def test_write(self): _pn = PublisherNew() prop = OpenRTM_aist.Properties() retcode = _pn.init(prop) _pn.setBuffer(OpenRTM_aist.RingBuffer()) #self.assertEqual(_pn.write(123,0,0),OpenRTM_aist.DataPortStatus.PORT_OK) return
def test_activate_deactivate_isActive(self): _pn = PublisherNew() self.assertEqual(_pn.isActive(),False) self.assertEqual(_pn.activate(),OpenRTM_aist.DataPortStatus.PORT_OK) self.assertEqual(_pn.isActive(),True) self.assertEqual(_pn.deactivate(),OpenRTM_aist.DataPortStatus.PORT_OK) self.assertEqual(_pn.isActive(),False) _pn.__del__() return
def test_convertReturn(self):
_pn = PublisherNew()
self.assertEqual(_pn.convertReturn(OpenRTM_aist.BufferStatus.BUFFER_OK,0),
OpenRTM_aist.DataPortStatus.PORT_OK)
self.assertEqual(_pn.convertReturn(OpenRTM_aist.BufferStatus.BUFFER_FULL,0),
OpenRTM_aist.DataPortStatus.BUFFER_FULL)
self.assertEqual(_pn.convertReturn(OpenRTM_aist.BufferStatus.TIMEOUT,0),
OpenRTM_aist.DataPortStatus.BUFFER_TIMEOUT)
self.assertEqual(_pn.convertReturn(OpenRTM_aist.BufferStatus.PRECONDITION_NOT_MET,0),
OpenRTM_aist.DataPortStatus.PRECONDITION_NOT_MET)
self.assertEqual(_pn.convertReturn(100,0),
OpenRTM_aist.DataPortStatus.PORT_ERROR)
_pn.__del__()
return
def test_write(self): _pn = PublisherNew() prop = OpenRTM_aist.Properties() retcode = _pn.init(prop) _pn.setBuffer(OpenRTM_aist.RingBuffer()) #self.assertEqual(_pn.write(123,0,0),OpenRTM_aist.DataPortStatus.PORT_OK) _pn.__del__() return
def test_init(self):
_pn = PublisherNew()
prop = OpenRTM_aist.Properties()
# Propertiesが空の状態でも正常に動作することを確認する
ret = _pn.init(prop)
self.assertEqual(OpenRTM_aist.DataPortStatus.PORT_OK, ret)
_pn.__del__()
_pn = PublisherNew()
prop.setProperty("publisher.push_policy","new")
prop.setProperty("thread_type","bar")
prop.setProperty("measurement.exec_time","default")
prop.setProperty("measurement.period_count","1")
#thread_type が不正の場合 INVALID_ARGS を返すことを確認する。
ret = _pn.init(prop)
self.assertEqual(OpenRTM_aist.DataPortStatus.INVALID_ARGS, ret)
_pn.__del__()
_pn = PublisherNew()
#以下のpropertiesの設定で動作することを確認する。
prop.setProperty("publisher.push_policy","all")
prop.setProperty("publisher.skip_count","0")
prop.setProperty("thread_type","default")
prop.setProperty("measurement.exec_time","enable")
prop.setProperty("measurement.exec_count","0")
prop.setProperty("measurement.period_time","enable")
prop.setProperty("measurement.period_count","0")
retcode = _pn.init(prop)
self.assertEqual(OpenRTM_aist.DataPortStatus.PORT_OK, retcode)
_pn.__del__()
_pn = PublisherNew()
prop.setProperty("publisher.push_policy","fifo")
prop.setProperty("publisher.skip_count","1")
prop.setProperty("thread_type","default")
prop.setProperty("measurement.exec_time","disable")
prop.setProperty("measurement.exec_count","1")
prop.setProperty("measurement.period_time","disable")
prop.setProperty("measurement.period_count","0")
retcode = _pn.init(prop)
self.assertEqual(OpenRTM_aist.DataPortStatus.PORT_OK, retcode)
_pn.__del__()
_pn = PublisherNew()
prop.setProperty("publisher.push_policy","fifo")
prop.setProperty("publisher.skip_count","1")
prop.setProperty("thread_type","default")
prop.setProperty("measurement.exec_time","disable")
prop.setProperty("measurement.exec_count","1")
prop.setProperty("measurement.period_time","disable")
prop.setProperty("measurement.period_count","1")
retcode = _pn.init(prop)
self.assertEqual(OpenRTM_aist.DataPortStatus.PORT_OK, retcode)
_pn.__del__()
_pn = PublisherNew()
prop.setProperty("publisher.push_policy","skip")
prop.setProperty("publisher.skip_count","-1")
prop.setProperty("thread_type","default")
prop.setProperty("measurement.exec_time","bar")
prop.setProperty("measurement.exec_count","-1")
prop.setProperty("measurement.period_time","bar")
prop.setProperty("measurement.period_count","-1")
retcode = _pn.init(prop)
self.assertEqual(OpenRTM_aist.DataPortStatus.PORT_OK, retcode)
_pn.__del__()
_pn = PublisherNew()
prop.setProperty("publisher.push_policy","new")
prop.setProperty("publisher.skip_count","1")
prop.setProperty("thread_type","default")
prop.setProperty("measurement.exec_time","enable")
prop.setProperty("measurement.exec_count","1")
prop.setProperty("measurement.period_time","enable")
prop.setProperty("measurement.period_count","1")
retcode = _pn.init(prop)
self.assertEqual(OpenRTM_aist.DataPortStatus.PORT_OK, retcode)
_pn.__del__()
_pn = PublisherNew()
prop.setProperty("publisher.push_policy","bar")
prop.setProperty("publisher.skip_count","0")
prop.setProperty("thread_type","default")
prop.setProperty("measurement.exec_time","enable")
prop.setProperty("measurement.exec_count","0")
prop.setProperty("measurement.period_time","enable")
prop.setProperty("measurement.period_count","0")
retcode = _pn.init(prop)
self.assertEqual(OpenRTM_aist.DataPortStatus.PORT_OK, retcode)
_pn.__del__()
return
def test_pushNew(self):
_pn = PublisherNew()
prop = OpenRTM_aist.Properties()
cinfo = OpenRTM_aist.ConnectorInfo("",
"",
[],
prop)
self.assertEqual(_pn.setListener(cinfo,OpenRTM_aist.ConnectorListeners()),
OpenRTM_aist.DataPortStatus.PORT_OK)
prop = OpenRTM_aist.Properties()
prop.setProperty("publisher.push_policy","new")
prop.setProperty("publisher.skip_count","0")
prop.setProperty("thread_type","default")
prop.setProperty("measurement.exec_time","enable")
prop.setProperty("measurement.exec_count","0")
prop.setProperty("measurement.period_time","enable")
prop.setProperty("measurement.period_count","0")
retcode = _pn.init(prop)
cons = ConsumerMock()
self.assertEqual(_pn.setConsumer(cons),OpenRTM_aist.DataPortStatus.PORT_OK)
_pn.setBuffer(OpenRTM_aist.CdrRingBuffer())
_pn.activate()
self.assertEqual(_pn.write(123,0,0),OpenRTM_aist.DataPortStatus.PORT_OK)
self.assertEqual(_pn.write(123,0,0),OpenRTM_aist.DataPortStatus.PORT_OK)
self.assertEqual(_pn.write(123,0,0),OpenRTM_aist.DataPortStatus.PORT_OK)
self.assertEqual(_pn.write(123,0,0),OpenRTM_aist.DataPortStatus.PORT_OK)
self.assertEqual(_pn.write(123,0,0),OpenRTM_aist.DataPortStatus.PORT_OK)
self.assertEqual(_pn.write(123,0,0),OpenRTM_aist.DataPortStatus.PORT_OK)
self.assertEqual(_pn.write(123,0,0),OpenRTM_aist.DataPortStatus.PORT_OK)
self.assertEqual(_pn.write(123,0,0),OpenRTM_aist.DataPortStatus.PORT_OK)
_pn.deactivate()
_pn.__del__()
return
def test_setBuffer(self): _pn = PublisherNew() self.assertEqual(_pn.setBuffer(None),OpenRTM_aist.DataPortStatus.INVALID_ARGS) self.assertEqual(_pn.setBuffer(OpenRTM_aist.RingBuffer()),OpenRTM_aist.DataPortStatus.PORT_OK) _pn.__del__() return
def test_setConsumer(self): _pn = PublisherNew() self.assertEqual(_pn.setConsumer(None),OpenRTM_aist.DataPortStatus.INVALID_ARGS) self.assertEqual(_pn.setConsumer(ConsumerMock()),OpenRTM_aist.DataPortStatus.PORT_OK) return
