DataPortTest.py
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00001 #!/usr/bin/env python
00002 # -*- coding: euc-jp -*-
00003 #
00004 ## DataPortTest.py
00005 ##
00006 ## メモリーリークチェック
00007 ## DataPort.idlで定義されているオペレーション
00008 ## データポートに関するオペレーション
00009 #
00010 # $Id: DataPortTest.py 1971 2010-06-03 08:46:40Z n-ando $
00011 #
00012 
00013 from rtc_handle import *
00014 from BasicDataType_idl import *
00015 import time
00016 import commands
00017 import SDOPackage
00018 from omniORB import *
00019 from omniORB import any
00020 from omniORB import CORBA
00021 import OpenRTM
00022 
00023 env = RtmEnv(sys.argv, ["localhost:9898"])
00024 list0 = env.name_space["localhost:9898"].list_obj()
00025 env.name_space['localhost:9898'].rtc_handles.keys()
00026 
00027 time.sleep(2)
00028 
00029 ns = env.name_space['localhost:9898']
00030 
00031 compo0 = ns.rtc_handles["ConsoleIn0.rtc"]
00032 compo1 = ns.rtc_handles["ConsoleOut0.rtc"]
00033 
00034 #compo0 = ns.rtc_handles["SequenceInComponent0.rtc"]
00035 #compo1 = ns.rtc_handles["SequenceOutComponent0.rtc"]
00036 
00037 def mem_rss():
00038     (stat, output) = commands.getstatusoutput("ps alxww | grep \"[r]\"tcd")
00039     return output.split()[7]
00040 
00041 ## file and console out
00042 def print_file_and_cons(out_data, out_flag=0):
00043     ## out_flag:1 is file out only
00044     if out_flag == 1:
00045       fout.write(out_data + '\n')
00046       fout.flush()
00047     ## out_flag:2 is console out only
00048     elif out_flag == 2:
00049       print out_data
00050     ## out_flag:0 is console and file out (default)
00051     else:
00052       print out_data
00053       fout.write(out_data + '\n')
00054       fout.flush()
00055     return
00056 
00057 ## memory leak check
00058 def leak_check(rss_start, rss_end):
00059     if rss_start != rss_end:
00060         fodat = "  result: memory leak was found !!!"
00061     else:
00062         fodat = "  result: memory leak was not found."
00063     print_file_and_cons(fodat)
00064     return
00065 
00066 ## file out setting
00067 test_case = "DataPortTest"
00068 fout = open(test_case + ".log", 'w')
00069 
00070 fodat = "=== " + test_case + " start ==="
00071 print_file_and_cons(fodat)
00072 
00073 consin_ports = compo0.rtc_ref.get_ports()
00074 #print "List consin_ports=%d" % len(consin_ports)
00075 consout_ports = compo1.rtc_ref.get_ports()
00076 #print "List consout_ports=%d" % len(consout_ports)
00077 
00078 loop_cnt = 1000
00079 ##--------------------------------------------------------------------
00080 # dataflow_type: push
00081 
00082 # Connector Porfile: corba_cdr, push, flush <<<  In -> Out
00083 conprof = RTC.ConnectorProfile("connector0", "123", [consin_ports[0],consout_ports[0]], [SDOPackage.NameValue("dataport.interface_type",any.to_any("corba_cdr")),SDOPackage.NameValue("dataport.dataflow_type",any.to_any("push")),SDOPackage.NameValue("dataport.subscription_type",any.to_any("flush"))])
00084 
00085 # Connector Porfile: corba_cdr, push, flush <<<  Out -> In
00086 #conprof = RTC.ConnectorProfile("connector0", "123", [consout_ports[0],consin_ports[0]], [SDOPackage.NameValue("dataport.interface_type",any.to_any("corba_cdr")),SDOPackage.NameValue("dataport.dataflow_type",any.to_any("push")),SDOPackage.NameValue("dataport.subscription_type",any.to_any("flush"))])
00087 
00088 ##--------------------------------------------------------------------
00089 # Connector Porfile: corba_cdr, push, new <<<  In -> Out
00090 #conprof = RTC.ConnectorProfile("connector0", "123", [consin_ports[0],consout_ports[0]], [SDOPackage.NameValue("dataport.interface_type",any.to_any("corba_cdr")),SDOPackage.NameValue("dataport.dataflow_type",any.to_any("push")),SDOPackage.NameValue("dataport.subscription_type",any.to_any("new"))])
00091 
00092 # Connector Porfile: corba_cdr, push, new <<<  Out -> In
00093 #conprof = RTC.ConnectorProfile("connector0", "123", [consout_ports[0],consin_ports[0]], [SDOPackage.NameValue("dataport.interface_type",any.to_any("corba_cdr")),SDOPackage.NameValue("dataport.dataflow_type",any.to_any("push")),SDOPackage.NameValue("dataport.subscription_type",any.to_any("new"))])
00094 
00095 ##--------------------------------------------------------------------
00096 # Connector Porfile: corba_cdr, push, periodic <<<  In -> Out
00097 #conprof = RTC.ConnectorProfile("connector0", "123", [consin_ports[0],consout_ports[0]], [SDOPackage.NameValue("dataport.interface_type",any.to_any("corba_cdr")),SDOPackage.NameValue("dataport.dataflow_type",any.to_any("push")),SDOPackage.NameValue("dataport.subscription_type",any.to_any("periodic"))])
00098 
00099 # Connector Porfile: corba_cdr, push, periodic <<<  Out -> In
00100 #conprof = RTC.ConnectorProfile("connector0", "123", [consout_ports[0],consin_ports[0]], [SDOPackage.NameValue("dataport.interface_type",any.to_any("corba_cdr")),SDOPackage.NameValue("dataport.dataflow_type",any.to_any("push")),SDOPackage.NameValue("dataport.subscription_type",any.to_any("periodic"))])
00101 
00102 ##--------------------------------------------------------------------
00103 #print "ConnectorProfile=\n",conprof
00104 
00105 ##--------------------------------------------------------------------
00106 # dataflow_type: pull
00107 # Connector Porfile: corba_cdr, pull, flush <<<  Out -> In
00108 conprof2 = RTC.ConnectorProfile("connector0", "123", [consout_ports[0], consin_ports[0]], [SDOPackage.NameValue("dataport.interface_type",any.to_any("corba_cdr")),SDOPackage.NameValue("dataport.dataflow_type",any.to_any("pull")),SDOPackage.NameValue("dataport.subscription_type",any.to_any("flush"))])
00109 
00110 #print "ConnectorProfile2=\n",conprof2
00111 
00112 #ec1 = compo0.rtc_ref.get_owned_contexts()
00113 #ec2 = compo1.rtc_ref.get_owned_contexts()
00114 #ec1[0].activate_component(compo0.rtc_ref)
00115 #ec2[0].activate_component(compo1.rtc_ref)
00116 
00117 ## -----------------------------------------------------------------------------
00118 fodat = "put()"
00119 print_file_and_cons(fodat)
00120 
00121 for i in range(loop_cnt):
00122     # DataflowType:push接続
00123     # InportCdr::put(in CdrData data)
00124     ret0,conprof0 = consin_ports[0].connect(conprof)
00125     # print "   connect() ret=",ret0
00126     if ret0 != RTC.RTC_OK:
00127         fodat = "     connect() error ret=" + str(ret0)
00128         print_file_and_cons(fodat)
00129     # print "   conprof0.properties=",conprof0.properties
00130     # print "   prop[0]=",conprof0.properties[0].value          #corba_cdr
00131     # print "   prop[1]=",conprof0.properties[1].value          #push
00132     # print "   prop[2]=",conprof0.properties[2].value          #flush,new,periodic
00133     # print "   prop[3]=",conprof0.properties[3].value          #little,big
00134     # print "   prop[4]=",conprof0.properties[4].value          #IOR:
00135     # print "   prop[5]=",conprof0.properties[5].value          #InportCdr
00136     ior = any.from_any(conprof0.properties[4].value, keep_structs=True)
00137     # print "   ior=",ior
00138     inportobj = env.orb.string_to_object(ior)
00139     inportcdr = inportobj._narrow(OpenRTM.InPortCdr)
00140     data = RTC.TimedLong(RTC.Time(0,0),12345)
00141     data0 = cdrMarshal(any.to_any(data).typecode(), data, 1)
00142     ret1 = inportcdr.put(data0)
00143     # print "   put() ret=" + str(ret1)
00144     #if ret1 != OpenRTM.PORT_OK:
00145     #  if ret1 == OpenRTM.BUFFER_FULL:          #9件目からBUFFER_FULLになる
00146     #    fodat = "     put() ret=BUFFER_FULL  count=%d" % (i+1)
00147     #    print_file_and_cons(fodat)
00148     #  else:
00149     #    fodat = "     put() ret=" + str(ret1) + "  count=%d" % (i+1)
00150     #    print_file_and_cons(fodat)
00151     time.sleep(0.1)
00152     ret2 = consin_ports[0].disconnect(conprof.connector_id)    # set used
00153     #if ret2 != RTC.RTC_OK:
00154     #    fodat = "     disconnect() error ret=" + str(ret2)
00155     #    print_file_and_cons(fodat)
00156 
00157     if i == 0:
00158         rss0 = mem_rss() ; j0 = 0 ; rssStart = rss0
00159         fodat = "   %05d: %s KB start" % (1, rss0)
00160         print_file_and_cons(fodat,1)
00161     rss1 = mem_rss() ; j1 = i
00162     if rss0 != rss1:
00163         fodat = "   %05d: %s KB -> %d KB. count diff -> %d" % (i+1, rss1,int(rss1)-int(rss0),int(j1)-int(j0) )
00164         print_file_and_cons(fodat,1)
00165         rss0 = rss1 ; j0 = j1
00166 
00167 rssEnd = mem_rss()
00168 fodat = "   %05d: %s KB end" % (i+1, rssEnd)
00169 print_file_and_cons(fodat,1)
00170 leak_check(rssStart, rssEnd)
00171 ## -----------------------------------------------------------------------------
00172 fodat = "get()"
00173 print_file_and_cons(fodat)
00174 
00175 for i in range(loop_cnt):
00176     # DataflowType:pull接続
00177     # OutportCdr::get(out CdrData data)  
00178     ret10,conprof10 = consout_ports[0].connect(conprof2)
00179     # print "   connect() ret=",ret10
00180     if ret10 != RTC.RTC_OK:
00181         fodat = "     connect() error ret=" + str(ret10)
00182         print_file_and_cons(fodat)
00183     # print "   conprof10.properties=",conprof10.properties
00184     # print "   prop[0]=",conprof10.properties[0].value         #corba_cdr
00185     # print "   prop[1]=",conprof10.properties[1].value         #pull
00186     # print "   prop[2]=",conprof10.properties[2].value         #flush,new,periodic
00187     # print "   prop[3]=",conprof10.properties[3].value                 #little,big
00188     # print "   prop[4]=",conprof10.properties[4].value                 #IOR:
00189     # print "   prop[5]=",conprof10.properties[5].value                 #OutportCdr
00190     ior10 = any.from_any(conprof10.properties[4].value, keep_structs=True)
00191     # print "   ior10=",ior10
00192 
00193     outportobj = env.orb.string_to_object(ior10)
00194     outportcdr = outportobj._narrow(OpenRTM.OutPortCdr)
00195     # data set
00196 
00197     ret11,data1 = outportcdr.get()
00198     # print "   get() ret=" + str(ret11)                # BUFFER_EMPTY
00199     #if ret11 != OpenRTM.PORT_OK:
00200     #    fodat = "     get() ret=" + str(ret11) + "  count=%d" % (i+1)
00201     #    print_file_and_cons(fodat)
00202     #else:
00203     #    value12 = cdrUnmarshal(any.to_any(123).typecode(),data1[0],1)
00204     #    #print "   data1=",value12
00205     time.sleep(0.1)
00206     ret12 = consin_ports[0].disconnect(conprof2.connector_id)    # set used
00207     #if ret12 != RTC.RTC_OK:
00208     #    fodat = "     disconnect() error ret=" + str(ret12)
00209     #    print_file_and_cons(fodat)
00210 
00211     if i == 0:
00212         rss0 = mem_rss() ; j0 = 0 ; rssStart = rss0
00213         fodat = "   %05d: %s KB start" % (1, rss0)
00214         print_file_and_cons(fodat,1)
00215     rss1 = mem_rss() ; j1 = i
00216     if rss0 != rss1:
00217         fodat = "   %05d: %s KB -> %d KB. count diff -> %d" % (i+1, rss1,int(rss1)-int(rss0),int(j1)-int(j0) )
00218         print_file_and_cons(fodat,1)
00219         rss0 = rss1 ; j0 = j1
00220 
00221 rssEnd = mem_rss()
00222 fodat = "   %05d: %s KB end" % (i+1, rssEnd)
00223 print_file_and_cons(fodat,1)
00224 leak_check(rssStart, rssEnd)
00225 ## -----------------------------------------------------------------------------
00226 #ec2[0].deactivate_component(compo1.rtc_ref)
00227 #ec1[0].deactivate_component(compo0.rtc_ref)
00228 
00229 fodat = "=== " + test_case + " end ==="
00230 print_file_and_cons(fodat)
00231 fout.close()


openrtm_aist
Author(s): Noriaki Ando
autogenerated on Sun Mar 26 2017 03:37:15