def TestUpdateFromC(self):
"""Test UpdateFromC for mtsPeriodicTask"""
periodicTask = cisstMultiTaskPythonTest.mtsPeriodicTaskTest(0.05)
periodicTask.UpdateFromC()
# verify that both interfaces have been created
self.failUnless("MainInterface" in periodicTask.__dict__)
self.failUnless("EmptyInterface" in periodicTask.__dict__) # space should have been removed
# test that MainInterface has been populated properly
# command AddDouble(mtsDouble)
self.failUnless("AddDouble" in periodicTask.MainInterface.__dict__)
self.failUnless(isinstance(periodicTask.MainInterface.AddDouble, cisstMultiTask.mtsCommandWriteBase))
proto = periodicTask.MainInterface.AddDouble.GetArgumentPrototype()
self.failUnless(isinstance(proto, cisstMultiTask.mtsDouble))
# command ZeroAll(void)
self.failUnless("ZeroAll" in periodicTask.MainInterface.__dict__)
self.failUnless(isinstance(periodicTask.MainInterface.ZeroAll, cisstMultiTask.mtsCommandVoid))
# command GetDouble(mtsDouble)
self.failUnless("GetDouble" in periodicTask.MainInterface.__dict__)
self.failUnless(isinstance(periodicTask.MainInterface.GetDouble, cisstMultiTask.mtsCommandRead))
proto = periodicTask.MainInterface.GetDouble.GetArgumentPrototype()
self.failUnless(isinstance(proto, cisstMultiTask.mtsDouble))
# command GetVector(mtsDoubleVec)
self.failUnless("GetVector" in periodicTask.MainInterface.__dict__)
self.failUnless(isinstance(periodicTask.MainInterface.GetVector, cisstMultiTask.mtsCommandRead))
proto = periodicTask.MainInterface.GetVector.GetArgumentPrototype()
self.failUnless(isinstance(proto, cisstMultiTask.mtsDoubleVec))
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 TestType(self):
"""Test constructor and types of mtsPeriodicTask"""
periodicTask = cisstMultiTaskPythonTest.mtsPeriodicTaskTest(0.05)
# check type
self.failUnless(isinstance(periodicTask, cisstMultiTaskPythonTest.mtsPeriodicTaskTest))
self.failUnless(isinstance(periodicTask, cisstMultiTask.mtsTaskPeriodic))
self.failUnless(isinstance(periodicTask, cisstMultiTask.mtsTaskContinuous))
self.failUnless(isinstance(periodicTask, cisstMultiTask.mtsComponent))
self.failUnless(isinstance(periodicTask, cisstCommon.cmnGenericObject))
def TestType(self):
"""Test constructor and types of mtsPeriodicTask"""
periodicTask = cisstMultiTaskPythonTest.mtsPeriodicTaskTest(0.05)
# check type
self.failUnless(
isinstance(periodicTask,
cisstMultiTaskPythonTest.mtsPeriodicTaskTest))
self.failUnless(
isinstance(periodicTask, cisstMultiTask.mtsTaskPeriodic))
self.failUnless(
isinstance(periodicTask, cisstMultiTask.mtsTaskContinuous))
self.failUnless(isinstance(periodicTask, cisstMultiTask.mtsComponent))
self.failUnless(isinstance(periodicTask, cisstCommon.cmnGenericObject))
def TestUpdateFromC(self):
"""Test UpdateFromC for mtsPeriodicTask"""
periodicTask = cisstMultiTaskPythonTest.mtsPeriodicTaskTest(0.05)
periodicTask.UpdateFromC()
# verify that both interfaces have been created
self.failUnless(periodicTask.__dict__.has_key("MainInterface"))
self.failUnless(periodicTask.__dict__.has_key(
"EmptyInterface")) # space should have been removed
# test that MainInterface has been populated properly
# command AddDouble(mtsDouble)
self.failUnless(
periodicTask.MainInterface.__dict__.has_key("AddDouble"))
self.failUnless(
isinstance(periodicTask.MainInterface.AddDouble,
cisstMultiTask.mtsCommandWriteBase))
proto = periodicTask.MainInterface.AddDouble.GetArgumentPrototype()
self.failUnless(isinstance(proto, cisstMultiTask.mtsDouble))
# command ZeroAll(void)
self.failUnless(periodicTask.MainInterface.__dict__.has_key("ZeroAll"))
self.failUnless(
isinstance(periodicTask.MainInterface.ZeroAll,
cisstMultiTask.mtsCommandVoid))
# command GetDouble(mtsDouble)
self.failUnless(
periodicTask.MainInterface.__dict__.has_key("GetDouble"))
self.failUnless(
isinstance(periodicTask.MainInterface.GetDouble,
cisstMultiTask.mtsCommandRead))
proto = periodicTask.MainInterface.GetDouble.GetArgumentPrototype()
self.failUnless(isinstance(proto, cisstMultiTask.mtsDouble))
# command GetVector(mtsDoubleVec)
self.failUnless(
periodicTask.MainInterface.__dict__.has_key("GetVector"))
self.failUnless(
isinstance(periodicTask.MainInterface.GetVector,
cisstMultiTask.mtsCommandRead))
proto = periodicTask.MainInterface.GetVector.GetArgumentPrototype()
self.failUnless(isinstance(proto, cisstMultiTask.mtsDoubleVec))
