto->removeSdoServiceProvider(prof_name2.c_str());
+ CPPUNIT_ASSERT_EQUAL(true, retn);
+ CPPUNIT_ASSERT_EQUAL(true, FACTORY_OK == factoryPrv2.removeFactory(prof_name2.c_str()));
+
+ rto->shutdown();
+ delete rto;
+ }
+
+ /*!
+ * @brief get_sdo_service()メソッドのテスト
+ *
+ * - get_sdo_service()を用いてServiceを取得して、正しく設定されたことを確認する
+ *
+ */
+ void test_provider_get_sdo_service()
+ {
+ std::cerr << "\ntest_provider_get_sdo_service():\n" << std::endl;
+
+ RTObjectMock *rto = new RTObjectMock(m_pORB, m_pPOA); // will be deleted automatically
+
+ // SDOServiceProviderのfactoryを準備する
+ std::string prof_name("Test Provider SDO Service");
+ RTC::SdoServiceProviderFactory& factoryPrv = RTC::SdoServiceProviderFactory::instance();
+ factoryPrv.addFactory(prof_name.c_str(),
+ ::coil::Creator< ::RTC::SdoServiceProviderBase,
+ ::RTObject::MySDOServiceProvider>,
+ ::coil::Destructor< ::RTC::SdoServiceProviderBase,
+ ::RTObject::MySDOServiceProvider>);
+
+ // SDOServiceProviderのobjectを準備する
+ RTC::SdoServiceProviderBase* svcPrv = factoryPrv.createObject(prof_name);
+
+ // ServiceProfileを準備しておく
+ SDOPackage::ServiceProfile svcPrvProf;
+ svcPrvProf.id = CORBA::string_dup(prof_name.c_str());
+ svcPrvProf.interface_type = CORBA::string_dup(prof_name.c_str());
+ svcPrvProf.service = svcPrv->_this();
+
+ // SDOServiceProviderを初期化する
+ (RTObject::MySDOServiceProvider*)(svcPrv)->init((RTC::RTObject_impl& )rto, svcPrvProf);
+
+ CORBA::Boolean retn = rto->addSdoServiceProvider(svcPrvProf, svcPrv);
+ CPPUNIT_ASSERT_EQUAL(true, retn);
+
+ // get_service_profile()を用いてServiceProfileを取得して、正しく設定されたことを確認する
+ SDOPackage::ServiceProfile* tmp_prof = rto->get_service_profile(prof_name.c_str());
+ CPPUNIT_ASSERT(tmp_prof != NULL);
+
+ CPPUNIT_ASSERT_EQUAL(prof_name, std::string(tmp_prof->id));
+ CPPUNIT_ASSERT_EQUAL(prof_name, std::string(tmp_prof->interface_type));
+
+ // get_sdo_service()を用いてServiceを取得して、正しく設定されたことを確認する
+ SDOPackage::SDOService_ptr tmp_svcPtr = rto->get_sdo_service(prof_name.c_str());
+ CPPUNIT_ASSERT(tmp_svcPtr != NULL);
+ CPPUNIT_ASSERT_EQUAL(true, tmp_svcPtr == tmp_prof->service);
+ CPPUNIT_ASSERT_EQUAL(true, tmp_svcPtr == svcPrvProf.service);
+
+ ///
+ m_pPOA->deactivate_object(*m_pPOA->servant_to_id(svcPrv));
+ retn = rto->removeSdoServiceProvider(prof_name.c_str());
+ CPPUNIT_ASSERT_EQUAL(true, retn);
+ CPPUNIT_ASSERT_EQUAL(true, FACTORY_OK == factoryPrv.removeFactory(prof_name.c_str()));
+
+ rto->shutdown();
+ delete rto;
+ }
+
+ /*!
+ * @brief get_service_profile()メソッドのテスト
+ *
+ * - get_service_profile()を用い、"illegal_arguments"で、ServiceProfileを取得できるかを確認する
+ *
+ */
+ void test_provider_get_service_profile_with_illegal_arguments()
+ {
+ std::cerr << "\ntest_provider_get_service_profile_with_illegal_arguments():\n" << std::endl;
+
+ RTObjectMock *rto = new RTObjectMock(m_pORB, m_pPOA); // will be deleted automatically
+
+ // SDOServiceProviderのfactoryを準備する
+ std::string prof_name("Test Provider Argument");
+ RTC::SdoServiceProviderFactory& factoryPrv = RTC::SdoServiceProviderFactory::instance();
+ factoryPrv.addFactory(prof_name.c_str(),
+ ::coil::Creator< ::RTC::SdoServiceProviderBase,
+ ::RTObject::MySDOServiceProvider>,
+ ::coil::Destructor< ::RTC::SdoServiceProviderBase,
+ ::RTObject::MySDOServiceProvider>);
+
+ // SDOServiceProviderのobjectを準備する
+ RTC::SdoServiceProviderBase* svcPrv = factoryPrv.createObject(prof_name);
+
+ // ServiceProfileを準備しておく
+ SDOPackage::ServiceProfile svcPrvProf;
+ svcPrvProf.id = CORBA::string_dup(prof_name.c_str());
+ svcPrvProf.interface_type = CORBA::string_dup(prof_name.c_str());
+ svcPrvProf.service = svcPrv->_this();
+ svcPrvProf.properties.length(1);
+ svcPrvProf.properties[0].name = "PROPERTIES NAME 1";
+ svcPrvProf.properties[0].value <<= "3.14159";
+
+ // SDOServiceProviderを初期化する
+ (RTObject::MySDOServiceProvider*)(svcPrv)->init((RTC::RTObject_impl& )rto, svcPrvProf);
+
+ CORBA::Boolean retn = rto->addSdoServiceProvider(svcPrvProf, svcPrv);
+ CPPUNIT_ASSERT_EQUAL(true, retn);
+
+ //
+ // get_service_profile()を用い、"illegal_arguments"で、ServiceProfileを取得できるかを確認する
+ try {
+ SDOPackage::ServiceProfile* tmp_prof = rto->get_service_profile("Test Provider Illegal Argument");
+ CPPUNIT_FAIL("Exception not thrown.");
+ }
+ catch(...){
+ // 意図どおりの例外をキャッチした
+ std::cout << "\nWith Illegal Argument can not get Service Profile." << std::endl;
+ }
+
+ ///
+ m_pPOA->deactivate_object(*m_pPOA->servant_to_id(svcPrv));
+ retn = rto->removeSdoServiceProvider(prof_name.c_str());
+ CPPUNIT_ASSERT_EQUAL(true, retn);
+ CPPUNIT_ASSERT_EQUAL(true, FACTORY_OK == factoryPrv.removeFactory(prof_name.c_str()));
+
+ rto->shutdown();
+ delete rto;
+ }
+
+ /*!
+ * @brief get_sdo_service()メソッドのテスト
+ *
+ * - get_sdo_service()を用い、"illegal_arguments"で、Serviceを取得できるかを確認する
+ *
+ */
+ void test_provider_get_sdo_service_with_illegal_arguments()
+ {
+ std::cerr << "\ntest_provider_get_sdo_service_with_illegal_arguments():\n" << std::endl;
+
+ RTObjectMock *rto = new RTObjectMock(m_pORB, m_pPOA); // will be deleted automatically
+
+ // SDOServiceProviderのfactoryを準備する
+ std::string prof_name("Test Provider Get Service with Argument");
+ RTC::SdoServiceProviderFactory& factoryPrv = RTC::SdoServiceProviderFactory::instance();
+ factoryPrv.addFactory(prof_name.c_str(),
+ ::coil::Creator< ::RTC::SdoServiceProviderBase,
+ ::RTObject::MySDOServiceProvider>,
+ ::coil::Destructor< ::RTC::SdoServiceProviderBase,
+ ::RTObject::MySDOServiceProvider>);
+
+ // SDOServiceProviderのobjectを準備する
+ RTC::SdoServiceProviderBase* svcPrv = factoryPrv.createObject(prof_name);
+
+ // ServiceProfileを準備しておく
+ SDOPackage::ServiceProfile svcPrvProf;
+ svcPrvProf.id = CORBA::string_dup(prof_name.c_str());
+ svcPrvProf.interface_type = CORBA::string_dup(prof_name.c_str());
+ svcPrvProf.service = svcPrv->_this();
+
+ // SDOServiceProviderを初期化する
+ (RTObject::MySDOServiceProvider*)(svcPrv)->init((RTC::RTObject_impl& )rto, svcPrvProf);
+
+ CORBA::Boolean retn = rto->addSdoServiceProvider(svcPrvProf, svcPrv);
+ CPPUNIT_ASSERT_EQUAL(true, retn);
+
+ // get_service_profile()を用いてServiceProfileを取得して、正しく設定されたことを確認する
+ SDOPackage::ServiceProfile* tmp_prof = rto->get_service_profile(prof_name.c_str());
+ CPPUNIT_ASSERT(tmp_prof != NULL);
+
+ CPPUNIT_ASSERT_EQUAL(prof_name, std::string(tmp_prof->id));
+ CPPUNIT_ASSERT_EQUAL(prof_name, std::string(tmp_prof->interface_type));
+
+ // get_sod_service()を用い、"illegal_arguments"で、Serviceを取得できるかを確認する
+ try {
+ SDOPackage::SDOService_ptr tmp_svcPtr = rto->get_sdo_service("Test Provider Get Service with Illegal Argument");
+ CPPUNIT_FAIL("Exception not thrown.");
+ }
+ catch(...){
+ // 意図どおりの例外をキャッチした
+ std::cout << "\nWith Illegal Argument can not get Service Profile." << std::endl;
+ }
+
+ ///
+ m_pPOA->deactivate_object(*m_pPOA->servant_to_id(svcPrv));
+ retn = rto->removeSdoServiceProvider(prof_name.c_str());
+ CPPUNIT_ASSERT_EQUAL(true, retn);
+ CPPUNIT_ASSERT_EQUAL(true, FACTORY_OK == factoryPrv.removeFactory(prof_name.c_str()));
+
+ rto->shutdown();
+ delete rto;
+ }
+ /////--------END
+
+ /*!
+ * @brief get_service_profile()メソッドのテスト
+ *
* - 引数にNULLを指定した場合、意図どおりの例外がスローされるか？
* - 引数に存在しないIDを指定した場合、意図どおりの例外がスローされるか？
*/
@@ -1755,27 +2655,48 @@
*/
void test_finalizeContexts()
{
+ std::cout << "\ntest_finalizeContexts()" << std::endl;
+
+ RTC::ExecutionContextFactory::instance().addFactory("PeriodicExecutionContext",
+ ::coil::Creator< ::RTC::ExecutionContextBase,
+ ::RTC_exp::PeriodicExecutionContext>,
+ ::coil::Destructor< ::RTC::ExecutionContextBase,
+ ::RTC_exp::PeriodicExecutionContext>); /////
+
RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
coil::Properties prop;
prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
prop.setProperty("exec_cxt.periodic.rate","1000");
rto->setProperties(prop);
// initialize()で、m_eclistへ登録し、m_ecMineをstart
+ std::cout << "\ntest_finalizeContexts() initialize() 1" << std::endl;
CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, rto->initialize());
CPPUNIT_ASSERT_EQUAL(1, rto->get_eclist());
+ std::cout << "\ntest_finalizeContexts() initialize() 2" << std::endl;
CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, rto->initialize());
CPPUNIT_ASSERT_EQUAL(2, rto->get_eclist());
+ std::cout << "\ntest_finalizeContexts() initialize() 3" << std::endl;
CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, rto->initialize());
+ std::cout << "\ntest_finalizeContexts() rto->get_eclist() 3" << std::endl;
CPPUNIT_ASSERT_EQUAL(3, rto->get_eclist());
RTC::ExecutionContext_ptr ec;
ec = rto->get_context(0);
+ std::cout << "\ntest_finalizeContexts() rto->is_alive(ec)" << std::endl;
CPPUNIT_ASSERT_EQUAL(true, rto->is_alive(ec));
+ std::cout << "\ntest_finalizeContexts() rto->finalizeContexts()" << std::endl;
rto->finalizeContexts();
// 全コンテキストが削除されたか？
+ std::cout << "\ntest_finalizeContexts() rto->get_eclist() 0" << std::endl;
CPPUNIT_ASSERT_EQUAL(0, rto->get_eclist());
- rto->exit();
+ std::cout << "\ntest_finalizeContexts() removeFactory(PeriodicExecutionContext)" << std::endl;
+ RTC::ExecutionContextFactory::instance().removeFactory("PeriodicExecutionContext");/////
+ ///RTC::ExecutionContextFactory::instance().deleteObject(*m_pPOA->servant_to_id(rto));///
+ ///rto->exit();//
+ std::cout << "\ntest_finalizeContexts() rto->exit()" << std::endl;
+ CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, rto->exit());///
+ ///m_pPOA->deactivate_object(*m_pPOA->servant_to_id(rto));///
delete rto;
}
@@ -1786,6 +2707,8 @@
*/
void test_bindContext()
{
+ std::cout << "\ntest_bindContext() \n" << std::endl;
+
RTObjectMock* rto = new RTObjectMock(m_pORB, m_pPOA);
coil::Properties prop;
prop.setProperty("exec_cxt.periodic.type","PeriodicExecutionContext");
@@ -1797,6 +2720,7 @@
// nilを設定した場合、-1を返すか？
ec = RTC::ExecutionContext::_nil();
int id = (int)(rto->bindContext(ec));
+ std::cout << "\ntest_bindContext() EQUAL(-1, id)" << std::endl;
CPPUNIT_ASSERT_EQUAL(-1, id);
// m_ecMine 未登録の場合、m_ecMineの番号を返すか？
@@ -1805,32 +2729,40 @@
id = (int)(rto->bindContext(ec));
// [0]に登録されるか？
+ std::cout << "\ntest_bindContext() EQUAL(0, id)" << std::endl;
CPPUNIT_ASSERT_EQUAL(0, id);
// 正しく登録されているか？
+ std::cout << "\ntest_bindContext() rto->chk_ecMine(id,ec)" << std::endl;
CPPUNIT_ASSERT(rto->chk_ecMine(id,ec));
// m_ecMine 登録済みで nil の場合、m_ecMineの番号を返すか？
rto->ecMine[0] = RTC::ExecutionContextService::_nil();
+ std::cout << "\ntest_bindContext() rto->set_ecMine()" << std::endl;
rto->set_ecMine();
RTC_exp::PeriodicExecutionContext* pec2 = new RTC_exp::PeriodicExecutionContext();
ec = pec2->getObjRef();
id = (int)(rto->bindContext(ec));
// [0]に登録されるか？
+ std::cout << "\ntest_bindContext() EQUAL(0, id)" << std::endl;
CPPUNIT_ASSERT_EQUAL(0, id);
// 正しく登録されているか？
+ std::cout << "\ntest_bindContext() rto->chk_ecMine(id,ec)" << std::endl;
CPPUNIT_ASSERT(rto->chk_ecMine(id,ec));
- rto->exit();
+ ///rto->exit();//
+ // std::cout << "\ntest_bindContext() rto->exit()" << std::endl;
+ // CPPUNIT_ASSERT_EQUAL(RTC::RTC_OK, rto->exit());///
m_pPOA->deactivate_object(*m_pPOA->servant_to_id(pec));
delete pec;
m_pPOA->deactivate_object(*m_pPOA->servant_to_id(pec2));
delete pec2;
- rto->shutdown();
+ std::cout << "\ntest_bindContext() rto->shutdown()" << std::endl;
+ rto->shutdown();//
delete rto;
}
Added: trunk/OpenRTM-aist/src/lib/rtm/tests/RTObject/RTObjectTests.idl
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/tests/RTObject/RTObjectTests.idl (rev 0)
+++ trunk/OpenRTM-aist/src/lib/rtm/tests/RTObject/RTObjectTests.idl 2016-03-10 02:34:11 UTC (rev 2708)
@@ -0,0 +1,10 @@
+///#include </home/irie/Work/OpenRTM-aist/src/lib/rtm/idl/SDOPackage.idl>
+#include "../../idl/SDOPackage.idl"
+
+module TEST
+{
+ interface IncrementCount : SDOPackage::SDOService
+ {
+ void increment_count();
+ };
+};
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