def getRandomStruct(typeCode, compRef):
'''
Helper function
'''
structDef = getDefinition(typeCode.id())
try:
return getKnownBaciType(structDef._get_id())
except:
pass
#determine which namespace the struct is in...
#changes 'IDL:alma/someMod/.../struct:1.0" to
# [ 'someMod', ...,'struct' ]
nameHierarchy = structDef._get_id().split(':')[1].split('/')[1:]
#Just the 'struct' part...
structName = nameHierarchy.pop()
moduleName = nameHierarchy.pop(0)
LOGGER.logTrace("module=" + moduleName + "; hierarchy=" +
str(nameHierarchy) + "; struct=" + structName)
#import the top module
tGlobals = {}
tLocals = {}
#module object where the struct is contained
container = __import__(moduleName, tGlobals, tLocals, [])
if container == None:
msg = "import of module \'" + moduleName + "\' failed"
LOGGER.logCritical(msg)
raise CORBA.NO_IMPLEMENT(msg)
# Now navigate down the nested hierarchy of objects
for h in nameHierarchy:
previousContainer = container
container = container.__dict__.get(h)
if container == None:
msg = "Name \'" + h + "\' not found in " + str(previousContainer)
LOGGER.logCritical(msg)
raise CORBA.NO_IMPLEMENT(msg)
#class object for the struct
tClass = container.__dict__.get(structName)
if tClass == None:
msg = "Could not get structure \'" + structName + "\' from " \
+ str(container)
LOGGER.logCritical(msg)
raise CORBA.NO_IMPLEMENT(msg)
#create an instance of the struct using a kooky Python mechanism.
retVal = instance(tClass)
#populate the fields of the struct using the IFR
for member in structDef._get_members():
LOGGER.logTrace("Adding a member variable for: " + str(member.name))
retVal.__dict__[member.name] = getRandomValue(
member.type_def._get_type(), compRef)
return retVal
def getUnsupported(typeCode, compRef):
'''
Helper function
'''
valType = typeCode.kind()
LOGGER.logCritical(str(valType) + " not yet supported")
raise CORBA.NO_IMPLEMENT()
def setAccelTimeJoint(self, aclTime):
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def getRandomSimpleValue(valType):
'''
Helper function returns a random value of (typecode) valType or throws an
exception if valType is not a simple type. Sample usage could be:
getRandomSimpleValue(CORBA.tk_boolean)
Parameters: valType is a typeCode
Returns: a random value of type typeCode
Raises: an exception if valType is not really a simple CORBA type
'''
if valType == CORBA.tk_boolean:
#randomly returns 0 or 1
retVal = randrange(0, 100) % 2
elif valType == CORBA.tk_char:
#randomly returns some predetermined character
retVal = choice(getCHARS())
elif valType == CORBA.tk_octet:
#returns 0-255
retVal = int(randrange(0, 256))
elif valType == CORBA.tk_short:
#returns a random short
retVal = int(randrange(-(2**15), (2**15) - 1))
elif valType == CORBA.tk_ushort:
#returns a random unsigned short
retVal = int(randrange(0, (2**16) - 1))
elif valType == CORBA.tk_long:
#returns a random long
retVal = int(randrange(-(2**31), (2**31) - 1))
elif valType == CORBA.tk_ulong:
#returns a random unsigned long
retVal = long(randrange(0, (2**32) - 1))
elif valType == CORBA.tk_longlong:
#returns a random long long
retVal = long(randrange(-(2**63), (2**63) - 1))
elif valType == CORBA.tk_ulonglong:
#returns a random unsigned long long
retVal = long(randrange(0, (2**64) - 1))
elif valType == CORBA.tk_float:
#DWF-make this really go through a float's entire range of values
retVal = eval(
str(getRandomSimpleValue(CORBA.tk_short)) + '.' +
str(getRandomSimpleValue(CORBA.tk_octet)))
elif valType == CORBA.tk_double:
#returns a random float plus more digits
retVal = getRandomSimpleValue(CORBA.tk_float) * 1000.0
elif valType == CORBA.tk_longdouble:
#DWF-CORBA IDL->Py mapping specifies a CORBA.long_double() object
#to be used in cases like these. Unfortunately omniORB does not
#currently support it.
LOGGER.logDebug("long doubles not supported by omniORBPy")
return 3.1415926535897931
elif valType == CORBA.tk_string:
retVal = "..." + str(getRandomSimpleValue(CORBA.tk_double)) + "..."
elif valType == CORBA.tk_void:
retVal = None
elif valType == CORBA.tk_null:
retVal = None
else:
raise CORBA.NO_IMPLEMENT()
return retVal
def getState(self):
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def getFeedbackPosJoint(self):
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def clearAlarms(self):
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def set_value(self, value):
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def getMaxSpeedCartesian(self):
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def getFeedbackPosCartesian(self):
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def getBaseOffset(self):
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def setSpeedJoint(self, spdRatio):
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def setSpeedCartesian(self, spdRatio):
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def setSoftLimitCartesian(self, xLimit, yLimit, zLimit):
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def setControlPointOffset(self, offset):
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def echo12(self, ss, ss3):
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def echo(self, msg):
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def getMaxSpeedJoint(self):
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def get_value_history(self):
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def getMinAccelTimeCartesian(self):
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def getActiveAlarm(self):
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def getMinAccelTimeJoint(self):
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def getManipInfo(self):
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def getSoftLimitCartesian(self):
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def setSoftLimitJoint(self, softLimit):
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def moveGripper(self, angleRatio):
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def moveLinearCartesianAbs(self, carPoint):
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def echo04(self):
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def getRandomTuple(typeCode, compRef, valType):
'''
Helper function returns a random Python tuple for CORBA sequences and array
types.
Parameters:
- type code is quite literally a CORBA typecode
- compRef is a reference to a component used to activated IDL OffShoot
interfaces
- valType is the value type of the random value we are trying to get
Returns: a random enumeration of the type specified by typeCode
Raises: an (unknown) exception if the typecode does not really specify a
list type to be returned or a CORBA.NO_IMPLEMENT if we have not gotten
around to supporting the specific typecode yet (e.g., value boxes).
'''
#if this next block does not throw an exception...
realValType = typeCode.content_type().kind()
realTypeCode = getDefinition(
typeCode.id())._get_original_type_def()._get_element_type()
#we're really dealing with a sequence, array, value_box, or an alias
LOGGER.logTrace("Dealing with a sequence, array, value_box, or alias:" +
str(realValType) + " " + str(realTypeCode))
#Sequence
if realValType == CORBA.tk_sequence:
LOGGER.logTrace("Dealing with a sequence.")
retVal = []
for i in range(0, randrange(0, getMaxSeqSize())):
retVal.append(getRandomValue(realTypeCode, compRef))
#Sequences of octects and characters must be handled specially in
#Python
if realTypeCode.kind() == CORBA.tk_octet or realTypeCode.kind(
) == CORBA.tk_char:
LOGGER.logTrace("Dealing with a sequence of characters/octets.")
return reduce((lambda x, y: str(x) + str(y)), retVal)
else:
return tuple(retVal)
#Array
#DWF-take into consideration multi-dimensional arrays
elif realValType == CORBA.tk_array:
size = getDefinition(
typeCode.id())._get_original_type_def()._get_type().length()
LOGGER.logTrace("Dealing with an array of size:" + str(size))
retVal = []
for i in range(0, size):
retVal.append(getRandomValue(realTypeCode, compRef))
#Sequences of octects and characters must be handled specially in
#Python
if realTypeCode.kind() == CORBA.tk_octet or realTypeCode.kind(
) == CORBA.tk_char:
LOGGER.logTrace("Dealing with an array of characters/octets.")
return reduce((lambda x, y: str(x) + str(y)), retVal)
else:
return tuple(retVal)
#Value Box
elif realValType == CORBA.tk_value_box:
LOGGER.logCritical("value_box not yet supported")
raise CORBA.NO_IMPLEMENT()
#If this block of code can ever really be executed in practice...I'll
#be amazed!
elif valType == CORBA.tk_alias:
return getRandomValue(realTypeCode, compRef)
def setAccelTimeCartesian(self, aclTime):
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
