def setUp(self):
OpenRTM_aist.Manager.init(sys.argv)
self._opb = OutPortBase("test",str(any.to_any(RTC.TimedLong(RTC.Time(0,0),0)).typecode().name()))
self._opb.init(OpenRTM_aist.Properties())
return
class TestOutPortBase(unittest.TestCase):
def setUp(self):
OpenRTM_aist.Manager.init(sys.argv)
self._opb = OutPortBase("test",str(any.to_any(RTC.TimedLong(RTC.Time(0,0),0)).typecode().name()))
self._opb.init(OpenRTM_aist.Properties())
return
def test_getName(self):
self.assertEqual(self._opb.getName(),"unknown.test")
return
def test_connectors(self):
self.assertEqual(self._opb.connectors(),[])
return
def test_getConnectorProfiles(self):
self.assertEqual(self._opb.getConnectorProfiles(),[])
self._opb._connectors = [ConnectorMock()]
cprof = self._opb.getConnectorProfiles()[0]
self.assertEqual(cprof.name,"name")
return
def test_getConnectorIds(self):
self.assertEqual(self._opb.getConnectorIds(),[])
self._opb._connectors = [ConnectorMock()]
cprof = self._opb.getConnectorIds()[0]
self.assertEqual(cprof,"id")
return
def test_getConnectorProfileById(self):
self.assertEqual(self._opb.getConnectorProfileById("id",[]),False)
self._opb._connectors = [ConnectorMock()]
prof = [None]
self.assertEqual(self._opb.getConnectorProfileById("id",prof),True)
self.assertEqual(prof[0].id,"id")
return
def test_getConnectorProfileByName(self):
self.assertEqual(self._opb.getConnectorProfileByName("name",[]),False)
self._opb._connectors = [ConnectorMock()]
prof = [None]
self.assertEqual(self._opb.getConnectorProfileByName("name",prof),True)
self.assertEqual(prof[0].name,"name")
return
def test_activateInterfaces(self):
self._opb._connectors = [ConnectorMock()]
self._opb.activateInterfaces()
self._opb.deactivateInterfaces()
return
def test_publishInterfaces(self):
cprof = RTC.ConnectorProfile("","",[],[])
self.assertEqual(self._opb.publishInterfaces(cprof),RTC.BAD_PARAMETER)
cprof = RTC.ConnectorProfile("connecto0","",[],[])
OpenRTM_aist.CORBA_SeqUtil.push_back(cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.interface_type",
"corba_cdr"))
OpenRTM_aist.CORBA_SeqUtil.push_back(cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.dataflow_type",
"push"))
OpenRTM_aist.CORBA_SeqUtil.push_back(cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.subscription_type",
"flush"))
self.assertEqual(self._opb.publishInterfaces(cprof),RTC.RTC_OK)
return
def test_subscribeInterfaces(self):
cprof = RTC.ConnectorProfile("","",[],[])
self.assertEqual(self._opb.subscribeInterfaces(cprof),RTC.BAD_PARAMETER)
cprof = RTC.ConnectorProfile("connecto0","",[],[])
OpenRTM_aist.CORBA_SeqUtil.push_back(cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.interface_type",
"corba_cdr"))
OpenRTM_aist.CORBA_SeqUtil.push_back(cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.dataflow_type",
"push"))
OpenRTM_aist.CORBA_SeqUtil.push_back(cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.subscription_type",
"flush"))
#self.assertEqual(self._opb.subscribeInterfaces(cprof),RTC.RTC_OK)
return
def test_unsubscribeInterfaces(self):
self._opb._connectors = [ConnectorMock()]
cprof = RTC.ConnectorProfile("connecto0","",[],[])
OpenRTM_aist.CORBA_SeqUtil.push_back(cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.interface_type",
"corba_cdr"))
OpenRTM_aist.CORBA_SeqUtil.push_back(cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.dataflow_type",
"push"))
OpenRTM_aist.CORBA_SeqUtil.push_back(cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.subscription_type",
"flush"))
self._opb.unsubscribeInterfaces(cprof)
return
def test_initProviders(self):
self._opb.initProviders()
return
def test_initConsumers(self):
self._opb.initConsumers()
return
def test_createProvider(self):
self._opb._connectors = [ConnectorMock()]
cprof = RTC.ConnectorProfile("connecto0","",[],[])
OpenRTM_aist.CORBA_SeqUtil.push_back(cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.interface_type",
"corba_cdr"))
OpenRTM_aist.CORBA_SeqUtil.push_back(cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.dataflow_type",
"push"))
OpenRTM_aist.CORBA_SeqUtil.push_back(cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.subscription_type",
"flush"))
prop = OpenRTM_aist.Properties()
prop.setProperty("interface_type","corba_cdr")
prop.setProperty("dataflow_type","pull")
prop.setProperty("subscription_type","flush")
self.assertNotEqual(self._opb.createProvider(cprof,prop),0)
return
def test_createConsumer(self):
self._opb._connectors = [ConnectorMock()]
cprof = RTC.ConnectorProfile("connecto0","",[],[])
OpenRTM_aist.CORBA_SeqUtil.push_back(cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.interface_type",
"corba_cdr"))
OpenRTM_aist.CORBA_SeqUtil.push_back(cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.dataflow_type",
"push"))
OpenRTM_aist.CORBA_SeqUtil.push_back(cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.subscription_type",
"flush"))
prop = OpenRTM_aist.Properties()
prop.setProperty("interface_type","corba_cdr")
prop.setProperty("dataflow_type","push")
prop.setProperty("subscription_type","flush")
self.assertEqual(self._opb.createConsumer(cprof,prop),0)
return
def test_createConnector(self):
self._opb._connectors = [ConnectorMock()]
cprof = RTC.ConnectorProfile("connecto0","",[],[])
OpenRTM_aist.CORBA_SeqUtil.push_back(cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.interface_type",
"corba_cdr"))
OpenRTM_aist.CORBA_SeqUtil.push_back(cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.dataflow_type",
"push"))
OpenRTM_aist.CORBA_SeqUtil.push_back(cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.subscription_type",
"flush"))
prop = OpenRTM_aist.Properties()
prop.setProperty("interface_type","corba_cdr")
prop.setProperty("dataflow_type","push")
prop.setProperty("subscription_type","flush")
self.assertNotEqual(self._opb.createConnector(cprof,prop,consumer_=ConsumerMock()),0)
return
def test_getConnectorById(self):
self.assertEqual(self._opb.getConnectorById("test"),0)
self._opb._connectors = [ConnectorMock()]
prof = [None]
conn = self._opb.getConnectorById("id")
self.assertEqual(conn.id(),"id")
return
def test_getConnectorByName(self):
self.assertEqual(self._opb.getConnectorByName("test"),0)
self._opb._connectors = [ConnectorMock()]
prof = [None]
conn = self._opb.getConnectorByName("name")
self.assertEqual(conn.name(),"name")
return
class TestOutPortBase(unittest.TestCase):
def setUp(self):
OpenRTM_aist.Manager.init(sys.argv)
self._opb = OutPortBase("test", "TimedLong")
self._opb.init(OpenRTM_aist.Properties())
return
def tearDown(self):
OpenRTM_aist.Manager.instance().shutdownManager()
return
def test_getName(self):
self.assertEqual(self._opb.getName(), "unknown.test")
return
def test_connectors(self):
self.assertEqual(self._opb.connectors(), [])
return
def test_getConnectorProfiles(self):
self.assertEqual(self._opb.getConnectorProfiles(), [])
self._opb._connectors = [ConnectorMock()]
cprof = self._opb.getConnectorProfiles()[0]
self.assertEqual(cprof.name, "name")
return
def test_getConnectorIds(self):
self.assertEqual(self._opb.getConnectorIds(), [])
self._opb._connectors = [ConnectorMock()]
cprof = self._opb.getConnectorIds()[0]
self.assertEqual(cprof, "id")
return
def test_getConnectorProfileById(self):
self.assertEqual(self._opb.getConnectorProfileById("id", []), False)
self._opb._connectors = [ConnectorMock()]
prof = [None]
self.assertEqual(self._opb.getConnectorProfileById("id", prof), True)
self.assertEqual(prof[0].id, "id")
return
def test_getConnectorProfileByName(self):
self.assertEqual(self._opb.getConnectorProfileByName("name", []),
False)
self._opb._connectors = [ConnectorMock()]
prof = [None]
self.assertEqual(self._opb.getConnectorProfileByName("name", prof),
True)
self.assertEqual(prof[0].name, "name")
return
def test_activateInterfaces(self):
self._opb._connectors = [ConnectorMock()]
self._opb.activateInterfaces()
self._opb.deactivateInterfaces()
return
def test_publishInterfaces(self):
cprof = RTC.ConnectorProfile("", "", [], [])
self.assertEqual(self._opb.publishInterfaces(cprof), RTC.BAD_PARAMETER)
cprof = RTC.ConnectorProfile("connecto0", "", [], [])
OpenRTM_aist.CORBA_SeqUtil.push_back(
cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.interface_type", "corba_cdr"))
OpenRTM_aist.CORBA_SeqUtil.push_back(
cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.dataflow_type", "push"))
OpenRTM_aist.CORBA_SeqUtil.push_back(
cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.subscription_type", "flush"))
self.assertEqual(self._opb.publishInterfaces(cprof), RTC.RTC_OK)
return
def test_subscribeInterfaces(self):
cprof = RTC.ConnectorProfile("", "", [], [])
self.assertEqual(self._opb.subscribeInterfaces(cprof),
RTC.BAD_PARAMETER)
cprof = RTC.ConnectorProfile("connecto0", "", [], [])
OpenRTM_aist.CORBA_SeqUtil.push_back(
cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.interface_type", "corba_cdr"))
OpenRTM_aist.CORBA_SeqUtil.push_back(
cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.dataflow_type", "push"))
OpenRTM_aist.CORBA_SeqUtil.push_back(
cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.subscription_type", "flush"))
#self.assertEqual(self._opb.subscribeInterfaces(cprof),RTC.RTC_OK)
return
def test_unsubscribeInterfaces(self):
self._opb._connectors = [ConnectorMock()]
cprof = RTC.ConnectorProfile("connecto0", "", [], [])
OpenRTM_aist.CORBA_SeqUtil.push_back(
cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.interface_type", "corba_cdr"))
OpenRTM_aist.CORBA_SeqUtil.push_back(
cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.dataflow_type", "push"))
OpenRTM_aist.CORBA_SeqUtil.push_back(
cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.subscription_type", "flush"))
self._opb.unsubscribeInterfaces(cprof)
return
def test_initProviders(self):
self._opb.initProviders()
return
def test_initConsumers(self):
self._opb.initConsumers()
return
def test_createProvider(self):
self._opb._connectors = [ConnectorMock()]
cprof = RTC.ConnectorProfile("connecto0", "", [], [])
OpenRTM_aist.CORBA_SeqUtil.push_back(
cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.interface_type", "corba_cdr"))
OpenRTM_aist.CORBA_SeqUtil.push_back(
cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.dataflow_type", "push"))
OpenRTM_aist.CORBA_SeqUtil.push_back(
cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.subscription_type", "flush"))
prop = OpenRTM_aist.Properties()
prop.setProperty("interface_type", "corba_cdr")
prop.setProperty("dataflow_type", "pull")
prop.setProperty("subscription_type", "flush")
self.assertNotEqual(self._opb.createProvider(cprof, prop), 0)
return
def test_createConsumer(self):
self._opb._connectors = [ConnectorMock()]
cprof = RTC.ConnectorProfile("connecto0", "", [], [])
OpenRTM_aist.CORBA_SeqUtil.push_back(
cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.interface_type", "corba_cdr"))
OpenRTM_aist.CORBA_SeqUtil.push_back(
cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.dataflow_type", "push"))
OpenRTM_aist.CORBA_SeqUtil.push_back(
cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.subscription_type", "flush"))
prop = OpenRTM_aist.Properties()
prop.setProperty("interface_type", "corba_cdr")
prop.setProperty("dataflow_type", "push")
prop.setProperty("subscription_type", "flush")
self.assertEqual(self._opb.createConsumer(cprof, prop), 0)
return
def test_createConnector(self):
self._opb._connectors = [ConnectorMock()]
cprof = RTC.ConnectorProfile("connecto0", "", [], [])
OpenRTM_aist.CORBA_SeqUtil.push_back(
cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.interface_type", "corba_cdr"))
OpenRTM_aist.CORBA_SeqUtil.push_back(
cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.dataflow_type", "push"))
OpenRTM_aist.CORBA_SeqUtil.push_back(
cprof.properties,
OpenRTM_aist.NVUtil.newNV("dataport.subscription_type", "flush"))
prop = OpenRTM_aist.Properties()
prop.setProperty("interface_type", "corba_cdr")
prop.setProperty("dataflow_type", "push")
prop.setProperty("subscription_type", "flush")
self.assertNotEqual(
self._opb.createConnector(cprof, prop, consumer_=ConsumerMock()),
0)
return
def test_getConnectorById(self):
self.assertEqual(self._opb.getConnectorById("test"), 0)
self._opb._connectors = [ConnectorMock()]
prof = [None]
conn = self._opb.getConnectorById("id")
self.assertEqual(conn.id(), "id")
return
def test_getConnectorByName(self):
self.assertEqual(self._opb.getConnectorByName("test"), 0)
self._opb._connectors = [ConnectorMock()]
prof = [None]
conn = self._opb.getConnectorByName("name")
self.assertEqual(conn.name(), "name")
return
def setUp(self):
OpenRTM_aist.Manager.init(sys.argv)
self._opb = OutPortBase("test", "TimedLong")
self._opb.init(OpenRTM_aist.Properties())
return
def setUp(self):
OpenRTM_aist.Manager.init(sys.argv)
self._opb = OutPortBase("test","TimedLong")
self._opb.init(OpenRTM_aist.Properties())
return