def TestRun(self):
"""Test run mtsPeriodicTask"""
# create the task
period = 0.05
periodicTask = cisstMultiTaskPythonTest.mtsPeriodicTaskTest(period)
periodicTask.UpdateFromC()
# get the task manager
taskManager = cisstMultiTask.mtsManagerLocal_GetInstance()
self.failUnless(isinstance(taskManager,
cisstMultiTask.mtsManagerLocal))
# add the task
self.failUnless(taskManager.AddComponent(periodicTask))
# create and start the task(s)
taskManager.CreateAll()
taskManager.StartAll()
# and now use the task ...
# -1- set all to zero and check result
periodicTask.MainInterface.ZeroAll()
time.sleep(2 * period)
result1 = cisstMultiTask.mtsDouble()
executionResult = periodicTask.MainInterface.GetDouble.Execute(result1)
self.failUnless(executionResult.IsOK())
timestamp1 = result1.GetTimestamp()
self.failUnless(result1.Data == 0.0)
resultVector = periodicTask.MainInterface.GetVector()
data = resultVector.Data()
size = data.size
expected = numpy.zeros(size)
self.failUnless((data == expected).all())
# -2- use the AddDouble to modify all and test
periodicTask.MainInterface.AddDouble(1.0)
time.sleep(2 * period)
result2 = cisstMultiTask.mtsDouble()
executionResult = periodicTask.MainInterface.GetDouble.Execute(result2)
self.failUnless(executionResult.IsOK())
timestamp2 = result2.GetTimestamp()
self.failUnless(result2.Data == 1.0)
resultVector = periodicTask.MainInterface.GetVector()
data = resultVector.Data()
size = data.size
expected = numpy.ones(size)
self.failUnless((data == expected).all())
# -3- set to zero again and test
periodicTask.MainInterface.ZeroAll()
time.sleep(2 * period)
result3 = cisstMultiTask.mtsDouble()
executionResult = periodicTask.MainInterface.GetDouble.Execute(result3)
self.failUnless(executionResult.IsOK())
timestamp3 = result3.GetTimestamp()
self.failUnless(result3.Data == 0.0)
resultVector = periodicTask.MainInterface.GetVector()
data = resultVector.Data()
size = data.size
expected = numpy.zeros(size)
self.failUnless((data == expected).all())
# ... and now check the timestamps
self.failUnless(timestamp1 < timestamp2)
self.failUnless(timestamp2 < timestamp3)
# kill all
taskManager.KillAll()
def TestRun(self):
"""Test run mtsPeriodicTask"""
# create the task
period = 0.05
periodicTask = cisstMultiTaskPythonTest.mtsPeriodicTaskTest(period)
periodicTask.UpdateFromC()
# get the task manager
taskManager = cisstMultiTask.mtsManagerLocal_GetInstance()
self.failUnless(isinstance(taskManager, cisstMultiTask.mtsManagerLocal))
# add the task
self.failUnless(taskManager.AddComponent(periodicTask))
# create and start the task(s)
taskManager.CreateAll()
taskManager.StartAll()
# and now use the task ...
# -1- set all to zero and check result
periodicTask.MainInterface.ZeroAll()
time.sleep(2 * period)
result1 = cisstMultiTask.mtsDouble()
executionResult = periodicTask.MainInterface.GetDouble.Execute(result1)
self.failUnless(executionResult.IsOK())
timestamp1 = result1.GetTimestamp()
self.failUnless(result1.Data == 0.0)
resultVector = periodicTask.MainInterface.GetVector()
data = resultVector.Data()
size = data.size
expected = numpy.zeros(size)
self.failUnless((data == expected).all())
# -2- use the AddDouble to modify all and test
periodicTask.MainInterface.AddDouble(1.0)
time.sleep(2 * period)
result2 = cisstMultiTask.mtsDouble()
executionResult = periodicTask.MainInterface.GetDouble.Execute(result2)
self.failUnless(executionResult.IsOK())
timestamp2 = result2.GetTimestamp()
self.failUnless(result2.Data == 1.0)
resultVector = periodicTask.MainInterface.GetVector()
data = resultVector.Data()
size = data.size
expected = numpy.ones(size)
self.failUnless((data == expected).all())
# -3- set to zero again and test
periodicTask.MainInterface.ZeroAll()
time.sleep(2 * period)
result3 = cisstMultiTask.mtsDouble()
executionResult = periodicTask.MainInterface.GetDouble.Execute(result3)
self.failUnless(executionResult.IsOK())
timestamp3 = result3.GetTimestamp()
self.failUnless(result3.Data == 0.0)
resultVector = periodicTask.MainInterface.GetVector()
data = resultVector.Data()
size = data.size
expected = numpy.zeros(size)
self.failUnless((data == expected).all())
# ... and now check the timestamps
self.failUnless(timestamp1 < timestamp2)
self.failUnless(timestamp2 < timestamp3)
# kill all
taskManager.KillAll()
def Test_mtsDouble(self):
"""Test mtsDouble"""
variable = cisstMultiTaskPython.mtsDouble(4.0)
# check type
self.failUnless(isinstance(variable, cisstMultiTaskPython.mtsDouble))
self.failUnless(isinstance(variable, cisstMultiTaskPython.mtsGenericObject))
self.failUnless(isinstance(variable, cisstCommonPython.cmnGenericObject))
# check default value and modify
self.failUnless(variable.Data == 4.0)
variable.Data = 8.0
self.failUnless(variable.Data == 8.0)
def Test_mtsDouble(self):
"""Test mtsDouble"""
variable = cisstMultiTaskPython.mtsDouble(4.0)
# check type
self.failUnless(isinstance(variable, cisstMultiTaskPython.mtsDouble))
self.failUnless(
isinstance(variable, cisstMultiTaskPython.mtsGenericObject))
self.failUnless(
isinstance(variable, cisstCommonPython.cmnGenericObject))
# check default value and modify
self.failUnless(variable.Data == 4.0)
variable.Data = 8.0
self.failUnless(variable.Data == 8.0)
Pointer = False
stealth.RequiredForPointer.UpdateFromC()
print "After adding Pointer Interface"
while not bool(stealth.RequiredForFrame.GetConnectedInterface()):
Frame = False
stealth.RequiredForFrame.UpdateFromC()
print "After adding Frame Interface"
while not bool(stealth.RequiredForRegistration.GetConnectedInterface()):
Registration = False
stealth.RequiredForRegistration.UpdateFromC()
print "After adding Registration Interface"
pose = stealth.RequiredForPointer.GetPositionCartesian()
print "Pointer: ", pose.Position()
pose = stealth.RequiredForFrame.GetMarkerCartesian()
print "Frame: ", pose.Position()
transform = stealth.RequiredForRegistration.GetTransformation()
print "Registration: ", transform
zero = mts.mtsDouble(0.0)
collector.StartCollection(zero)
print "start collection"
time.sleep(5.0)
collector.StopCollection(zero)
print "stop collection"
# manager.KillAll()
# manager.Cleanup()
print "finished sawMedtronicStealthlinkClientComponent.py..."
Pointer = False
stealth.RequiredForPointer.UpdateFromC()
print 'After adding Pointer Interface'
while not bool(stealth.RequiredForFrame.GetConnectedInterface()):
Frame = False
stealth.RequiredForFrame.UpdateFromC()
print 'After adding Frame Interface'
while not bool(stealth.RequiredForRegistration.GetConnectedInterface()):
Registration = False
stealth.RequiredForRegistration.UpdateFromC()
print 'After adding Registration Interface'
pose = stealth.RequiredForPointer.GetPositionCartesian()
print 'Pointer: ', pose.Position()
pose = stealth.RequiredForFrame.GetMarkerCartesian()
print 'Frame: ', pose.Position()
transform = stealth.RequiredForRegistration.GetTransformation()
print 'Registration: ', transform
zero = mts.mtsDouble(0.0)
collector.StartCollection(zero)
print 'start collection'
time.sleep(5.0)
collector.StopCollection(zero)
print 'stop collection'
#manager.KillAll()
#manager.Cleanup()
print 'finished sawMedtronicStealthlinkClientComponent.py...'