Module: Orocos::Test::Component

Includes:
RubyTasks
Defined in:
lib/orocos/test/component.rb

Defined Under Namespace

Modules: ClassExtension

Instance Method Summary collapse

Methods included from RubyTasks

#helpers_dir, #new_external_ruby_task_context, #new_ruby_task_context, #register_allocated_ruby_tasks

Instance Method Details

#assert_has_no_new_sample(reader, timeout = 0.2) ⇒ Object

Verify that no sample arrives on reader within timeout seconds



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# File 'lib/orocos/test/component.rb', line 45

def assert_has_no_new_sample(reader, timeout = 0.2)
    sleep timeout
    assert(!reader.read_new, "#{reader} has one new sample, but none was expected")
end

#assert_has_one_new_sample(reader, timeout = 3, poll_period = 0.01) ⇒ Object

Verifies that reader gets one sample within timeout seconds



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# File 'lib/orocos/test/component.rb', line 51

def assert_has_one_new_sample(reader, timeout = 3, poll_period = 0.01)
    Integer(timeout / poll_period).times do
        if sample = reader.read_new
            return sample
        end
        sleep poll_period
    end
    flunk("expected to get one new sample out of #{reader.port.name}, but got none")
end

#assert_state_change(task, timeout = 1) ⇒ Object

call-seq:

assert_state_change(task, timeout = 1) { |state|   test_if_state_is_the_expected_state }

Tests if the state of task changes to an expected value. The block should return whether the passed state is the expected state or not.



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# File 'lib/orocos/test/component.rb', line 67

def assert_state_change(task, timeout = 1)
    sleep_time = Float(timeout) / 10
    10.times do
        queued_state_changes = task.peek_state
        if queued_state_changes.any? { |s| yield(s) }
            return
        end
        sleep sleep_time
    end

    flunk("could not find the expected state change for #{task.name} in #{task.peek_state.inspect}")
end

#data_reader(port, policy = Hash.new) ⇒ Object

Gets the data reader for this port. It gets disconnected on teardown



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# File 'lib/orocos/test/component.rb', line 121

def data_reader(port, policy = Hash.new)
    reader = port.reader(policy)
    data_readers << reader
    reader
end

#data_writer(port, policy = Hash.new) ⇒ Object

Gets the data writer for this port. It gets disconnected on teardown



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# File 'lib/orocos/test/component.rb', line 129

def data_writer(port, policy = Hash.new)
    writer = port.writer(policy)
    data_writers << writer
    writer
end

#setup ⇒ Object 



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# File 'lib/orocos/test/component.rb', line 13

def setup
    if !Orocos.initialized?
        Orocos.initialize
    end

    self.class.run_specs.each do |name, task_name, run_spec|
        start(run_spec)
        instance_variable_set("@#{name}", Orocos.name_service.get(task_name))
    end

    self.class.reader_specs.each do |task_name, port_name, reader_name, policy|
        reader = self.data_reader(send(task_name).port(port_name), policy)
        instance_variable_set("@#{reader_name}", reader)
    end
    self.class.writer_specs.each do |task_name, port_name, writer_name, policy|
        writer = self.data_writer(send(task_name).port(port_name), policy)
        instance_variable_set("@#{writer_name}", writer)
    end
    super if defined? super
end

#start(*args) ⇒ Object

call-seq:

start 'model_name', 'task_name'
start 'deployment_name', 'task_name'[, 'prefix']

Requires the unit test to start a deployment/task at the point of the call, and make sure to shut it down during teardown. In test methods, the task object is made accessible with the 'attribute_name' attribute

In the first form, the task is given through its model. The global task name is registered with 'task_name', which defaults to 'attribute_name'

In the second form, the task is given through a deployment name / task name pair. If a prefix is given, task_name must include the prefix as well, i.e.:

start 'task', 'rock_logger', 'source_logger', 'source'

where 'logger' is a task of the 'rock_logger' deployment.

For instance:

describe 'xsens_imu::Task' do
    include Orocos::Test::Component

    it "should fail to configure if no device is present" do
      start 'xsens_imu::Task' => 'task'
      task = Orocos.name_service.get 'task'
      task.device = ""
      assert_raises(Orocos::StateTransitionFailed) { task.configure }
    end
end



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# File 'lib/orocos/test/component.rb', line 114

def start(*args)
    processes.concat(Orocos.run(*args))
    nil
end

#teardown ⇒ Object 



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# File 'lib/orocos/test/component.rb', line 34

def teardown
    data_readers.each { |r| r.disconnect }
    data_readers.clear
    data_writers.each { |w| w.disconnect }
    data_writers.clear
    processes.each { |p| p.kill }
    processes.clear
    super if defined? super
end