def test_sequenceOperators (self):
self.assertNotEqual(self._domMgr, None, "DomainManager not available")
self.assertNotEqual(self._devMgr, None, "DeviceManager not available")
self._app = self._launchApp('TestPythonProps')
self.assertNotEqual(self._app, None, "Application not created")
# Get the value for the structsequence property. The TestPyProps component
# is also the assembly controller, so we can query it via the application.
id = "DCE:897a5489-f680-46a8-a698-e36fd8bbae80"
prop = self._app.query([CF.DataType(id + '[]', any.to_any(None))])[0]
value = any.from_any(prop.value)
# Test the length operator.
length = self._app.query([CF.DataType(id + '[#]', any.to_any(None))])[0]
length = any.from_any(length.value)
self.assertEqual(len(value), length)
# Test key list.
keys = self._app.query([CF.DataType(id + '[?]', any.to_any(None))])[0]
keys = any.from_any(keys.value)
self.assertEqual(keys, range(length))
# Test key-value pairs.
kvpairs = self._app.query([CF.DataType(id + '[@]', any.to_any(None))])[0]
kvpairs = any.from_any(kvpairs.value)
for pair in kvpairs:
index = int(pair['id'])
self.assertEqual(value[index], pair['value'])
# Test indexing.
v1 = self._app.query([CF.DataType(id + '[1]', any.to_any(None))])[0]
v1 = any.from_any(v1.value)
self.assertEqual(len(v1), 1)
self.assertEqual(v1[0], value[1])
def findProvider(self, nv, cons, iorstr):
# new consumer interface descriptor
newdesc = self._profile.name[:len(self._ownerInstanceName)] + \
".port" + self._profile.name[len(self._ownerInstanceName):]
newdesc += ".required." + cons.descriptor()
# find a NameValue of the consumer
cons_index = OpenRTM_aist.NVUtil.find_index(nv, newdesc)
if cons_index < 0:
return False
provider = str(any.from_any(nv[cons_index].value, keep_structs=True))
if not provider:
self._rtcout.RTC_WARN("Cannot extract Provider interface descriptor")
return False
# find a NameValue of the provider
prov_index = OpenRTM_aist.NVUtil.find_index(nv, provider)
if prov_index < 0:
return False
ior_ = str(any.from_any(nv[prov_index].value, keep_structs=True))
if not ior_:
self._rtcout.RTC_WARN("Cannot extract Provider IOR string")
return False
if isinstance(iorstr, list):
iorstr.append(ior_)
self._rtcout.RTC_ERROR("interface matched with new descriptor: %s", newdesc)
return True
def props_to_dict(pl):
"""Creates a dictionary from a Properties list"""
result = {}
for p in pl:
# struct property
if p.value.typecode().equivalent(CF._tc_Properties):
result[p.id] = dict([(x.id, any.from_any(x.value)) for x in p.value.value()])
# structsequence property
elif p.value.typecode().equivalent(CORBA._tc_AnySeq):
result[p.id] = [dict([(x.id, any.from_any(x.value)) for x in y.value()]) for y in p.value.value()]
# simplesequence property
elif p.value.typecode().kind() == CORBA.tk_sequence:
# char and octet are special cases in Python, they should not be returned
# as explicit lists because that is not how they are configured
if (
p.value.typecode().content_type() == CORBA.TC_octet
or p.value.typecode().content_type() == CORBA.TC_char
):
result[p.id] = any.from_any(p.value)
else:
result[p.id] = [x for x in any.from_any(p.value)]
# simple property
else:
result[p.id] = any.from_any(p.value)
return result
def test_init(self):
self.assertEqual(self._inport.getThebuffer(),None)
profile = self._inport.getPortProfile()
prop = OpenRTM_aist.NVUtil.toProperties(profile.properties)
self.assertEqual(prop.getProperty("dataport.dataflow_type"),"")
self.assertEqual(prop.getProperty("dataport.interface_type"),"")
pstr = self._inport.getProviderTypes()
self.assertEqual(len(pstr),0)
cstr = self._inport.getConsumerTypes()
self.assertEqual(len(cstr),0)
self._inport.init(prop)
# self._singlebufferがTrueの場合self._thebufferが取得される
self.assertNotEqual(self._inport.getThebuffer(),None)
profile = self._inport.getPortProfile()
prop = OpenRTM_aist.NVUtil.toProperties(profile.properties)
# getPortProfileのpropertiesに以下が追加される
val = any.from_any(prop.getProperty("dataport.dataflow_type"),keep_structs=True)
self.assertEqual(val,"push, pull")
val = any.from_any(prop.getProperty("dataport.interface_type"),keep_structs=True)
self.assertEqual(val,"corba_cdr")
# ProviderTypes,ConsumerTypesが取得される
pstr = self._inport.getProviderTypes()
self.assertEqual(pstr[0],"corba_cdr")
cstr = self._inport.getConsumerTypes()
self.assertEqual(cstr[0],"corba_cdr")
return
def testScaBasicBehavior(self):
#######################################################################
# Launch the component with the default execparams
execparams = self.getPropertySet(kinds=("execparam",), modes=("readwrite", "writeonly"), includeNil=False)
execparams = dict([(x.id, any.from_any(x.value)) for x in execparams])
self.launch(execparams)
#######################################################################
# Verify the basic state of the component
self.assertNotEqual(self.comp, None)
self.assertEqual(self.comp.ref._non_existent(), False)
self.assertEqual(self.comp.ref._is_a("IDL:CF/Resource:1.0"), True)
self.assertEqual(self.spd.get_id(), self.comp.ref._get_identifier())
#######################################################################
# Simulate regular component startup
# Verify that initialize nor configure throw errors
self.comp.initialize()
configureProps = self.getPropertySet(kinds=("configure",), modes=("readwrite", "writeonly"), includeNil=False)
self.comp.configure(configureProps)
#######################################################################
# Validate that query returns all expected parameters
# Query of '[]' should return the following set of properties
expectedProps = []
expectedProps.extend(
self.getPropertySet(kinds=("configure", "execparam"), modes=("readwrite", "readonly"), includeNil=True)
)
expectedProps.extend(self.getPropertySet(kinds=("allocate",), action="external", includeNil=True))
props = self.comp.query([])
props = dict((x.id, any.from_any(x.value)) for x in props)
# Query may return more than expected, but not less
for expectedProp in expectedProps:
self.assertEquals(props.has_key(expectedProp.id), True)
#######################################################################
# Verify that all expected ports are available
for port in self.scd.get_componentfeatures().get_ports().get_uses():
port_obj = self.comp.getPort(str(port.get_usesname()))
self.assertNotEqual(port_obj, None)
self.assertEqual(port_obj._non_existent(), False)
self.assertEqual(port_obj._is_a("IDL:CF/Port:1.0"), True)
for port in self.scd.get_componentfeatures().get_ports().get_provides():
port_obj = self.comp.getPort(str(port.get_providesname()))
self.assertNotEqual(port_obj, None)
self.assertEqual(port_obj._non_existent(), False)
self.assertEqual(port_obj._is_a(port.get_repid()), True)
#######################################################################
# Make sure start and stop can be called without throwing exceptions
self.comp.start()
self.comp.stop()
#######################################################################
# Simulate regular component shutdown
self.comp.releaseObject()
def test_hexProperty(self):
dev = self._devMgr._get_registeredDevices()[0]
prop = CF.DataType(id='hex_props',value=any.to_any(None))
results = dev.query([prop])
self.assertEqual(any.from_any(results[0].value)[0], 2)
self.assertEqual(any.from_any(results[0].value)[1], 3)
prop = CF.DataType(id='hex_prop',value=any.to_any(None))
results = dev.query([prop])
self.assertEqual(any.from_any(results[0].value), 2)
def test_GetPropertySet(self):
testing.setSoftPkg(os.path.join(scatest.getSdrPath(), "dom", "components", "CommandWrapper", "CommandWrapper.spd.xml"))
testing.setImplId("DCE:535a68a7-64e4-424b-9045-5ffc7659bf9d")
testing.RHComponentTestCase.runTest = lambda : None
tc = testing.RHComponentTestCase()
tc.setUp()
execparams = tc.getPropertySet(kinds=("execparam",), modes=("readwrite", "writeonly"))
execparams = dict([(p.id, any.from_any(p.value)) for p in execparams])
self.assertEqual(execparams.has_key("EXEC_PARAM_1"), True)
self.assertEqual(execparams.has_key("EXEC_PARAM_2"), True)
self.assertEqual(execparams.has_key("EXEC_PARAM_4"), True)
self.assertEqual(execparams.has_key("SOMEOBJREF"), True)
self.assertEqual(execparams["EXEC_PARAM_1"], "Test1")
self.assertEqual(execparams["EXEC_PARAM_2"], 2)
self.assertEqual(execparams["EXEC_PARAM_4"], True)
self.assertEqual(execparams["SOMEOBJREF"], None)
execparams = tc.getPropertySet(kinds=("execparam",), modes=("readwrite", "writeonly"), includeNil=False)
execparams = dict([(p.id, any.from_any(p.value)) for p in execparams])
self.assertEqual(execparams.has_key("EXEC_PARAM_1"), True)
self.assertEqual(execparams.has_key("EXEC_PARAM_2"), True)
self.assertEqual(execparams.has_key("EXEC_PARAM_4"), True)
self.assertEqual(execparams.has_key("SOMEOBJREF"), False)
self.assertEqual(execparams["EXEC_PARAM_1"], "Test1")
self.assertEqual(execparams["EXEC_PARAM_2"], 2)
self.assertEqual(execparams["EXEC_PARAM_4"], True)
cfgparams = tc.getPropertySet(kinds=("configure",), modes=("readwrite", "writeonly"))
cfgparams = dict([(p.id, any.from_any(p.value)) for p in cfgparams])
self.assertEqual(cfgparams.has_key("DCE:a4e7b230-1d17-4a86-aeff-ddc6ea3df26e"), True)
self.assertEqual(cfgparams.has_key("DCE:5d8bfe8d-bc25-4f26-8144-248bc343aa53"), True)
self.assertEqual(cfgparams.has_key("DCE:ffe634c9-096d-425b-86cc-df1cce50612f"), True)
self.assertEqual(cfgparams.has_key("DCE:fa8c5924-845c-484a-81df-7941f2c5baa9"), True)
self.assertEqual(cfgparams.has_key("DCE:a7de97ee-1e78-45e9-8e2b-204c141656fc"), True)
self.assertEqual(cfgparams.has_key("DCE:9ec6e2ff-6a4f-4452-8f38-4df47d6eebc1"), True)
self.assertEqual(cfgparams.has_key("DCE:cf623573-a09d-4fb1-a2ae-24b0b507115d"), True)
self.assertEqual(cfgparams.has_key("DCE:6ad84383-49cf-4017-b7ca-0ec4c4917952"), True)
propparams = tc.getPropertySet(kinds=("property",), modes=("readwrite", "writeonly"))
propparams = dict([(p.id, any.from_any(p.value)) for p in propparams])
self.assertEqual(propparams.has_key("configure_prop_notset"), True)
self.assertEqual(cfgparams["DCE:a4e7b230-1d17-4a86-aeff-ddc6ea3df26e"], "/bin/echo")
self.assertEqual(cfgparams["DCE:5d8bfe8d-bc25-4f26-8144-248bc343aa53"], ["Hello World"])
self.assertEqual(cfgparams["DCE:ffe634c9-096d-425b-86cc-df1cce50612f"], [{"id": 'item1', 'value': 'value1'},
{"id": 'item2', 'value': 100},
{"id": 'item3', 'value': 3.14156}
])
self.assertEqual(cfgparams["DCE:fa8c5924-845c-484a-81df-7941f2c5baa9"], 10000)
self.assertEqual(cfgparams["DCE:a7de97ee-1e78-45e9-8e2b-204c141656fc"], 12345678901)
self.assertEqual(cfgparams["DCE:9ec6e2ff-6a4f-4452-8f38-4df47d6eebc1"], 11111111111)
self.assertEqual(cfgparams["DCE:cf623573-a09d-4fb1-a2ae-24b0b507115d"], 500.0)
self.assertEqual(cfgparams["DCE:6ad84383-49cf-4017-b7ca-0ec4c4917952"], None)
def merge_histories(self, hist1, hist2):
""" Merge histories of field and his dislose flag, If time is the same,
then histories are sorted/merged according to requestId
(if requestId is the same, then they are merged, otherwise sorted):
"""
all_dates = {} # key is (date, request_id), value is couple list of couple [hist_number, history record]
for hist_num, hist in enumerate([hist1, hist2]):
for rec in hist:
from_date = rec._from
if from_date: # from/to date can be empty, in that case we ignore it
key = (from_date, rec.requestId)
val = [hist_num, rec]
if all_dates.has_key(key):
all_dates[key].append(val)
else:
all_dates[key] = [val]
new_hist = []
last_hist_vals = {0: from_any(hist1[0].value, True),
1: from_any(hist2[0].value, True)}
last_hist_tos = {0: None,
1: None}
for key, rec_list in sorted(all_dates.items()):
for hist_num, rec in rec_list:
last_hist_vals[hist_num] = from_any(rec.value, True)
last_hist_tos[hist_num] = rec.to
value = to_any([last_hist_vals[0], last_hist_vals[1]])
request_id = rec_list[0][1].requestId
_from = rec_list[0][1]._from
# Do not add subclasses of Null (they represent empty fields).
to_dict = dict(
[(hist_num, rec.to) for
hist_num, rec in rec_list if
rec.to and not isinstance(rec.to, fredtypes.Null)])
for hist_num in (0, 1):
if not to_dict.has_key(hist_num):
to_dict[hist_num] = last_hist_tos[hist_num]
if to_dict[hist_num] is None or \
isinstance(to_dict[hist_num], fredtypes.Null): # remove None
to_dict.pop(hist_num)
all_are_null = all(isinstance(i, fredtypes.Null) for i in to_dict)
if to_dict and not all_are_null:
to = min(to_dict.values())
else: # all are NULL dates, take one of them
to = rec_list[0][1].to
new_rec = Registry.HistoryRecord(_from=_from, to=to, value=value, requestId=request_id)
new_hist.append(new_rec)
return list(reversed(new_hist))
def test_MultipleService(self):
svcBooter, svcMgr = self.launchDeviceManager("/nodes/test_BasicService_node/DeviceManager.dcd.xml")
self.assertNotEqual(svcMgr, None)
svcBooterSecond, svcMgrSecond = self.launchDeviceManager("/nodes/test_SecondBasicService_node/DeviceManager.dcd.xml")
self.assertNotEqual(svcMgrSecond, None)
svcBooterSecond, svcMgrThird = self.launchDeviceManager("/nodes/test_PortTestDeviceService_node/DeviceManager.dcd.xml")
self.assertNotEqual(svcMgrSecond, None)
#confirm connection is there
device = svcMgrThird._get_registeredDevices()[0]
service_1 = svcMgr._get_registeredServices()[0]
props = service_1.serviceObject.query([])
testOut = device.runTest(2, [])
for ii in range(len(props)):
self.assertEqual(props[ii].id, testOut[ii].id)
self.assertEqual(any.from_any(props[ii].value), any.from_any(testOut[ii].value))
svcMgrSecond.shutdown()
devmgrs = []
begin_time = time.time()
while len(devmgrs) != 2:
devmgrs = self._domMgr._get_deviceManagers()
time.sleep(0.1)
if (time.time() - begin_time) > 5.0:
self.fail('Device manager test_SecondBasicService_node did not unregister')
props = service_1.serviceObject.query([])
testOut = device.runTest(2, [])
for ii in range(len(props)):
self.assertEqual(props[ii].id, testOut[ii].id)
self.assertEqual(any.from_any(props[ii].value), any.from_any(testOut[ii].value))
svcMgrThird.shutdown()
devmgrs = []
begin_time = time.time()
while len(devmgrs) != 1:
devmgrs = self._domMgr._get_deviceManagers()
time.sleep(0.1)
if (time.time() - begin_time) > 5.0:
self.fail('Device manager test_PortTestDeviceService_node did not unregister')
svcMgr.shutdown()
devmgrs = []
begin_time = time.time()
while len(devmgrs) != 0:
devmgrs = self._domMgr._get_deviceManagers()
time.sleep(0.1)
if (time.time() - begin_time) > 5.0:
self.fail('Device manager test_BasicService_node did not unregister')
def get_object_profile(rtcs):
profile_dic = {}
for n, r in rtcs.items():
objName = ""
arg = ""
try:
for nv in r._ptr().get_component_profile().properties:
if nv.name == 'conf.__innerparam.objectName':
objName = any.from_any(nv.value, keep_structs=True)
elif nv.name == 'conf.__innerparam.argument':
arg = any.from_any(nv.value, keep_structs=True)
profile_dic[objName] = arg
except:
pass
return profile_dic
def writeDataPort(port, data, tm=1.0, disconnect=True):
nv1 = SDOPackage.NameValue("dataport.interface_type",
any.to_any("corba_cdr"))
nv2 = SDOPackage.NameValue("dataport.dataflow_type",
any.to_any("Push"))
nv3 = SDOPackage.NameValue("dataport.subscription_type",
any.to_any("flush"))
con_prof = RTC.ConnectorProfile("connector0", "", [port],
[nv1, nv2, nv3])
ret,prof = port.connect(con_prof)
if ret != RTC.RTC_OK:
print "failed to connect"
return None
for p in prof.properties:
if p.name == 'dataport.corba_cdr.inport_ior':
ior = any.from_any(p.value)
obj = orb.string_to_object(ior)
inport = obj._narrow(InPortCdr)
cdr = data2cdr(data)
if inport.put(cdr) != OpenRTM.PORT_OK:
print "failed to put"
if disconnect:
time.sleep(tm)
port.disconnect(prof.connector_id)
else:
return prof.connector_id
return None
def unsubscribeFromIor(self, properties):
self._rtcout.RTC_TRACE("unsubscribeFromIor()")
index = OpenRTM_aist.NVUtil.find_index(properties,
"dataport.corba_cdr.inport_ior")
if index < 0:
self._rtcout.RTC_ERROR("inport_ior not found")
return False
ior = ""
try:
ior = any.from_any(properties[index].value, keep_structs=True)
except:
self._rtcout.RTC_ERROR(sys.exc_info()[0])
if not ior:
self._rtcout.RTC_ERROR("prop[inport_ior] is not string")
return False
orb = OpenRTM_aist.Manager.instance().getORB()
var = orb.string_to_object(ior)
if not self._ptr()._is_equivalent(var):
self._rtcout.RTC_ERROR("connector property inconsistency")
return False
self.releaseObject()
return True
def subscribeFromRef(self, properties):
self._rtcout.RTC_TRACE("subscribeFromRef()")
index = OpenRTM_aist.NVUtil.find_index(properties,
"dataport.corba_cdr.inport_ref")
if index < 0:
self._rtcout.RTC_ERROR("inport_ref not found")
return False
obj = None
try:
obj = any.from_any(properties[index].value, keep_structs=True)
except:
self._rtcout.RTC_ERROR(sys.exc_info()[0])
if not obj:
self._rtcout.RTC_ERROR("prop[inport_ref] is not objref")
return False
if CORBA.is_nil(obj):
self._rtcout.RTC_ERROR("prop[inport_ref] is not objref")
return False
if not self.setObject(obj):
self._rtcout.RTC_ERROR("Setting object to consumer failed.")
return False
return True
def subscribeFromIor(self, properties):
self._rtcout.RTC_TRACE("subscribeFromIor()")
index = OpenRTM_aist.NVUtil.find_index(properties,
"dataport.corba_cdr.inport_ior")
if index < 0:
self._rtcout.RTC_ERROR("inport_ior not found")
return False
ior = ""
try:
ior = any.from_any(properties[index].value, keep_structs=True)
except:
self._rtcout.RTC_ERROR(sys.exc_info()[0])
if not ior:
self._rtcout.RTC_ERROR("inport_ior has no string")
return False
orb = OpenRTM_aist.Manager.instance().getORB()
obj = orb.string_to_object(ior)
if CORBA.is_nil(obj):
self._rtcout.RTC_ERROR("invalid IOR string has been passed")
return False
if not self.setObject(obj):
self._rtcout.RTC_WARN("Setting object to consumer failed.")
return False
return True
def startComponent(self):
"""Standard start-up for testing the component
"""
#######################################################################
# Launch the component with the default execparams
execparams = self.getPropertySet(kinds=("execparam",), modes=("readwrite", "writeonly"), includeNil=False)
execparams = dict([(x.id, any.from_any(x.value)) for x in execparams])
self.launch(execparams, initialize=True)
#######################################################################
# Verify the basic state of the component
self.assertNotEqual(self.comp, None)
self.assertEqual(self.comp.ref._non_existent(), False)
self.assertEqual(self.comp.ref._is_a("IDL:CF/Resource:1.0"), True)
#self.assertEqual(self.spd.get_id(), self.comp.ref._get_identifier())
#######################################################################
# Simulate regular component startup
# Verify that initialize nor configure throw errors
#self.comp.initialize()
configureProps = self.getPropertySet(kinds=("configure",), modes=("readwrite", "writeonly"), includeNil=False)
self.comp.configure(configureProps)
self.comp.start()
def checkSRI(self,sri):
self.assertEqual(sri.streamID,"myStreamID")
self.assertEqual(sri.mode,0)
self.assertAlmostEqual(sri.xdelta,1.0/200)
self.assertEqual(sri.keywords[0].id, "testkw")
self.assertEqual(len(sri.keywords), 1)
self.assertAlmostEqual(any.from_any(sri.keywords[0].value), 10.0)
def subscribeInterfaces(self, connector_profile):
self._rtcout.RTC_TRACE("subscribeInterfaces()")
nv = connector_profile.properties
strict = False # default is "best_effort"
index = OpenRTM_aist.NVUtil.find_index(nv, "port.connection.strictness")
if index >= 0:
strictness = str(any.from_any(nv[index].value, keep_structs=True))
if "best_effort" == strictness:
strict = False
elif "strict" == strictness:
strict = True
self._rtcout.RTC_DEBUG("Connetion strictness is: %s",strictness)
for consumer in self._consumers:
ior = []
if self.findProvider(nv, consumer, ior) and len(ior) > 0:
self.setObject(ior[0], consumer)
continue
ior = []
if self.findProviderOld(nv, consumer, ior) and len(ior) > 0:
self.setObject(ior[0], consumer)
continue
# never come here without error
# if strict connection option is set, error is returned.
if strict:
self._rtcout.RTC_ERROR("subscribeInterfaces() failed.")
return RTC.RTC_ERROR
self._rtcout.RTC_TRACE("subscribeInterfaces() successfully finished.")
return RTC.RTC_OK
def isString(nv, name):
try:
value = find(nv, name)
val = any.from_any(value, keep_structs=True)
return type(val) == str
except:
return False
def eventReceived(self, data):
dataEvent = any.from_any(data, keep_structs=True)
if dataEvent.sourceId != self.sourceId:
self.successfullPropChange = False
return
if len(dataEvent.properties) == 0:
self.successfullPropChange = False
return
props = properties.props_to_dict(dataEvent.properties)
if props.has_key('myprop'):
self.received_myprop = True
if self.successfullPropChange == None:
self.successfullPropChange = True
if props.has_key('anotherprop'):
self.received_anotherprop = True
if self.successfullPropChange == None:
self.successfullPropChange = True
if props.has_key('seqprop'):
if props['seqprop'] == [1.0, 2.0, 3.0]:
self.received_seqprop = True
if self.successfullPropChange == None:
self.successfullPropChange = True
if props.has_key('some_struct') and props['some_struct'] != None:
if props['some_struct'] == {"some_number": 3.0, "some_string": "hello"}:
self.received_some_struct = True
if self.successfullPropChange == None:
self.successfullPropChange = True
if props.has_key('structseq_prop'):
if len(props['structseq_prop']) == 1:
if props['structseq_prop'][0] == {"some_number": 7.0, "some_string": "second message"}:
self.received_structseq_prop = True
if self.successfullPropChange == None:
self.successfullPropChange = True
def testScaBasicBehavior(self):
#######################################################################
# Validate that query returns all expected parameters
# Query of '[]' should return the following set of properties
expectedProps = []
expectedProps.extend(self.getPropertySet(kinds=("configure", "execparam"), modes=("readwrite", "readonly"), includeNil=True))
expectedProps.extend(self.getPropertySet(kinds=("allocate",), action="external", includeNil=True))
props = self.comp.query([])
props = dict((x.id, any.from_any(x.value)) for x in props)
# Query may return more than expected, but not less
for expectedProp in expectedProps:
self.assertEquals(props.has_key(expectedProp.id), True)
#######################################################################
# Verify that all expected ports are available
for port in self.scd.get_componentfeatures().get_ports().get_uses():
port_obj = self.comp.getPort(str(port.get_usesname()))
self.assertNotEqual(port_obj, None)
self.assertEqual(port_obj._non_existent(), False)
self.assertEqual(port_obj._is_a("IDL:CF/Port:1.0"), True)
for port in self.scd.get_componentfeatures().get_ports().get_provides():
port_obj = self.comp.getPort(str(port.get_providesname()))
self.assertNotEqual(port_obj, None)
self.assertEqual(port_obj._non_existent(), False)
self.assertEqual(port_obj._is_a(port.get_repid()), True)
#######################################################################
# Make sure start and stop can be called without throwing exceptions
self.comp.start()
self.comp.stop()
def subscribeInterface(self, properties):
self._rtcout.RTC_TRACE("subscribeInterface()")
index = OpenRTM_aist.NVUtil.find_index(properties,"dataport.corba_cdr.outport_ior")
if index < 0:
self._rtcout.RTC_DEBUG("dataport.corba_cdr.outport_ior not found.")
return False
if OpenRTM_aist.NVUtil.isString(properties,"dataport.corba_cdr.outport_ior"):
self._rtcout.RTC_DEBUG("dataport.corba_cdr.outport_ior found.")
ior = ""
try:
ior = any.from_any(properties[index].value, keep_structs=True)
except:
self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
orb = OpenRTM_aist.Manager.instance().getORB()
obj = orb.string_to_object(ior)
ret = self.setObject(obj)
if ret:
self._rtcout.RTC_DEBUG("CorbaConsumer was set successfully.")
else:
self._rtcout.RTC_ERROR("Invalid object reference.")
return ret
return False
def unsubscribeInterface(self, properties):
self._rtcout.RTC_TRACE("unsubscribeInterface()")
index = OpenRTM_aist.NVUtil.find_index(properties,
"dataport.corba_cdr.outport_ref")
if index < 0:
self._rtcout.RTC_DEBUG("dataport.corba_cdr.outport_ior not found.")
return
ior = ""
try:
ior = any.from_any(properties[index].value, keep_structs=True)
if ior:
self._rtcout.RTC_DEBUG("dataport.corba_cdr.outport_ior found.")
orb = OpenRTM_aist.Manager.instance().getORB()
obj = orb.string_to_object(ior)
if self._ptr()._is_equivalent(obj):
self.releaseObject()
self._rtcout.RTC_DEBUG("CorbaConsumer's reference was released.")
return
self._rtcout.RTC_ERROR("hmm. Inconsistent object reference.")
except:
self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
return
def test_ComponentPlacementPropertyOverride(self):
devmgr_nb, devMgr = self.launchDeviceManager("/nodes/test_BasicTestDevice_node/DeviceManager.dcd.xml")
self.assertNotEqual(devMgr, None)
# NOTE These assert check must be kept in-line with the DeviceManager.dcd.xml
self.assertEqual(len(devMgr._get_registeredDevices()), 1)
# Test that the DCD file componentproperties get pushed to configure()
# as per DeviceManager requirement SR:482
device = devMgr._get_registeredDevices()[0]
propId = "DCE:6b298d70-6735-43f2-944d-06f754cd4eb9"
prop = CF.DataType(id=propId, value=any.to_any(None))
result = device.query([prop])
self.assertEqual(len(result), 1)
self.assertEqual(result[0].id, propId)
# This should have been overrided by the dcd
self.assertEqual(result[0].value._v, "BasicTestDevice1_no_default_prop")
propId = "DCE:456310b2-7d2f-40f5-bfef-9fdf4f3560ea"
prop = CF.DataType(id=propId, value=any.to_any(None))
result = device.query([prop])
self.assertEqual(len(result), 1)
self.assertEqual(result[0].id, propId)
# This should have been overrided by the dcd
self.assertEqual(result[0].value._v, "BasicTestDevice1_default_prop")
structprop = device.query([CF.DataType(id="DCE:ffe634c9-096d-425b-86cc-df1cce50612f", value=any.to_any(None))])[0]
struct_propseq = any.from_any(structprop.value)
d = dict([(d["id"], d["value"]) for d in struct_propseq])
self.assertEqual(d, {"item1": "the new value", "item2": 400, "item3": 1.414})
def setUp(self):
ossie.utils.testing.ScaComponentTestCase.setUp(self)
#######################################################################
# Launch the component with the default execparams
execparams = self.getPropertySet(kinds=("execparam",), modes=("readwrite", "writeonly"), includeNil=False)
execparams = dict([(x.id, any.from_any(x.value)) for x in execparams])
execparams['DEBUG_LEVEL'] = DEBUG_LEVEL
self.launch(execparams)
#######################################################################
# Verify the basic state of the component
self.assertNotEqual(self.comp, None)
self.assertEqual(self.comp.ref._non_existent(), False)
self.assertEqual(self.comp.ref._is_a("IDL:CF/Resource:1.0"), True)
# Load resources for majority of tests
self.src = sb.DataSource()
self.sink = sb.DataSink()
self.sinkSocket = self.comp
self.sourceSocket = NetworkSource()
self.client = None
self.clients = None
self.server = None
self.servers = None
self.sink2 = None
self.sourceSocket2 = None
def buildPropertiesListView_old (self, parent, properties, propertyDefs):
for prop in properties:
id = prop.id
value = any.from_any(prop.value)
if id not in propertyDefs:
valueItem = QListViewItem(parent, id, str(value), '', id)
continue
property = propertyDefs[id]
name = property.get('name', id)
if property['elementType'] in ('simple', 'simplesequence'):
# NB: As a temporary hack for mapping back to property id, store the id in
# the hidden fourth field.
valueItem = self.addTreeWidgetItem(self.domMgrPropsItem, name, str(value))
#if property['mode'] in ('readwrite', 'writeonly'):
# valueItem.setRenameEnabled(1, True)
elif property['elementType'] == 'struct':
valueItem = QListViewItem(parent, name, '', '', id)
for field in value:
QListViewItem(valueItem, field['id'], str(field['value']))
elif property['elementType'] == 'structsequence':
valueItem = QListViewItem(parent, name, '', '', id)
if value == None:
continue
for index, structval in enumerate(value):
subitem = QListViewItem(valueItem, str(index))
for field in structval:
QListViewItem(subitem, field['id'], str(field['value']))
def make_content(self):
self.content = []
self.inner_field.owner_detail = self.owner_detail
if self.value:
for i, history_rec in enumerate(self.value):
val = from_any(history_rec.value, True)
inner_field_copy = copy(self.inner_field)
inner_field_copy.value = val
date_from = history_rec._from #recoder.corba_to_datetime(history_rec._from)
date_to = history_rec.to #recoder.corba_to_datetime(history_rec.to)
logger_url = f_urls['logger'] + 'detail/?id=%s' % history_rec.requestId
history_tr = tr()
if i > 0:
history_tr.cssc = 'history_row'
log_req_link = a(attr(href=logger_url), img(attr(src='/img/icons/open.png'))) if history_rec.requestId else ''
history_tr.add(
td(inner_field_copy),
td(attr(cssc='history_dates_field'), _('from'), date_from),
td(attr(cssc='history_dates_field'), date_to and _('to') or '', date_to),
td(attr(cssc='history_dates_field'), log_req_link)
)
self.add(history_tr)
else:
self.add(div(attr(cssc='field_empty')))
def test_ComponentPlacementNoPropOverride(self):
devmgr_nb, devMgr = self.launchDeviceManager("/nodes/test_DCDSimpleSeq_node/DeviceManager.dcd.xml")
self.assertNotEqual(devMgr, None)
# NOTE These assert check must be kept in-line with the DeviceManager.dcd.xml
self.assertEqual(len(devMgr._get_registeredDevices()), 1)
device = devMgr._get_registeredDevices()[0]
# this device implementation will put a non-nil value on the property (even if a nil has been passed in a configure call)
propId = "nil_property"
prop = CF.DataType(id=propId, value=any.to_any(None))
result = device.query([prop])
self.assertEqual(any.from_any(result[0].value), None)
device.configure([prop])
result = device.query([prop])
self.assertEqual(any.from_any(result[0].value), -1.0)
def push(self, data):
try:
if self.__filter == None or data.typecode() in self.__filter:
event = any.from_any(data, keep_structs=self.__keep_structs)
self.__on_push(event, data.typecode())
except:
traceback.print_exc()
def dataTypeOfPort(port):
prof = port.get_port_profile()
prop = prof.properties
for p in prop:
if p.name == "dataport.data_type":
return any.from_any(p.value)
return None
def findService(rtc, port_name, type_name, instance_name):
if port_name == "":
prof = rtc.ref.get_component_profile()
# print("RTC name:",prof.instance_name)
port_prof = prof.port_profiles
else:
p = rtc.port(port_name)
if p == None:
print("can't find a port named" + port_name)
return None
else:
port_prof = [p.get_port_profile()]
port = None
for pp in port_prof:
# print("name:", pp.name)
ifs = pp.interfaces
for aif in ifs:
#print("IF name:", aif.instance_name)
#print("IF type:", aif.type_name)
if aif.instance_name == instance_name and \
(type_name == "" or aif.type_name == type_name) and \
aif.polarity == PROVIDED:
port = pp.port_ref
if port == None:
print("can't find a service named", instance_name)
return None
con_prof = RTC.ConnectorProfile("noname", "", [port], [])
ret, con_prof = port.connect(con_prof)
ior = any.from_any(con_prof.properties[0].value)
return orb.string_to_object(ior)
def testScaBasicBehavior(self):
#######################################################################
# Launch the component with the default execparams
execparams = self.getPropertySet(kinds=("execparam",), modes=("readwrite", "writeonly"), includeNil=False)
execparams = dict([(x.id, any.from_any(x.value)) for x in execparams])
self.launch(execparams)
#######################################################################
# Verify the basic state of the component
self.assertNotEqual(self.comp, None)
self.assertEqual(self.comp.ref._non_existent(), False)
self.assertEqual(self.comp.ref._is_a("IDL:CF/Resource:1.0"), True)
#######################################################################
# Validate that query returns all expected parameters
# Query of '[]' should return the following set of properties
expectedProps = []
expectedProps.extend(self.getPropertySet(kinds=("configure", "execparam"), modes=("readwrite", "readonly"), includeNil=True))
expectedProps.extend(self.getPropertySet(kinds=("allocate",), action="external", includeNil=True))
props = self.comp.query([])
props = dict((x.id, any.from_any(x.value)) for x in props)
# Query may return more than expected, but not less
for expectedProp in expectedProps:
self.assertEquals(props.has_key(expectedProp.id), True)
#######################################################################
# Verify that all expected ports are available
for port in self.scd.get_componentfeatures().get_ports().get_uses():
port_obj = self.comp.getPort(str(port.get_usesname()))
self.assertNotEqual(port_obj, None)
self.assertEqual(port_obj._non_existent(), False)
self.assertEqual(port_obj._is_a("IDL:CF/Port:1.0"), True)
for port in self.scd.get_componentfeatures().get_ports().get_provides():
port_obj = self.comp.getPort(str(port.get_providesname()))
self.assertNotEqual(port_obj, None)
self.assertEqual(port_obj._non_existent(), False)
self.assertEqual(port_obj._is_a(port.get_repid()), True)
#######################################################################
# Make sure start and stop can be called without throwing exceptions
self.comp.start()
self.comp.stop()
#######################################################################
# Simulate regular component shutdown
self.comp.releaseObject()
def test_ComponentPlacementNoPropOverride(self):
devmgr_nb, devMgr = self.launchDeviceManager(
"/nodes/test_DCDSimpleSeq_node/DeviceManager.dcd.xml", debug=9)
self.assertNotEqual(devMgr, None)
# NOTE These assert check must be kept in-line with the DeviceManager.dcd.xml
self.assertEqual(len(devMgr._get_registeredDevices()), 1)
device = devMgr._get_registeredDevices()[0]
# this device implementation will put a non-nil value on the property (even if a nil has been passed in a configure call)
propId = "nil_property"
prop = CF.DataType(id=propId, value=any.to_any(None))
result = device.query([prop])
self.assertEqual(any.from_any(result[0].value), None)
device.configure([prop])
result = device.query([prop])
self.assertEqual(any.from_any(result[0].value), -1.0)
def testPush(self):
receiver = MessageReceiver()
self._consumer.registerMessage(None, None, receiver.messageReceived)
# Pack the messages ourselves
messages = []
messages.append(CF.DataType('first', to_any(100)))
messages.append(CF.DataType('second', to_any('some text')))
messages.append(CF.DataType('third', to_any(0.25)))
self._supplier.push(props_to_any(messages))
self.failUnless(receiver.waitMessages(3, 1.0))
self.assertEqual(3, len(receiver.messages))
self.assertEqual(100, from_any(receiver.messages[0].value))
self.assertEqual('some text', from_any(receiver.messages[1].value))
self.assertEqual(0.25, from_any(receiver.messages[2].value))
def copyToProperties(prop, nvlist):
for nv in nvlist:
try:
val = str(any.from_any(nv.value, keep_structs=True))
prop.setProperty(str(nv.name),val)
except:
print OpenRTM_aist.Logger.print_exception()
pass
def get_factory_names(self):
fs = []
fps = self.ref.get_factory_profiles()
for afp in fps:
for p in afp.properties:
if p.name == "implementation_id":
fs.append(any.from_any(p.value))
return fs
def test1_configureQuery(self):
# Launch the resource with the default execparams
execparams = self.getPropertySet(kinds=("execparam", ),
modes=("readwrite", "writeonly"),
includeNil=False)
execparams = dict([(x.id, any.from_any(x.value)) for x in execparams])
self.launch(execparams)
# test string props
self.comp.stringPropIO1 = "foo"
# need to push some data so that feval gets called
self.pushDataAndCheck()
self.assertEquals(self.comp.stringPropIO1, "foo")
self.assertEquals(self.comp.stringPropOutput1, "output")
# complex props
self.comp.complexPropIO1 = complex(1.5, 2.5)
# need to push some data so that feval gets called
self.pushDataAndCheck()
self.assertEquals(self.comp.complexPropIO1, complex(1.5, 2.5))
self.assertEquals(self.comp.complexPropOutput1, complex(1, 2))
# test vector props
self.comp.vectorPropIO1 = range(10)
complexVect = [complex(-1, -1), complex(0, 2), complex(5.0, 6)]
self.comp.complexVectorPropIO1 = complexVect
# need to push some data so that feval gets called
self.pushDataAndCheck()
self.assertEquals(self.comp.vectorPropIO1, range(10))
self.assertEquals(self.comp.vectorPropOutput1, [-1, 0, 1, 2.5])
self.assertEquals(self.comp.complexVectorPropIO1, complexVect)
self.assertEquals(
self.comp.complexVectorOutput1,
[complex(-1, -1),
complex(0, 0),
complex(1, 0),
complex(2, 2)])
# test SRI keywords
inputData = xrange(100)
expectedOutput = []
i = 0
while i < len(inputData) - 1:
cplx = complex(inputData[i], inputData[i + 1])
expectedOutput.append(cplx)
i += 2
SRIKeywords = [
sb.io_helpers.SRIKeyword('val1', 1, 'long'),
sb.io_helpers.SRIKeyword('val2', 'foo', 'string')
]
self.pushDataAndCheck(streamID="testSRI",
expectedOutput=expectedOutput,
sampleRate=50,
complexData=True,
SRIKeywords=SRIKeywords)
# Simulate regular resource shutdown
self.comp.releaseObject()
def test_DeviceManagerPort(self):
self._createApp('DeviceManager')
component = self._getComponents()['PortTest1']
expectedId = self._devMgr._get_identifier()
actualId = component.runTest(3, [])
self.assertEqual(len(actualId), 1)
actualId = any.from_any(actualId[0].value)
self.assertEqual(expectedId, actualId)
def __call__(self, nv):
for con in self._cons:
name_ = nv.name
if con.descriptor() == name_:
try:
obj = any.from_any(nv.value, keep_structs=True)
con.setObject(obj)
except BaseException:
print(OpenRTM_aist.Logger.print_exception())
def __call__(self, nv):
for i in range(self._len):
name_ = nv.name
if self._cons[i].descriptor() == name_:
try:
obj = any.from_any(nv.value, keep_structs=True)
self._cons[i].setObject(obj)
except:
print(OpenRTM_aist.Logger.print_exception())
def dump_to_stream(out, nv):
for n in nv:
val = any.from_any(n.value, keep_structs=True)
if isinstance(val, str):
out += (n.name + ": " + str(n.value) + "\n")
else:
out += (n.name + ": not a string value \n")
return out
def _test_Service(self, connection):
svcBooter, svcMgr = self.launchDeviceManager("/nodes/test_BasicService_node/DeviceManager.dcd.xml")
self.assertNotEqual(svcMgr, None)
self._createApp('Service' + connection)
components = self._getComponents()
self.assertEqual(len(svcMgr._get_registeredServices()), 1)
service = svcMgr._get_registeredServices()[0]
# Compare all of the properties returned directly from the service, and
# via the runTest interface. They should all be the same, assuming that
# the port was connected correctly.
props = service.serviceObject.query([])
testOut = components['PortTest1'].runTest(1, [])
for ii in range(1):
self.assertEqual(props[ii].id, testOut[ii].id)
self.assertEqual(any.from_any(props[ii].value), any.from_any(testOut[ii].value))
def setUp(self):
nodebooter, self.domMgr = self.launchDomainManager()
self.assertNotEqual(self.domMgr, None)
nodebooter, self.devMgr = self.launchDeviceManager(
"/nodes/test_NicAllocation_node/DeviceManager.dcd.xml")
self.assertNotEqual(self.devMgr, None)
self.dev = self.devMgr._get_registeredDevices()[0]
props = self.dev.query([CF.DataType('nic_list', any.to_any(None))])
self.nicNames = any.from_any(props[0].value)
def __call__(self, nv):
for i in range(self._len):
name_ = nv.name
if self._cons[i].descriptor() == name_:
try:
obj = any.from_any(nv.value, keep_structs=True)
self._cons[i].setObject(obj)
except:
traceback.print_exception(*sys.exc_info())
def test_CollocBasicShared(self):
self.assertNotEqual(self._domainManager, None)
app = self._domainManager.createApplication('/waveforms/BasicSharedCollocWave/BasicSharedCollocWave.sad.xml',
'BasicSharedCollocWave', [], [])
comps = app._get_registeredComponents()
self.assertEqual(len(comps), 2)
request = [CF.DataType('pid', to_any(None))]
props1 = comps[0].componentObject.query(request)
props2 = comps[1].componentObject.query(request)
self.assertEqual(len(props1), 1)
self.assertEqual(props1[0].id, 'pid')
self.assertEqual(len(props2), 1)
self.assertEqual(props2[0].id, 'pid')
self.assertEqual(from_any(props1[0].value), from_any(props2[0].value))
def dump_to_stream(out, nv):
for i in range(len(nv)):
val = any.from_any(nv[i].value, keep_structs=True)
if type(val) == str:
out[0] += (nv[i].name + ": " + str(nv[i].value) + "\n")
else:
out[0] += (nv[i].name + ": not a string value \n")
return out[0]
def test_ApplicationFactoryCreateURIOverride(self):
domNB, domMgr = self.launchDomainManager(loggingURI="dom/mgr/logging.properties")
self.assertNotEqual(domMgr, None)
# Launch a device manager
devNB, devMgr = self.launchDeviceManager("/nodes/test_BasicTestDevice_node/DeviceManager.dcd.xml", loggingURI="dev/mgr/logging.properties")
self.assertNotEqual(domMgr, None)
# Double check the DomainManager LOGGING_CONFIG_URI
prop = CF.DataType(id="LOGGING_CONFIG_URI", value=any.to_any(None))
result = domMgr.query([prop])
self.assertEqual(len(result), 1)
self.assertEqual(result[0].id, "LOGGING_CONFIG_URI")
devLoggingConfigURI = result[0].value._v
expectedDomLoggingConfigUri = "file://" + os.path.join(scatest.getSdrPath(), "dom/mgr/logging.properties")
self.assertEqual(devLoggingConfigURI, expectedDomLoggingConfigUri)
# Launch an application
domMgr.installApplication("/waveforms/CommandWrapper/CommandWrapper.sad.xml")
self.assertEqual(len(domMgr._get_applicationFactories()), 1)
self.assertEqual(len(domMgr._get_applications()), 0)
appFact = domMgr._get_applicationFactories()[0]
uriOverride = CF.DataType(id="LOGGING_CONFIG_URI", value=any.to_any("sca:///mgr/logging.properties"))
app = appFact.create(appFact._get_name(), [uriOverride], [])
# Get the desired component
self.assertEqual(len(app._get_componentNamingContexts()), 1)
compName = app._get_componentNamingContexts()[0]
comp = self._root.resolve(URI.stringToName(compName.elementId))._narrow(CF.Resource)
self.assertNotEqual(comp, None)
# Check the components exec params
execparams = comp.query([CF.DataType(id="DCE:85d133fd-1658-4e4d-b3ff-1443cd44c0e2", value=any.to_any(None))])[0]
args = any.from_any(execparams.value)
execparams = {}
for b in args:
a = eval(b)
name = a[0]
value = a[1]
execparams[name] = value
self.assert_(execparams.has_key("LOGGING_CONFIG_URI"))
self.assertEqual(execparams["LOGGING_CONFIG_URI"].split("?fs=")[0], "sca:///mgr/logging.properties")
execparamObj = self._orb.string_to_object(execparams["LOGGING_CONFIG_URI"].split("?fs=")[1])
# Need to compare actual objects since the IOR strings could potentially differ for the same object
self.assert_(domMgr._get_fileMgr()._is_equivalent(execparamObj))
# Launch an application with a C++ component to exercise Resource_impl logging configure
domMgr.installApplication("/waveforms/TestCppProps/TestCppProps.sad.xml")
self.assertEqual(len(domMgr._get_applicationFactories()), 2)
for appFact in domMgr._get_applicationFactories():
if appFact._get_name() == "TestCppProps":
app = appFact.create(appFact._get_name(), [uriOverride], [])
break
self.assertEqual(len(domMgr._get_applications()), 2)
def getConfiguration(rtc):
cfg = rtc.get_configuration()
cfgsets = cfg.get_configuration_sets()
if len(cfgsets) == 0:
print("configuration set is not found")
return None
ret = {}
for nv in cfgsets[0].configuration_data:
ret[nv.name] = any.from_any(nv.value)
return ret
def dataArrived(self, inany ):
if inany != None:
try:
msgin = any.from_any(inany)
if msgin == self.p_msgid:
self.msg_recv += 1
self.p_msgid += 1
self._log.info(" Received (CB) msgid :" + str(msgin) + " msg_recv: " + str(self.msg_recv) )
except:
self._log.error(" Error for dataArrived CB")
def runTest(self, test, props):
if test == 0:
# Inject values directly into property storage to allow testing of
# bad conditions (invalid values)
for dt in props:
try:
self._props[dt.id] = from_any(dt.value)
except KeyError:
pass
return []
def testEventPortSendFunction(self):
#######################################################################
# Launch the component with the default execparams
execparams = self.getPropertySet(kinds=("execparam",), modes=("readwrite", "writeonly"), includeNil=False)
execparams = dict([(x.id, any.from_any(x.value)) for x in execparams])
self.launch(execparams)
#######################################################################
# Simulate regular component startup
# Verify that initialize nor configure throw errors
self.comp_obj.initialize()
consumerPort = MessageConsumerPort()
self.eventPort = self.comp_obj.getPort('propEvent')
self.eventPort.connectPort(consumerPort._this(), 'some_id')
propIDs = ['eventShortSimple',
'eventStringSimple',
'eventBoolSimple',
'eventUlongSimple',
'eventFloatSimple',
'eventOctetSimple',
'eventCharSimple',
'eventUshortSimple',
'eventDoubleSimple',
'eventLongSimple',
'eventLonglongSimple',
'eventUlonglongSimple',
'eventStringSeq',
'eventBoolSeq',
'eventUlongSeq',
'eventFloatSeq',
'eventOctetSeq',
'eventCharSeq',
'eventUshortSeq',
'eventDoubleSeq',
'eventLongSeq',
'eventLonglongSeq',
'eventUlonglongSeq',
'eventShortSeq',
'eventStruct',
'eventStructSeq']
for propID in propIDs:
#test that the internal code sends out an event for each of these properties
self.comp_obj.configure([ossie.cf.CF.DataType(id='propToSend', value=CORBA.Any(CORBA.TC_string, propID))])
eventSent = False
while not eventSent:
ret = self.comp_obj.query([ossie.cf.CF.DataType(id='eventSent',value=any.to_any(None))])[0]
if ret.value.value():
eventSent = True
time.sleep(.003) #allow the event send to complete in the other thread
event = consumerPort.getEvent()
if not event:
self.fail("No event was generated for " + str(propID))
def value_from_data(self, data):
value = data.get(self.name)
if value:
if self.owner_detail.history and len(
value) > 1 and not self.owner_detail.is_nested:
self.displaying_history = True
self.history_field.owner_detail = self.owner_detail
self._assign_current_field(self.history_field)
for history_record in value:
recoder.c2u(from_any(history_record.value, True))
return value
else:
self.normal_field.owner_detail = self.owner_detail
self._assign_current_field(self.normal_field)
return recoder.c2u(from_any(value[0].value, True))
else:
self.normal_field.owner_detail = self.owner_detail
self._assign_current_field(self.normal_field)
return fredtypes.Null()
def getProperty(self, name):
cfg = self.ref.get_configuration()
cfgsets = cfg.get_configuration_sets()
if len(cfgsets) == 0:
print("configuration set is not found")
return None
cfgset = cfgsets[0]
for d in cfgset.configuration_data:
if d.name == name:
return any.from_any(d.value)
return None
def test_PropertyChangeEvents_Py(self):
self.received_myprop = False
self.received_anotherprop = False
self.received_seqprop = False
self.received_some_struct = False
self.received_structseq_prop = False
self.sourceId = 'prop_change_instance:PropertyChangeEvents_1'
self.successfullPropChange = None
self.set = 1
# Test DeviceManager related events
# launch DomainManager
nodebooter, self._domMgr = self.launchDomainManager()
devBooter, devMgr = self.launchDeviceManager("/nodes/test_BasicTestDevice_node/DeviceManager.dcd.xml")
self.assertNotEqual(devMgr, None)
self._domMgr.installApplication("/waveforms/PropertyChangeEvents/PropertyChangeEvents.sad.xml")
self.assertEqual(len(self._domMgr._get_applicationFactories()), 1)
self.assertEqual(len(self._domMgr._get_applications()), 0)
appFact = self._domMgr._get_applicationFactories()[0]
app = appFact.create(appFact._get_name(), [], [])
# set up consumer
_consumer = Consumer_i(self)
self._domMgr.registerWithEventChannel(_consumer._this(), 'some_id', 'propertyChanges')
app.configure([CF.DataType(id='myprop',value=any.to_any(2))])
app.configure([CF.DataType(id='anotherprop',value=any.to_any(2))])
sequence = CF.DataType(id='seqprop',value=any.to_any([1.0, 2.0, 3.0]))
sequence.value._t._d = (19,6,0) # change the type from double to float
some_struct = CF.DataType(id='some_struct',value=any.to_any([CF.DataType(id='some_number',value=any.to_any(3.0)),CF.DataType(id='some_string',value=any.to_any('hello'))]))
app.configure([sequence])
app.configure([some_struct])
structseq_prop = CF.DataType(id='structseq_prop',value=any.to_any([any.to_any([CF.DataType(id='some_number',value=any.to_any(7.0)),CF.DataType(id='some_string',value=any.to_any('second message'))])]))
app.configure([structseq_prop])
app.configure([structseq_prop])
# Ticket #1061: Ensure that eventable structs and struct sequences with
# 'None' values don't cause exceptions inside the port code.
results = app.runTest(1061, [])
# Convert test results into a dictionary
results = dict((r.id, any.from_any(r.value)) for r in results)
time.sleep(1)
self.assertEqual(self.received_myprop, True)
self.assertEqual(self.received_anotherprop, False)
self.assertEqual(self.received_seqprop, True)
self.assertEqual(self.received_some_struct, True)
self.assertEqual(self.received_structseq_prop, True)
self.assertEqual(self.successfullPropChange, True)
self.assertEqual(results['1061'], True)
self._domMgr.unregisterFromEventChannel('some_id', 'propertyChanges')
def readDataPort(port, timeout=1.0):
pprof = port.get_port_profile()
for prop in pprof.properties:
if prop.name == "dataport.data_type":
classname = any.from_any(prop.value)
break
nv1 = SDOPackage.NameValue("dataport.interface_type",
any.to_any("corba_cdr"))
nv2 = SDOPackage.NameValue("dataport.dataflow_type", any.to_any("Pull"))
nv3 = SDOPackage.NameValue("dataport.subscription_type",
any.to_any("flush"))
con_prof = RTC.ConnectorProfile("connector0", "", [port], [nv1, nv2, nv3])
ret, prof = port.connect(con_prof)
#
if ret != RTC.RTC_OK:
print "failed to connect"
return None
for p in prof.properties:
#print p.name
if p.name == 'dataport.corba_cdr.outport_ior':
ior = any.from_any(p.value)
obj = orb.string_to_object(ior)
outport = obj._narrow(OutPortCdr)
tm = 0
while tm < timeout:
try:
ret, data = outport.get()
if ret == OpenRTM.PORT_OK:
port.disconnect(prof.connector_id)
tokens = classname.split(':')
if len(tokens) == 3: # for 1.1?
classname = tokens[1].replace('/', '.')
return cdr2data(data, classname)
except:
pass
time.sleep(0.1)
tm = tm + 0.1
port.disconnect(prof.connector_id)
return None
def test_DeviceUsedByThisComponent(self):
self._createApp('DeviceUsedByComponent')
components = self._getComponents()
# Use the TestableObject interface to check that 'PortTest1' has
# exactly one connection
# NB: The `usesdevice` can be satisfied by either of the devices, so
# just test that it's connected to one of them.
ids = components['PortTest1'].runTest(0, [])
self.assertEqual(len(ids), 1)
usedDevId = any.from_any(ids[0].value).split('/')[0]
devIds = [dev._get_identifier() for dev in self._devMgr._get_registeredDevices()]
self.assert_(usedDevId in devIds)
def startSourceSocket(self):
#######################################################################
# Launch the component with the default execparams
execparams = self.getPropertySet(kinds=("execparam",), modes=("readwrite", "writeonly"), includeNil=False)
execparams = dict([(x.id, any.from_any(x.value)) for x in execparams])
execparams['DEBUG_LEVEL'] = DEBUG_LEVEL
self.launch(execparams)
#######################################################################
# Verify the basic state of the component
self.assertNotEqual(self.comp, None)
self.assertEqual(self.comp.ref._non_existent(), False)
self.assertEqual(self.comp.ref._is_a("IDL:CF/Resource:1.0"), True)
def test_FindByFileManager(self):
self._createApp('FindByFileManager')
components = self._getComponents()
listing = components['FileManagerPortTest1'].runTest(0, [])
value = any.from_any(listing[0].value)
foundMgrDir = False
for entry in value:
if entry['kind'] == CF.FileSystem.DIRECTORY:
if entry['name'] == 'mgr':
foundMgrDir = True
break
self.assertEqual(foundMgrDir, True)
def _test_BasicService(self, node, expected_name):
devmgr_nb, devMgr = self.launchDeviceManager("/nodes/" + node +
"/DeviceManager.dcd.xml",
debug=1)
self.assertEqual(len(devMgr._get_registeredServices()), 1)
svc = devMgr._get_registeredServices()[0]
self.assertNotEqual(svc, None)
self.assertEqual(svc.serviceName, expected_name)
self.assertNotEqual(svc.serviceObject, None)
obj = svc.serviceObject
obj = obj._narrow(CF.PropertySet)
self.assertNotEqual(obj, None)
# Check the name service to ensure the service is properly bound
svcName = URI.stringToName(scatest.getTestDomainName() + "/" +
expected_name)
svcobj = self._root.resolve(svcName)._narrow(CF.PropertySet)
self.assertNotEqual(svcobj, None)
self.assert_(obj._is_equivalent(svcobj))
# Check that all the parameters got set correctly
props = obj.query([])
d = dict([(p.id, any.from_any(p.value)) for p in props])
self.assertEqual(d["SERVICE_NAME"], expected_name)
self.assertEqual(d["DEVICE_MGR_IOR"],
self._orb.object_to_string(devMgr))
self.assertEqual(d["PARAM1"], "ABCD")
self.assertEqual(d["PARAM2"], 42)
self.assertAlmostEqual(d["PARAM3"], 3.1459)
self.assertEqual(d["PARAM4"], False)
self.assertEqual(d["PARAM5"], "Hello World")
self.assertEqual(d.has_key("PARAM6"), False)
# Check that we unregister correctly
os.kill(devmgr_nb.pid, signal.SIGTERM)
svcName = URI.stringToName(scatest.getTestDomainName() + "/" +
expected_name)
time_begin = time.time()
time_end = time.time()
name_found = True
while ((time_end - time_begin) < 2) and name_found:
time_end = time.time()
# Don't use assertRaises, so we can simplify things
try:
self._root.resolve(svcName)._narrow(CF.PropertySet)
time.sleep(0.1)
except CosNaming.NamingContext.NotFound:
name_found = False
if name_found:
self.fail("Expected service to not exist in the naming service")
def resolve_value(self, value):
if value:
for history_row in value:
if isinstance(history_row.value, CORBA.Any):
object_list = from_any(history_row.value, True)
else: # this HistoryRecordList was transformed before (we got here after cache hit), so skip tranformation
break
new_obj_list = []
for obj in object_list:
new_obj_list.append(resolve_object(obj))
history_row.value = new_obj_list
if value is None:
return fredtypes.Null()
return value
def getData(self):
retval = None
if self.dataArrivedCB != None:
return retval
try:
tmp = self.events.get(False, .01)
self.logger.debug('getData: ' + str(tmp))
retval = any.from_any(tmp)
except:
print traceback.print_exc()
retval = None
return retval