Python PublisherPeriodic示例

示例#1

文件： test_PublisherPeriodic.py 项目： yosuke/OpenRTM-aist-Python

 def test_write(self):
   _pn = PublisherPeriodic()
   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

示例#2

文件： test_PublisherPeriodic.py 项目： yosuke/OpenRTM-aist-Python

 def test_activate_deactivate_isActive(self):
   _pn = PublisherPeriodic()
   prop = OpenRTM_aist.Properties()
   retcode = _pn.init(prop)
   self.assertEqual(_pn.isActive(),False)
   cons = ConsumerMock()
   self.assertEqual(_pn.setConsumer(cons),OpenRTM_aist.DataPortStatus.PORT_OK)
   _pn.setBuffer(OpenRTM_aist.CdrRingBuffer())
   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)
   return

示例#3

 def test_convertReturn(self):
   _pn = PublisherPeriodic()
   self.assertEqual(_pn.convertReturn(OpenRTM_aist.BufferStatus.BUFFER_OK,0),
        OpenRTM_aist.DataPortStatus.PORT_OK)
   self.assertEqual(_pn.convertReturn(OpenRTM_aist.BufferStatus.BUFFER_EMPTY,0),
        OpenRTM_aist.DataPortStatus.PORT_ERROR)
   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

示例#4

 def test_write(self):
   _pn = PublisherPeriodic()
   prop = OpenRTM_aist.Properties()
   retcode = _pn.init(prop)
   _pn.setBuffer(OpenRTM_aist.RingBuffer())
   _pn.__del__()
   #self.assertEqual(_pn.write(123,0,0),OpenRTM_aist.DataPortStatus.PORT_OK)
   return

示例#5

  def test_init(self):
    _pn = PublisherPeriodic()
    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)
    time.sleep(0.1)
    _pn.__del__()

    _pn = PublisherPeriodic()
    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 = PublisherPeriodic()
    #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 = PublisherPeriodic()
    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 = PublisherPeriodic()
    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 = PublisherPeriodic()
    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 = PublisherPeriodic()
    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 = PublisherPeriodic()
    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

示例#6

  def test_pushNew(self):
    _pn = PublisherPeriodic()
    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)
    time.sleep(0.01)
    self.assertEqual(_pn.write(123,0,0),OpenRTM_aist.DataPortStatus.PORT_OK)
    _pn.deactivate()
    time.sleep(0.01)
    _pn.__del__()
    return

示例#7

 def test_activate_deactivate_isActive(self):
   _pn = PublisherPeriodic()
   prop = OpenRTM_aist.Properties()
   retcode = _pn.init(prop)
   self.assertEqual(_pn.isActive(),False)
   cons = ConsumerMock()
   self.assertEqual(_pn.setConsumer(cons),OpenRTM_aist.DataPortStatus.PORT_OK)
   _pn.setBuffer(OpenRTM_aist.CdrRingBuffer())
   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

示例#8

 def test_setBuffer(self):
   _pn = PublisherPeriodic()
   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

示例#9

文件： test_PublisherPeriodic.py 项目： yosuke/OpenRTM-aist-Python

 def test_setConsumer(self):
   _pn = PublisherPeriodic()
   self.assertEqual(_pn.setConsumer(None),OpenRTM_aist.DataPortStatus.INVALID_ARGS)
   self.assertEqual(_pn.setConsumer(ConsumerMock()),OpenRTM_aist.DataPortStatus.PORT_OK)
   return